CN112309120B - Automatic driving intersection traffic control method for optimal import lane selection - Google Patents

Automatic driving intersection traffic control method for optimal import lane selection Download PDF

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CN112309120B
CN112309120B CN202011218959.4A CN202011218959A CN112309120B CN 112309120 B CN112309120 B CN 112309120B CN 202011218959 A CN202011218959 A CN 202011218959A CN 112309120 B CN112309120 B CN 112309120B
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vehicle
intersection
grid
lane
time
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CN112309120A (en
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吴伟
秦少敏
刘洋
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Changsha University of Science and Technology
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    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing

Abstract

The invention designs an automatic driving intersection traffic control method for optimal entrance lane selection for a plane intersection under automatic driving conditions. Firstly, acquiring the number of lanes at an entrance and an exit of an intersection, dividing the internal space of the intersection, and acquiring the entrance direction and the exit direction of a vehicle, the number of the current entrance lane and the expected time of arriving at the intersection; secondly, calculating the running track of the vehicle in the intersection; and thirdly, separating the conflicts of the vehicles in the intersection, calculating the potential lane change times of the vehicles selecting different entrance lanes, using a lane change punishment item and taking the weighted total delay minimum as an objective function, and carrying out traffic control on all the automatic driving vehicles arriving at the intersection. Compared with the prior art, the method can consider the selection of the optimal entrance lane of the automatic driving vehicle and realize the traffic control of the automatic driving intersection.

Description

Automatic driving intersection traffic control method for optimal import lane selection
Technical Field
The invention belongs to the field of intelligent traffic control, relates to the technical field of traffic control of urban roads aiming at an automatic driving vehicle passing intersection, and particularly relates to an automatic driving intersection traffic control method for optimal entrance lane selection.
Background
In recent years, the related technology of the automatic driving vehicle is rapidly developed, and a small amount of unmanned taxis are put into practical operation. By means of intelligent real-time information interaction between a vehicle and people, the vehicle, a road, a cloud and the like, the automatic driving vehicles can mutually cooperate and cooperatively pass through the intersection, the traditional signal lamp control is not needed, and how to design the intersection control method facing the automatic driving vehicles becomes a key technical problem to be solved urgently.
The automatic driving vehicles pass through the intersection in an interpenetration mode, which is an important characteristic of the automatic driving intersection, so that a control object of the automatic driving intersection faces each automatic driving vehicle, the independent entering time and the entering lane of each automatic driving vehicle need to be calculated for each automatic driving vehicle, the traditional parameters such as period, phase, split green ratio and the like are not needed, and the complexity of traffic control is greatly improved.
A free-steering lane setting method for an automatic driven intersection (patent number: ZL201810346657.1) designs a traffic control method for the automatic driven intersection based on a free-steering lane, but the method does not consider the selection of an optimal entrance lane, cannot calculate the optimal lane selection and the optimal entering time at the same time, and therefore cannot obtain the optimal solution of traffic control.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and establish an automatic driving intersection traffic control method for optimal entrance lane selection. The method calculates the potential lane change times of vehicles selecting different entrance lanes, uses a lane change penalty item, takes the weighted total delay minimum as an objective function, and carries out traffic control on all automatic driving vehicles arriving at an intersection.
The technical scheme is as follows: in order to solve the technical problem, the invention provides an automatic driving intersection traffic control method for optimal entrance lane selection, which comprises the following steps:
step 1: collecting the number of lanes of each inlet lane and each outlet lane of the intersection and numbering the lanes; establishing a rectangular coordinate system, dividing the intersection into a plurality of grids with the same size, and numbering the grids; collecting the inlet direction and the outlet direction of a vehicle, the number of an inlet lane where the vehicle is located at present and the predicted time of arriving at an intersection; inputting a parameter equation of a traffic track inside the intersection, and a position point of the traffic track entering a grid and a position point of the traffic track leaving the grid;
step 2: calculating a nonlinear vehicle path inside the intersection by using an arc tangent function; calculating a linear type driving track inside the intersection by using a speed and displacement formula;
and step 3: and separating the conflicts of the vehicles in grids inside the intersection, calculating the potential lane change times of the vehicles selecting different entrance lanes, using a lane change punishment item and taking the weighted total delay minimum as an objective function, and carrying out traffic control on all the automatically driven vehicles arriving at the intersection.
In the invention, the step 1 comprises the following steps:
the intersection inlet direction A is represented by a set A which is { e, s, w, n }, and the intersection outlet direction G is represented by a set G which is { e, s, w, n }, whereinWherein e, s, w, n respectively represent east, south, west, north directions; respectively representing the inlet direction and the outlet direction by a and G, wherein a belongs to A, G and belongs to G; let l denote the entrance lane number, rADenotes the entrance lane of the intersection, l ∈ rA(ii) a With L the exit lane number, RGIndicating an exit lane of the intersection, L ∈ RG(ii) a Representing all the vehicle tracks in the intersection by using a set P, representing rho as one vehicle track in the intersection, and belonging to P; all meshes are represented by the set F, FcRepresenting a grid, fc∈F；
Figure GDA0003243215820000021
Is a variable from 0 to 1, and is,
Figure GDA0003243215820000022
representing the grid f occupied by the driving track rhoc，
Figure GDA0003243215820000023
Representing unoccupied grid f of driving track rhoc(ii) a The trajectory rho enters the grid fcAt a position point of
Figure GDA0003243215820000024
Trajectory ρ leaves grid fcAt a position point of
Figure GDA0003243215820000025
Using a set N to represent all automatic driving vehicles arriving at the intersection, wherein N represents a vehicle number and belongs to N; collecting the entry direction A of a vehicle nnOutlet direction GnNumber b of the current entrance lanenAnd the predicted time to reach the intersection
Figure GDA0003243215820000026
In the invention, the step 2 of calculating the driving track comprises the following steps:
according to the difference of the shapes of the running tracks, the calculation of the running tracks is divided into three categories:
when the internal traffic track of the intersection is nonlinear, the time when the traffic track enters the grid and the time when the traffic track leaves the grid are respectively calculated by a formula (1) and a formula (2):
Figure GDA0003243215820000027
Figure GDA0003243215820000028
where ω represents the body length, V represents the speed of the vehicle,
Figure GDA0003243215820000029
represents the center of the running track rho, s rho represents the radius of the running track rho,
Figure GDA00032432158200000210
representing the trajectory ρ entering the grid fcAt the time of the day,
Figure GDA00032432158200000211
representing the trajectory ρ leaving the grid fcThe time of day;
when the driving track inside the intersection is linear and the straight line is parallel to the y axis of the established rectangular coordinate system, the time when the driving track enters the grid and the time when the driving track leaves the grid are respectively calculated by a formula (3) and a formula (4):
Figure GDA00032432158200000212
Figure GDA00032432158200000213
wherein the content of the first and second substances,
Figure GDA00032432158200000214
a vertical coordinate of an intersection point of the entrance lane and the stop line expressed as a trajectory ρ;
when the driving track inside the intersection is linear and the straight line is parallel to the x axis of the established rectangular coordinate system, the time when the driving track enters the grid and the time when the driving track leaves the grid are respectively calculated by a formula (5) and a formula (6):
Figure GDA00032432158200000215
Figure GDA00032432158200000216
wherein the content of the first and second substances,
Figure GDA00032432158200000217
an abscissa of an intersection point of the entrance lane and the stop line expressed as a trajectory ρ;
in the invention, step 3 avoids the collision of the vehicle in the grids in the intersection, calculates the potential lane change times of the vehicle selecting different entrance lanes, uses the lane change punishment item, and takes the weighted total delay minimum as the objective function to carry out traffic control on all the automatic driving vehicles arriving at the intersection, and comprises the following steps:
step 31: establishing a conflict separation constraint condition of a vehicle in a grid inside an intersection; the vehicle has only one entrance lane and can be calculated by the formula (7); the optimal number of the entrance lane for the vehicle to pass through the intersection is calculated by a formula (8); the actual running track number of the vehicle is calculated by a formula (9); whether the vehicle occupies the grid is calculated by formula (10); the optimal time for the vehicle to drive into the intersection is not earlier than the predicted time for the vehicle to reach the intersection, and is calculated by the formula (11); the time when the vehicle enters the grid and the time when the vehicle leaves the grid are respectively calculated by a formula (12) and a formula (13); two vehicles on the same driving track, wherein the two vehicles do not drive into the intersection at the same time and are calculated by the formulas (14) - (16); and (3) carrying out conflict separation on any two vehicle combinations, and calculating by formulas (17) to (19):
Figure GDA00032432158200000218
Figure GDA00032432158200000219
Figure GDA00032432158200000220
Figure GDA00032432158200000221
Figure GDA0003243215820000031
Figure GDA0003243215820000032
Figure GDA0003243215820000033
Figure GDA0003243215820000034
Figure GDA0003243215820000035
Figure GDA0003243215820000036
Figure GDA0003243215820000037
Figure GDA0003243215820000038
Figure GDA0003243215820000039
wherein M is a large positive number,
Figure GDA00032432158200000310
a vehicle track number which represents that the inlet direction is a and the inlet lane number is l; b isnThe optimal number of the entrance lane, ρ, representing the vehicle n passing through the intersectionnRepresenting the actual track number of the vehicle n passing through the intersection;
Figure GDA00032432158200000311
indicating the time at which the vehicle n is best driven into the intersection,
Figure GDA00032432158200000312
representing a predicted time at which the vehicle n arrives at the intersection;
Figure GDA00032432158200000313
indicating that vehicle n is driving into grid fcAt the time of the day,
Figure GDA00032432158200000314
indicating that vehicle n is driving off grid fcThe time of day;
Figure GDA00032432158200000315
all are variables from 0 to 1; when the vehicle n passes through the intersection from the entrance direction a,
Figure GDA00032432158200000316
when the vehicle n does not pass through the intersection from the direction of entry a,
Figure GDA00032432158200000317
when a vehicle n passes through the intersection from the entrance lane numbered l,
Figure GDA00032432158200000318
when the vehicle n does not pass through the intersection from the entrance lane numbered i,
Figure GDA00032432158200000319
vehicle n occupies grid fcWhen the temperature of the water is higher than the set temperature,
Figure GDA00032432158200000320
vehicle n unoccupied grid fcWhen the temperature of the water is higher than the set temperature,
Figure GDA00032432158200000321
when the vehicle n is running on the trajectory ρ,
Figure GDA00032432158200000322
when the vehicle n is not running on the trajectory ρ,
Figure GDA00032432158200000323
when the vehicle n enters the intersection with priority given to the vehicle m,
Figure GDA00032432158200000324
when the vehicle m drives into the intersection with the priority vehicle n,
Figure GDA00032432158200000325
vehicle n drives into grid fcAt a time not earlier than the moment that the vehicle m drives off the grid fcAt the time of the day (c),
Figure GDA00032432158200000326
vehicle m drives into grid fcAt a time not earlier than the moment that the vehicle n drives off the grid fcAt the time of the day (c),
Figure GDA00032432158200000327
step 32: the lane change times of the vehicle are calculated by a formula (20); the parking delay of the vehicle is calculated by equation (21):
Figure GDA00032432158200000328
Figure GDA00032432158200000329
wherein k isnIndicating the number of lane changes of vehicle n, dnIndicating a delay in parking vehicle n;
step 33: adding a corresponding weighting factor, the weighted delay of the vehicle, calculated by equation (22):
Figure GDA00032432158200000330
wherein α represents a weighting factor, DnRepresenting a weighted delay of vehicle n;
step 34: the weighted total delay of all automatically driven vehicles arriving at the intersection is taken as an objective function, and the optimal entrance lane and the optimal driving-in time of each vehicle passing through the intersection can be optimized and obtained by calculation according to a formula (23):
min∑n∈N(1-α)dn+α|bn-Bn| (23)
formula (10) considers the negative effects of vehicle delay and vehicle lane change at the intersection entrance lane, quantifies the impact of lane change delay, weights the relative difference between the lane where the vehicle is actually located and the optimized target lane to minimize the weighted delay of all vehicles at the intersection, where alpha represents the weight, and d represents the weightnIndicating a delay in parking vehicle n;
compared with the prior art, the invention has the beneficial effects that: the existing documents mostly control vehicles by taking delay of vehicles passing through an intersection, intersection traffic capacity, and lowest vehicle emission or oil consumption as targets, and control models specially researched for influence of vehicle lane change are few, but under the condition of considering the negative influence of vehicle lane change, the scheme of the vehicles passing through the intersection, including the time when the vehicles enter the intersection and the driving tracks in the intersection, has great difference.
Drawings
FIG. 1 is a general flow diagram of the present invention;
fig. 2 is a schematic application diagram of an embodiment of the present invention.
Detailed description of the invention
The present invention is described in further detail below with reference to examples, but the embodiments of the present invention are not limited thereto. The embodiments of the present invention are not limited to the examples described above, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
Example 1:
as shown in fig. 1 and 2, an automatic intersection traffic control method for optimal lane selection includes the following steps:
step 1: collecting the number of lanes of each inlet lane and each outlet lane of the intersection and numbering the lanes; establishing a rectangular coordinate system, dividing the intersection into a plurality of square grids, and numbering the grids; collecting the vehicle inlet direction, the vehicle outlet direction, the number of the current inlet lane and the estimated time of reaching the intersection; inputting a parameter equation of a traffic track inside the intersection, and a position point of the traffic track entering a grid and a position point of the traffic track leaving the grid;
step 2: calculating a nonlinear vehicle path inside the intersection by using an arc tangent function; calculating a linear type driving track inside the intersection by using a speed and displacement formula;
and step 3: the method comprises the steps of avoiding the collision of vehicles in grids inside an intersection, calculating the potential lane change times of the vehicles selecting different entrance lanes, using a lane change punishment item, and carrying out traffic control on all automatic driving vehicles arriving at the intersection by taking the weighted total delay minimum as an objective function.
In the step 1 of the embodiment, a set N is used for representing all automatic driving vehicles at the intersection, N represents one automatic driving vehicle, and N belongs to N; the set A represents the entrance direction A of the intersection as { e, s, w, n }, and the set G represents the exit direction G of the intersection as ═ ce, s, w, n }, wherein e, s, w, n respectively represent the east, south, west, north directions; respectively representing the inlet direction and the outlet direction by a and G, wherein a belongs to A, G and belongs to G; let l denote the entrance lane number, rADenotes the entrance lane of the intersection, l ∈ rA(ii) a With L the exit lane number, RGIndicating an exit lane of the intersection, L ∈ RG；
In this embodiment, in step 1, the grid size of the internal space of the intersection is set to be 1.5 × 1.5 m, and considering that the size of the vehicle is 4.5 × 2.5 m, the constant speed V of the vehicle is 5 m/s; the number of each inlet lane at the intersection is collected to be re＝rs＝rw＝rnR for 2, the number of each exit lanee＝Rs＝Rw＝R n2; randomly generating 16 automatic driving vehicles, numbering the vehicles as 1-16 respectively, and collecting the inlet directions A of the vehiclesnOutlet direction GnNumber b of the current entrance lanenAnd the predicted time to reach the intersection
Figure GDA0003243215820000041
Thus, the vehicle 1 has a1＝s、G1＝e、b1＝1、
Figure GDA0003243215820000042
The vehicle 2 has A2＝e、G2＝w、b2＝1、
Figure GDA0003243215820000043
The vehicle 3 has A3＝n、G3＝e、b3＝2、
Figure GDA0003243215820000044
The vehicle 4 has A4＝n、G4＝s、b4＝1、
Figure GDA0003243215820000045
The vehicle 5 has A5＝w、G5＝n、b5＝2、
Figure GDA0003243215820000046
The vehicle 6 has A6＝s、G6＝w、b6＝1、
Figure GDA0003243215820000047
The vehicle 7 has A7＝w、G7＝n、b7＝1、
Figure GDA0003243215820000048
The vehicle 8 has A8＝w、G8＝n、b8＝2、
Figure GDA0003243215820000049
The vehicle 9 has A9＝s、G9＝n、b9＝1、
Figure GDA00032432158200000410
The vehicle 10 has A10＝n、G10＝e、b10＝2、
Figure GDA00032432158200000411
The vehicle 11 has A11＝w、G11＝e、b11＝2、
Figure GDA00032432158200000412
The vehicle 12 has A12＝s、G12＝w、b12＝2、
Figure GDA00032432158200000413
The vehicle 13 has A13＝n、G13＝e、b13＝1、
Figure GDA0003243215820000051
The vehicle 14 has A14＝e、G14＝s、b14＝2、
Figure GDA0003243215820000052
The vehicle 15 has A15＝e、G15＝s、b15＝1、
Figure GDA0003243215820000053
The vehicle 16 has A16＝s、G16＝e、b16＝2、
Figure GDA0003243215820000054
Example 2:
on the basis of the embodiment 1, as shown in fig. 1 and fig. 2, the step 2 of calculating the intersection internal driving track includes the following steps:
according to the difference of the shapes of the running tracks, the calculation of the running tracks is divided into three categories:
when the running track inside the intersection is nonlinear, as shown in fig. 2, the running track rho1As shown, using the arctan function, the time when the trajectory enters the grid and the time when the trajectory leaves the grid are calculated by formula (1) and formula (2), respectively:
Figure GDA0003243215820000055
Figure GDA0003243215820000056
the set P represents all the vehicle tracks inside the intersection, rho represents one vehicle track inside the intersection, and rho belongs to P; set F represents all grids inside the intersection, FcRepresenting a grid, fcE is F; the trajectory rho enters the grid fcAt a position point of
Figure GDA0003243215820000057
Trajectory ρ leaves grid fcAt a position point of
Figure GDA0003243215820000058
Representing the center of a running track rho, and s rho representing the radius of the running track rho;
Figure GDA0003243215820000059
representing the trajectory ρ entering the grid fcAt the time of the day,
Figure GDA00032432158200000510
representing the trajectory ρ leaving the grid fcThe time of day; omega represents the length of the vehicle body in meters, V represents the speed of the vehicle in meters per second;
when the running track inside the intersection is linear and the straight line is parallel to the y-axis of the established rectangular coordinate system, as shown in fig. 2, the running track rho2As shown, using the velocity and displacement formula, the time when the trajectory enters the grid and the time when the trajectory leaves the grid are calculated by formula (3) and formula (4), respectively:
Figure GDA00032432158200000511
Figure GDA00032432158200000512
wherein the content of the first and second substances,
Figure GDA00032432158200000513
a vertical coordinate of an intersection point of the entrance lane and the stop line expressed as a trajectory ρ;
when the driving track inside the intersection is linear and the straight line is parallel to the x axis of the established rectangular coordinate system, the speed and displacement formula is used, and the moment when the driving track enters the grid and the moment when the driving track leaves the grid are respectively calculated by the formula (5) and the formula (6):
Figure GDA00032432158200000514
Figure GDA00032432158200000515
wherein the content of the first and second substances,
Figure GDA00032432158200000516
an abscissa of an intersection point of the entrance lane and the stop line expressed as a trajectory ρ;
example 3:
on the basis of embodiment 1, as shown in fig. 1 and fig. 2, in step 3, the collision of the vehicle in the grid inside the intersection is separated, the number of potential lane changes for selecting different entrance lanes by the vehicle is calculated, a lane change penalty term is used, and traffic control is performed on all the automatically-driven vehicles arriving at the intersection by taking the weighted total delay minimum as an objective function, and the method includes the following steps:
step 31: establishing a conflict separation constraint condition of a vehicle in a grid inside an intersection;
step 32: the lane change times of the vehicle are calculated by a formula (7); the parking delay of the vehicle is calculated by equation (8):
Figure GDA00032432158200000517
Figure GDA00032432158200000518
the set N represents all the automatic driving vehicles arriving at the intersection, N represents one automatic driving vehicle, and N belongs to N; bnDenotes the number of the entrance lane where the vehicle n is currently located, BnThe optimal inlet lane number representing that the vehicle n passes through the intersection;
Figure GDA00032432158200000519
indicating the time at which the vehicle n is best driven into the intersection,
Figure GDA00032432158200000520
representing a predicted time at which the vehicle n arrives at the intersection; k is a radical ofnIndicating the number of lane changes of vehicle n, dnIndicating a delay in parking vehicle n;
step 33: adding a weighting factor, the weighted delay of the vehicle, calculated by equation (9):
Figure GDA0003243215820000061
wherein α represents a weighting factor; dnRepresenting a weighted delay of vehicle n;
step 34: taking the weighted total delay of all the automatic driving vehicles arriving at the intersection as an objective function, carrying out traffic control on all the automatic driving vehicles at the intersection, calculating the optimal entrance lane and the optimal driving-in time of each vehicle passing through the intersection, and calculating by a formula (10):
min∑n∈N(1-α)dn+α|bn-Bn| (10)
in addition to embodiment 1, the weight factor of lane change of the vehicle is set to α ═ 0.1, and the traffic control is performed on 16 vehicles arriving at the intersection, so that the optimal time of entering the intersection and the optimal number of the entrance lane passing through the intersection can be obtained for the 16 vehicles. Thus, the vehicle 1 has
Figure GDA0003243215820000062
B 12; the vehicle 2 is provided with
Figure GDA0003243215820000063
B 22; the vehicle 3 is provided with
Figure GDA0003243215820000064
B 31 is ═ 1; the vehicle 4 is provided with
Figure GDA0003243215820000065
B 42; the vehicle 5 is provided with
Figure GDA0003243215820000066
B 51 is ═ 1; the vehicle 6 is provided with
Figure GDA0003243215820000067
B 61 is ═ 1; the vehicle 7 is provided with
Figure GDA0003243215820000068
B 72; vehicle with a steering wheel8 is provided with
Figure GDA0003243215820000069
B 81 is ═ 1; the vehicle 9 is provided with
Figure GDA00032432158200000610
B 92; the vehicle 10 has
Figure GDA00032432158200000611
B 101 is ═ 1; the vehicle 11 is provided with
Figure GDA00032432158200000612
B 112; the vehicle 12 has
Figure GDA00032432158200000613
B 121 is ═ 1; the vehicle 13 is provided with
Figure GDA00032432158200000614
B13＝1、k 130; the vehicle 14 has
Figure GDA00032432158200000615
B 141 is ═ 1; the vehicle 15 is provided with
Figure GDA00032432158200000616
B 151 is ═ 1; the vehicle 16 has
Figure GDA00032432158200000617
B16＝2。

Claims (1)

1. An automatic intersection traffic control method for optimal entrance lane selection is characterized by comprising the following steps:
step 1: collecting the number of lanes of each inlet lane and each outlet lane of the intersection and numbering the lanes; establishing a rectangular coordinate system, dividing the intersection into a plurality of grids, and numbering the grids; collecting the vehicle inlet direction, the vehicle outlet direction, the number of the current inlet lane and the estimated time of reaching the intersection; inputting a parameter equation of a traffic track inside the intersection, and a position point of the traffic track entering a grid and a position point of the traffic track leaving the grid;
step 2: calculating a nonlinear vehicle path inside the intersection by using an arc tangent function; calculating a linear type driving track inside the intersection by using a speed and displacement formula;
and step 3: avoiding the collision of the vehicles in grids inside the intersection, calculating the potential lane change times of the vehicles selecting different entrance lanes, using a lane change punishment item, and performing traffic control on all automatic driving vehicles arriving at the intersection by taking the weighted total delay minimum as an objective function;
the step 2 of calculating the internal traffic track of the intersection comprises the following steps:
according to the difference of the track shapes, the calculation of the driving track is divided into three categories:
when the driving track inside the intersection is nonlinear, an arc tangent function is used, and the time when the driving track enters the grid and the time when the driving track leaves the grid are respectively calculated by a formula (1) and a formula (2):
Figure FDA0003243215810000011
Figure FDA0003243215810000012
the set P represents all the vehicle tracks inside the intersection, rho represents one vehicle track inside the intersection, and rho belongs to P; set F represents all grids inside the intersection, FcRepresenting a grid, fcE is F; the trajectory rho enters the grid fcAt a position point of
Figure FDA0003243215810000013
Trajectory ρ leaves grid fcAt a position point of
Figure FDA0003243215810000014
Track rhoIs a reference point of
Figure FDA0003243215810000015
When the driving track is nonlinear, the reference point is the center of the driving track, when the driving track is linear, the reference point is the intersection point of the driving track and the exit lane stop line of the driving track, and the radius of the driving track rho is s rho;
Figure FDA0003243215810000016
representing the trajectory ρ entering the grid fcAt the time of the day,
Figure FDA0003243215810000017
representing the trajectory ρ leaving the grid fcThe time of day; omega represents the length of the vehicle body in meters, V represents the speed of the vehicle in meters per second;
when the driving track inside the intersection is linear and the straight line is parallel to the y axis of the established rectangular coordinate system, the speed and displacement formula is used, and the time when the driving track enters the grid and the time when the driving track leaves the grid are respectively calculated by the formula (3) and the formula (4):
Figure FDA0003243215810000018
Figure FDA0003243215810000019
when the driving track inside the intersection is linear and the straight line is parallel to the x axis of the established rectangular coordinate system, the speed and displacement formula is used, and the moment when the driving track enters the grid and the moment when the driving track leaves the grid are respectively calculated by the formula (5) and the formula (6):
Figure FDA00032432158100000110
Figure FDA00032432158100000111
the step 3 comprises the following steps:
step 31: establishing a conflict separation constraint condition of a vehicle in a grid inside an intersection; the vehicle has only one entrance lane and can be calculated by the formula (7); the optimal number of the entrance lane for the vehicle to pass through the intersection is calculated by a formula (8); the actual running track number of the vehicle is calculated by a formula (9); whether the vehicle occupies the grid is calculated by formula (10); the optimal time for the vehicle to drive into the intersection is not earlier than the predicted time for the vehicle to reach the intersection, and is calculated by the formula (11); the time when the vehicle enters the grid and the time when the vehicle leaves the grid are respectively calculated by a formula (12) and a formula (13); two vehicles on the same driving track, wherein the two vehicles do not drive into the intersection at the same time and are calculated by the formulas (14) - (16); and (3) carrying out conflict separation on any two vehicle combinations, and calculating by formulas (17) to (19):
Figure FDA0003243215810000021
Figure FDA0003243215810000022
Figure FDA0003243215810000023
Figure FDA0003243215810000024
Figure FDA0003243215810000025
Figure FDA0003243215810000026
Figure FDA0003243215810000027
Figure FDA0003243215810000028
Figure FDA0003243215810000029
Figure FDA00032432158100000210
Figure FDA00032432158100000211
Figure FDA00032432158100000212
Figure FDA00032432158100000213
wherein M is a large positive number,
Figure FDA00032432158100000214
a vehicle track number which represents that the inlet direction is a and the inlet lane number is l; b isnThe optimal number of the entrance lane, ρ, representing the vehicle n passing through the intersectionnRepresenting the actual track number of the vehicle n passing through the intersection;
Figure FDA00032432158100000215
indicating the time at which the vehicle n is best driven into the intersection,
Figure FDA00032432158100000216
representing a predicted time at which the vehicle n arrives at the intersection;
Figure FDA00032432158100000217
indicating that vehicle n is driving into grid fcAt the time of the day,
Figure FDA00032432158100000218
indicating that vehicle n is driving off grid fcThe time of day;
Figure FDA00032432158100000219
all are variables from 0 to 1; when the vehicle n passes through the intersection from the entrance direction a,
Figure FDA00032432158100000220
when the vehicle n does not pass through the intersection from the direction of entry a,
Figure FDA00032432158100000221
when a vehicle n passes through the intersection from the entrance lane numbered l,
Figure FDA00032432158100000222
when the vehicle n does not pass through the intersection from the entrance lane numbered i,
Figure FDA00032432158100000223
vehicle n occupies grid fcWhen the temperature of the water is higher than the set temperature,
Figure FDA00032432158100000224
vehicle n unoccupied grid fcWhen the temperature of the water is higher than the set temperature,
Figure FDA00032432158100000225
when the vehicle n is running on the trajectory ρ,
Figure FDA00032432158100000226
when the vehicle n is not running on the trajectory ρ,
Figure FDA00032432158100000227
when the vehicle n enters the intersection with priority given to the vehicle m,
Figure FDA00032432158100000228
when the vehicle m drives into the intersection with the priority vehicle n,
Figure FDA00032432158100000229
vehicle n drives into grid fcAt a time not earlier than the moment that the vehicle m drives off the grid fcAt the time of the day (c),
Figure FDA00032432158100000230
vehicle m drives into grid fcAt a time not earlier than the moment that the vehicle n drives off the grid fcAt the time of the day (c),
Figure FDA00032432158100000231
step 32: the lane change times of the vehicle are calculated by a formula (20); the parking delay of the vehicle is calculated by equation (21):
Figure FDA00032432158100000232
Figure FDA00032432158100000233
the set N represents all the automatic driving vehicles arriving at the intersection, N represents one automatic driving vehicle, and N belongs to N; bnDenotes the number of the entrance lane where the vehicle n is currently located, BnThe optimal inlet lane number representing that the vehicle n passes through the intersection;
Figure FDA0003243215810000031
indicating the time at which the vehicle n is best driven into the intersection,
Figure FDA0003243215810000032
representing a predicted time at which the vehicle n arrives at the intersection; k is a radical ofnIndicating the number of lane changes of vehicle n, dnIndicating a delay in parking vehicle n;
step 33: adding a weighting factor, the weighted delay of the vehicle, calculated by equation (22):
Figure FDA0003243215810000033
wherein α represents a weighting factor; dnRepresenting a weighted delay of vehicle n;
step 34: taking the weighted total delay of all the automatic driving vehicles arriving at the intersection as an objective function, carrying out traffic control on all the automatic driving vehicles at the intersection, calculating the optimal entrance lane and the optimal driving-in time of each vehicle passing through the intersection, and calculating by a formula (23):
min∑n∈N(1-α)dn+α|bn-Bn| (23)
formula (23) considers the negative effects of vehicle delay and vehicle lane change at the intersection entrance lane, quantifies the impact of lane change delay, weights the relative difference between the lane where the vehicle is actually located and the optimized target lane to minimize the weighted delay of all vehicles at the intersection, where α represents the weight, d represents the weightnIndicating a delay in parking the vehicle n.
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