CN113838305B - Control method for motorcade to converge into intelligent networking dedicated channel - Google Patents
Control method for motorcade to converge into intelligent networking dedicated channel Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a control method for a motorcade to converge into a special intelligent internet road, which comprises the following steps: collecting traffic flow information of an intelligent network connection motorcade, calculating the time of a front vehicle of the current motorcade reaching a front gap in an intelligent network connection dedicated channel, predicting the maximum capacity of the front gap, determining the maximum capacity of a middle gap capable of accommodating vehicles in the intelligent network connection dedicated channel, then calculating the time of a back gap when a new front vehicle of the current motorcade reaches the intelligent network connection dedicated channel, predicting the maximum capacity of the back gap, and determining a convergence control scheme according to the maximum capacity of the front gap, the middle gap and the back gap in the intelligent network connection dedicated channel and the length of the current motorcade. The method fully utilizes the intelligent network connection special lane gap, improves lane changing efficiency, reduces traffic flow interference in the special lane, and effectively improves road traffic efficiency and driving safety level.
Description
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a control method for a motorcade to converge into a special intelligent internet road.
Background
At present, under the drive and influence of technologies such as internet, wireless communication, big data, artificial intelligence and the like, an intelligent internet traffic system can greatly improve the overall efficiency of traffic flow operation, and is an ultimate development form of a traffic transportation system, and the conclusion is proved or accepted by countries in the world. Based on the above, building a novel infrastructure facing future traffic is one of the key fields for promoting research and development and application of intelligent internet traffic technology, and is also an important watershed for competition of various countries in the traffic field. The government of China is explicitly proposed in the compendium of construction of the traffic compendium and the government working report of the national institute of health in 2020, the research and development of the intelligent Internet automobile and the related technologies thereof are enhanced, and the novel infrastructure construction and the major traffic engineering construction are mainly supported.
As a main facility for bearing rapid transportation, the special prop has the characteristics of continuity, high efficiency, low complexity and the like, and is one of the potential scenes for firstly realizing the intelligent networking environment. When the market permeability of the intelligent internet automobile gradually rises and the intelligent internet automobile is mixed with a manually-driven automobile, the traffic capacity and the safety level of the expressway are influenced. At the moment, the special lane can forcedly separate the intelligent networked automobile from the manually-driven automobile, reduce the conflict in the mixed traffic flow, reduce the mutual interference between the intelligent networked automobile and the manually-driven automobile, fully play the advantages of the intelligent networked automobile such as observability, controllability, low time delay, high stability and the like, and further improve the traffic efficiency and traffic safety of road facilities. Therefore, the control of the vehicle fleet entering the intelligent internet dedicated road is one of the core technologies for managing and controlling the future mixed traffic flow.
The patent "method, device, equipment and storage medium for cooperative lane change of dual-lane intelligent internet connection" (CN 202011196917.5) mainly solves a plurality of constraints of considering lane change safety, comfort, state targets and the like, and realizes safe cooperative lane change of intelligent internet connection; the patent "an intelligent networking automobile cooperative scheduling lane change method" (CN 201911212449.3) is based on a DQN network intelligent algorithm, and realizes safety gap selection and lane change trajectory planning; the patent 'intelligent motorcade lane change guiding method and system for multi-lane express way exit ramp sub-area' (CN202110066741. X) is based on a traffic state detection module, and solves the problem of optimal planning of vehicle lane change time and lane change path. Therefore, the published documents and the patent do not consider that the target lane is the intelligent internet dedicated lane, a stable motorcade is formed in the dedicated lane, and a control method for converging the motorcade into the intelligent internet dedicated lane is not involved.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention aims to provide a control method for a motorcade to merge into an intelligent internet dedicated channel, which is used for acquiring traffic flow information of the intelligent internet motorcade, predicting the maximum merging capacity of a forward gap, a middle gap and a backward gap in the intelligent internet dedicated channel and determining a control scheme for the motorcade to merge into the intelligent internet dedicated channel according to the maximum merging capacity of the three gaps and the current length of the motorcade. The method fully utilizes the gap of the intelligent network connection dedicated road, improves the road changing efficiency, reduces the interference to traffic flow in the intelligent network connection dedicated road, and further improves the road traffic efficiency and the driving safety level.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
(1) Collecting traffic flow information of an intelligent network connection motorcade, wherein the intelligent network connection motorcade comprises a target motorcade A to be merged into an intelligent network connection special channel and four motorcades forming a forward gap, a middle gap and a backward gap in the intelligent network connection special channel, and the four motorcades are respectively marked as a motorcade B, a motorcade C, a motorcade D and a motorcade E in a downstream-to-upstream sequence;
(2) Intelligent networking special for calculating arrival of A head vehicle of target fleetUsing the time of the forward gap in the channel and predicting the maximum influx capacity N of the forward gap A_BC ；
(3) Determining maximum import capacity N of intermediate gap in intelligent network connection dedicated channel A_CD ；
(4) If the number of A vehicles of the target fleet is N A ≤N A_BC Then the target motorcade A converges into the forward gap in the intelligent networking dedicated channel along the traffic flow direction; if N is present A_BC +N A_CD ≥N A ＞N A_BC Then the target motorcade A sequentially converges into the forward clearance N in the intelligent networking dedicated channel along the traffic flow direction A_BC Vehicle and intermediate space N A -N A_BC A vehicle; if N is present A ＞N A_BC +N A_CD Entering the step (5);
(5) Calculating the Nth in the target fleet A A_BC +N A_CD +1 time for the vehicle to reach the backward clearance in the intelligent networking dedicated channel, and predicting the maximum influx capacity N of the backward clearance A_DE ；
(6) If N is present A -N A_BC -N A_CD ≤N A_DE Then the target motorcade A is sequentially converged into the forward gap N in the intelligent network connection dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A -N A_BC -N A_CD A vehicle; if N is present A -N A_BC -N A_CD ＞N A_DE Then the target motorcade A sequentially converges into the forward clearance N in the intelligent networking dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A_DE Vehicle, remaining N A -N A_BC -N A_CD -N A_DE The vehicle continues to run at a constant speed in the original state.
Preferably, in the step (1), the intelligent internet motorcade traffic flow information comprises the coordinates X of the front bumper of the target motorcade A AL Rear bumper coordinate X of tail car AF Time distance T between two car heads A And a running speed V A And number of vehicles N A (ii) a Front bumper coordinate X of motorcade B, motorcade C, motorcade D and motorcade E BL 、X CL 、X DL 、X EL Rear bumper of trailerCoordinate X BF 、X CF 、X DF 、X EF V. running speed B 、V C 、V D 、V E (ii) a Comfortable acceleration a of intelligent internet motorcade ac And comfort deceleration a de Length L of intelligent vehicle in intelligent networked fleet veh 。
Preferably, in the step (2), the time t when the head vehicle of the target fleet A reaches the forward gap in the intelligent networking dedicated road is used AB The calculation method is as follows:
maximum ingress capacity N of forward gap A_BC Comprises the following steps:
in the formula L BC The distance S between the motorcade B and the motorcade C when the first vehicle of the target motorcade A reaches the forward clearance in the intelligent network connection dedicated lane BA Is the safe distance between the A head car and the B tail car of the target motorcade, S AC For the safe distance between the tail vehicle A and the head vehicle C of the target motorcade, the calculation method comprises the following steps:
L BC ＝X BF -X CL +(V B -V C )t AB
S BA ＝V A ·Δt F
S AC ＝V C ·Δt L
in the formula,. DELTA.t F 、Δt L In the invention, the default values of the rear safety time interval and the front safety time interval are as follows: Δ t L ＝1.0s，Δt F ＝1.5s。
Preferably, in step (3), the maximum import capacity N of the intermediate space in the intelligent networking dedicated channel is A_CD The calculation method comprises the following steps:
in the formula L CD The distance S between the motorcade C and the motorcade D when the first vehicle of the target motorcade A reaches the forward clearance in the intelligent network connection dedicated lane CA Is the safe distance between the A head car and the C tail car of the target motorcade, S AD The calculation method is that the safe distance between the tail vehicle A and the head vehicle D of the target motorcade is as follows:
L CD ＝X CF -X DL +(V C -V D )t AC
S CA ＝V A ·Δt F
S AD ＝V D ·Δt L
in the formula t AC The calculation method is that the time when the head vehicle of the current fleet A reaches the middle gap in the intelligent network connection dedicated lane is as follows:
in the formula T LC The default value of the average duration of the lane changing process of the intelligent vehicles in the intelligent networked vehicle fleet is T LC ＝4s。
Preferably, in step (5), the nth part of the target fleet A A_BC +N A_CD +1 time t for vehicle to reach backward gap in intelligent network connection dedicated channel AD The calculation method is as follows
In the formula
For the Nth in the target fleet A A_BC +N A_CD The calculation method of the front bumper coordinates of +1 vehicle is as follows:
maximum influx capacity N of the backward gap A_DE Is as follows;
in the formula L DE The distance between the motorcade D and the motorcade E when the first vehicle of the target motorcade A reaches the forward clearance in the intelligent network connection dedicated lane, S DA Is the safe distance between the A head car and the D tail car of the target motorcade AE The calculation method is that for the safe distance between the A tail vehicle of the target motorcade and the E head vehicle of the motorcade, the safe distance is calculated as follows:
L DE ＝X DF -X EL +(V D -V E )t AD
S DA ＝V A ·Δt F
S AE ＝V E ·Δt L 。
has the advantages that: the invention discloses a control method for converging a motorcade into an intelligent network connection dedicated channel, which perfects the research on a channel change control algorithm for converging the motorcade into the intelligent network connection dedicated channel, fully utilizes various gaps of the intelligent network connection dedicated channel based on the traffic flow information of the current motorcade and a target intelligent network connection dedicated channel, scientifically and reasonably distributes the proportion of different gaps for converging the target motorcade, improves the channel change efficiency, reduces the interference of converging vehicles on the stable traffic flow of the dedicated channel, and effectively improves the road traffic efficiency and the driving safety level.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
In order that the manner in which the present invention is attained and can be understood in detail, a more particular description of the invention briefly summarized above may be had by reference to the embodiments thereof which are illustrated in the appended drawings.
In one embodiment, as shown in fig. 1, a method for controlling a fleet to merge into an intelligent internet dedicated channel is provided, which predicts the maximum merging capacity of a forward gap, a middle gap and a backward gap in the intelligent internet dedicated channel by collecting traffic flow information of the fleet of the intelligent internet, and determines a control scheme for the target fleet to merge into the intelligent internet dedicated channel according to the maximum merging capacity of the three types of gaps and the length of the target fleet.
In one embodiment, the control device for the vehicle fleet to enter the intelligent network dedicated channel comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the control method for the vehicle fleet to enter the intelligent network dedicated channel when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the steps of the method for controlling a platoon merging into an intelligent networked private lane as described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include non-volatile and/or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In one embodiment as shown in fig. 2, a certain road section has 3 lanes, the target vehicle fleet a is located in the middle lane, the left lane is the dedicated intelligent internet lane, and the existing vehicle fleet B, vehicle fleet C, vehicle fleet D and vehicle fleet E in the dedicated intelligent internet lane form a forward gap, a middle gap and a backward gap. The method comprises the following steps of determining an import control scheme according to a control method for importing a target motorcade A into an intelligent network connection dedicated channel by changing the channel, wherein the detailed steps are as follows:
(1) Collecting traffic flow information of intelligent networked motorcade
The traffic flow information of the intelligent internet connection motorcade comprises the first front bumper coordinate X of the target motorcade A in the middle lane AL Rear bumper coordinate X of tail car AF Time distance T between two adjacent cars A And a running speed V A And number of vehicles N A (ii) a The coordinates of the front bumpers of the motorcade B, the motorcade C, the motorcade D and the motorcade E in the intelligent network connection dedicated lane are respectively recorded as X BL 、X CL 、X DL 、X EL And the coordinates of the rear bumper of the tail car are respectively marked as X BF 、X CF 、X DF 、X EF The running speeds are respectively marked as V B 、V C 、V D 、V E (ii) a Comfortable acceleration a of intelligent internet motorcade ac And comfort deceleration a de Length L of intelligent vehicle in intelligent networked fleet veh In this embodiment, the default value is a ac ＝4m/s 2 ，a de ＝4m/s 2 ，L veh ＝5m。
(2) Calculating the time of the A head vehicle of the target motorcade reaching the forward gap in the intelligent networking private road, and predicting the maximum influx capacity of the forward gap
Time t for the target motorcade A head vehicle to reach the forward gap in the intelligent networking dedicated channel AB The calculation method is as follows:
L BC ＝X BF -X CL +(V B -V C )t AB
S BA ＝V A ·Δt F
S AC ＝V C ·Δt L
in the formula L BC The distance S between the motorcade B and the motorcade C when the first vehicle of the target motorcade A reaches the forward clearance in the intelligent network connection dedicated lane BA Is the safe distance between the A head car and the B tail car of the target motorcade, S AC Is the safe distance, delta t, between the target fleet A tail car and the fleet C head car F 、Δt L The default value is Δ t for the rear safety time interval and the front safety time interval in this embodiment L ＝1.0s，Δt F ＝1.5s。
From this, the maximum influx capacity N of the forward gap can be obtained A_BC Comprises the following steps:
(3) Determining maximum import capacity of intermediate gap in intelligent network connection dedicated channel
L CD ＝X CF -X DL +(V C -V D )t AC
S CA ＝V A ·Δt F
S AD ＝V D ·Δt L
In the formula L CD The distance between the motorcade C and the motorcade D when the first vehicle of the target motorcade A reaches the forward clearance in the intelligent network connection dedicated lane, S CA Is the safe distance between the A head car and the C tail car of the target motorcade, S AD Is the safe distance between the target fleet A tail vehicle and the fleet D head vehicle, t AC The time T of the A head vehicle of the target motorcade reaching the middle gap in the intelligent network connection dedicated lane LC The default value is T in the embodiment, which is the average duration of the lane changing process of the intelligent vehicles in the intelligent networked fleet LC ＝4s。
The maximum convergence of the intermediate clearance in the intelligent network connection dedicated channel can be obtained according to the following formulaInput capacity N A_CD ：
(4) If the number of A vehicles of the target fleet is N A ≤N A_BC Executing the control scheme in the step (7); if N is present A_BC +N A_CD ≥N A ＞N A_BC Executing the control scheme in the step (8); if N is present A ＞N A_BC +N A_CD Then step (5) is entered.
(5) Calculating the Nth in the target fleet A A_BC +N A_CD +1 vehicle arrival time of backward gap in intelligent network connection dedicated channel, and predicting maximum influx capacity of backward gap
Nth in target fleet A A_BC +N A_CD Coordinates of front bumper of +1 vehicle
The calculation method is as follows:
nth in target fleet A A_BC +N A_CD +1 time t for vehicle to reach backward gap in intelligent network connection dedicated channel AD Calculated according to the following formula:
L DE ＝X DF -X EL +(V D -V E )t AD
S DA ＝V A ·Δt F
S AE ＝V E ·Δt L
in the formula L DE The distance S between the motorcade D and the motorcade E when the front vehicle of the current motorcade A reaches the forward gap in the intelligent network connection dedicated lane DA For the safety distance between the fleet A head car and the fleet D tail car, S AE The safe distance between the motorcade A tail vehicle and the motorcade E head vehicle is obtained;
therefore, the maximum influx capacity N of the backward gap A_DE Comprises the following steps:
(6) If N is present A -N A_BC -N A_CD ≤N A_DE Executing the control scheme in the step (9); if N is present A -N A_BC -N A_CD ＞N A_DE Executing the control scheme in the step (10);
(7) The target motorcade A converges into a forward gap in the intelligent networking dedicated channel along the traffic flow direction;
(8) The target motorcade A sequentially converges into the forward clearance N in the intelligent network connection dedicated channel along the traffic flow direction A_BC Vehicle and intermediate space N A -N A_BC A vehicle;
(9) The target motorcade A sequentially converges into the forward clearance N in the intelligent network connection dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A -N A_BC -N A_CD A vehicle;
(10) The target motorcade A sequentially converges into the forward clearance N in the intelligent network connection dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A_DE Vehicle, remaining N A -N A_BC -N A_CD -N A_DE The vehicle keeps the original state and runs at a constant speed.
Calculated in this example N A ＝10，N A_BC ＝2，N A_CD ＝3，N A_DE And if= 4, merging the target vehicle fleet a into the forward gap along the direction of traffic flow from (1) to (r), merging the vehicles (1) and (2) into the middle gap, merging the vehicles (3) to (5) into the rear gap, merging the vehicles (6) to (9) into the middle gap, and continuing to run at the uniform speed by the remaining vehicles (r).
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (5)
1. A control method for a motorcade to converge into a dedicated intelligent internet road is characterized by comprising the following steps:
(1) Collecting traffic flow information of an intelligent network connection motorcade, wherein the intelligent network connection motorcade comprises a target motorcade A to be converged into an intelligent network connection dedicated channel and four motorcades B, C, D and E which form a forward gap, a middle gap and a backward gap in the intelligent network connection dedicated channel, and the motorcade B, the motorcade C, the motorcade D and the motorcade E are sequenced from downstream to upstream; the traffic flow information of the intelligent internet fleet comprises the following steps: head-front bumper coordinate X of target fleet a AL Rear bumper coordinate X of tail car AF Time distance T between two car heads A And a running speed V A And number of vehicles N A (ii) a Front bumper coordinate X of motorcade B, motorcade C, motorcade D and motorcade E BL 、X CL 、X DL 、X EL X, rear bumper coordinate of tail car BF 、X CF 、X DF 、X EF V. running speed B 、V C 、V D 、V E (ii) a Comfortable acceleration a of intelligent networked fleet ac And comfort deceleration a de (ii) a Intelligent vehicle length L in intelligent network fleet veh ；
(2) Calculating the time t of the A head vehicle of the target motorcade reaching the forward gap in the intelligent network connection dedicated lane AB And predicting the maximum influx capacity N of the forward gap A_BC (ii) a Maximum ingress capacity N of the forward gap A_BC Comprises the following steps:
in the formula L BC For target fleet A first vehicle arrival intelligenceDistance between motorcade B and motorcade C during forward clearance in energy networking private track, L BC ＝X BF -X CL +(V B -V C )t AB ；S BA Is the safety distance between the head car of the fleet A and the tail car of the fleet B, S BA ＝V A ·Δt F ；S AC For the safety distance between the fleet A tail car and the fleet C head car, S AC ＝V C ·Δt L ；Δt F 、Δt L A rear safety time interval and a front safety time interval;
(3) Determining maximum import capacity N of intermediate gap in intelligent networking dedicated channel A_CD (ii) a Maximum import capacity N of intermediate gap in intelligent networking dedicated channel A_CD The calculation method comprises the following steps:
in the formula L CD The distance L between the motorcade C and the motorcade D when the front vehicle of the current motorcade A reaches the forward gap in the intelligent network connection dedicated lane CD ＝X CF -X DL +(V C -V D )t AC ；S CA For the safety distance between the fleet A head car and the fleet C tail car, S CA ＝V A ·Δt F ；S AD For the safety distance between the fleet A tail cars and the fleet D head cars, S AD ＝V D ·Δt L ；t AC The time when the head vehicle of the current motorcade A reaches the middle gap in the intelligent network connection dedicated channel,
T LC the average time length of the intelligent vehicle lane changing process in the intelligent networked fleet is obtained;
(4) If the number of A vehicles in the target fleet is N A ≤N A_BC Then the target motorcade A converges into the forward gap in the intelligent network connection dedicated channel along the traffic flow direction; if N is present A_BC +N A_CD ≥N A ＞N A_BC Then the target motorcade A sequentially converges into the forward clearance N in the intelligent networking dedicated channel along the traffic flow direction A_BC Vehicle and intermediate space N A -N A_BC A vehicle; if N is present A ＞N A_BC +N A_CD Entering the step (5);
(5) Calculating the Nth in the target fleet A A_BC +N A_CD +1 time t for vehicle to reach backward gap in intelligent network connection dedicated channel AD And predicting the maximum influx capacity N of the backward gap A_DE (ii) a Maximum influx capacity N of the backward gap A_DE Is as follows;
in the formula L DE The distance L between a motorcade D and a motorcade E when a head vehicle of a current motorcade A reaches a forward gap in a special lane of the intelligent network connection DE ＝X DF -X EL +(V D -V E )t AD ；S DA For the safety distance between the fleet A head car and the fleet D tail car, S DA ＝V A ·Δt F ；S AE For the safe distance between the fleet A tail car and the fleet E head car, S AE ＝V E ·Δt L ；
(6) If N is present A -N A_BC -N A_CD ≤N A_DE Then the target motorcade A sequentially converges into the forward clearance N in the intelligent networking dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A -N A_BC -N A_CD A vehicle; if N is present A -N A_BC -N A_CD ＞N A_DE Then the target motorcade A is sequentially converged into the forward gap N in the intelligent network connection dedicated channel along the traffic flow direction A_BC Vehicle, intermediate space N A_CD Vehicle and rear clearance N A_DE Vehicle, remaining N A -N A_BC -N A_CD -N A_DE The vehicle keeps the original state and runs at a constant speed.
2. The method as claimed in claim 1, wherein in step (2), the target fleet A first vehicle arrives atTime t of forward gap in intelligent networking dedicated channel AB The calculation method is as follows:
3. the method as claimed in claim 1, wherein in step (5), the target fleet A is at Nth of the Nth road A_BC +N A_CD +1 time t for vehicle to reach backward gap in intelligent network connection dedicated channel AD The calculation method is as follows:
in the formula
For the Nth in the target fleet A A_BC +N A_CD The front bumper coordinates of +1 vehicle,
4. a control device for a vehicle fleet accessing an intelligent internet dedicated channel, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor executes the computer program to implement the steps of the method for controlling the vehicle fleet accessing the intelligent internet dedicated channel according to any one of claims 1 to 3.
5. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, performs the steps of the method for controlling a platoon to converge to an intelligent internet-dedicated track according to any one of claims 1 to 3.
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| CN107933551A (en) * | 2017-11-27 | 2018-04-20 | 长安大学 | A kind of intelligence fleet lane-change method |
| CN112389430A (en) * | 2020-11-06 | 2021-02-23 | 北京航空航天大学 | Method for judging time period for switching lane of vehicle into fleet based on offset rate |
| CN112907987A (en) * | 2021-01-19 | 2021-06-04 | 吉林大学 | Multi-lane express way exit ramp shunting area intelligent motorcade lane change guiding method and system |
| CN112689024A (en) * | 2021-01-20 | 2021-04-20 | 北京主线科技有限公司 | Method, device and system for changing lanes of goods-wagon queue with cooperative vehicle and road |
| CN113264049A (en) * | 2021-04-26 | 2021-08-17 | 同济大学 | Intelligent networking fleet cooperative lane change control method |
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