CN112652180A - Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp - Google Patents
Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp Download PDFInfo
- Publication number
- CN112652180A CN112652180A CN202011307161.7A CN202011307161A CN112652180A CN 112652180 A CN112652180 A CN 112652180A CN 202011307161 A CN202011307161 A CN 202011307161A CN 112652180 A CN112652180 A CN 112652180A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- surrounding
- vehicles
- surrounding vehicles
- conflict
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a distributed control method and a distributed control system for the efficient running of an intelligent vehicle at a non-signal intersection, wherein the distributed control method comprises the following steps: receiving vehicle information corresponding to surrounding vehicles; judging whether the own vehicle conflicts with surrounding vehicles or not; determining each conflict time of the own vehicle and the surrounding vehicles; obtaining the bids of surrounding vehicles at each conflict time, the time sequence of each conflict time and the corresponding priority thereof; determining a judgment order based on the time sequence and the priority of each conflict time, and sequentially judging whether the bids of surrounding vehicles at each conflict time are greater than or equal to a preset demand bid threshold of the vehicle based on the judgment order; determining a control instruction for controlling a surrounding vehicle; sending the vehicle state and the control instruction of the vehicle to surrounding vehicles; and controlling the surrounding vehicle and the own vehicle to run according to the control instruction, so that the own vehicle and the surrounding vehicle do not collide with each other. The invention can improve the passing efficiency of the signal lamp-free intersection.
Description
Technical Field
The invention relates to the field of traffic control, in particular to a distributed control method and a distributed control system for efficient running of an intelligent vehicle at a non-signal intersection.
Background
Under the environment of the intersection without the signal lamp, vehicles only carry out interactive driving through set traffic regulations due to the guidance of the signal lamp, so that the vehicle driving disorder, the traffic jam and the low traffic efficiency are easily caused, and meanwhile, the traffic accident can be caused. How to control the vehicle running at the intersection efficiently becomes a problem which needs to be solved urgently at the present stage.
Disclosure of Invention
The invention aims to provide a distributed control method and a distributed control system for the efficient running of an intelligent vehicle at a signal-free intersection.
In order to achieve the above object, the present invention provides a distributed control method for efficient driving of a smart vehicle at a signalless intersection, including: receiving vehicle information corresponding to surrounding vehicles, wherein the vehicle information comprises vehicle state information and driving intention; judging whether the own vehicle and the surrounding vehicle conflict or not based on vehicle information corresponding to the own vehicle and the surrounding vehicle respectively; determining respective collision times of the own vehicle and the surrounding vehicle in a case where the own vehicle and the surrounding vehicle have a collision; obtaining bids of surrounding vehicles at each conflict time, and obtaining a time sequence of each conflict time and a corresponding priority thereof; sequentially judging whether the bids corresponding to the surrounding vehicles at each conflict time are greater than or equal to a preset demand bid threshold value of the vehicle or not based on the priority; determining a control instruction for controlling a surrounding vehicle when a bid of the surrounding vehicle is greater than or equal to the demand bid threshold; transmitting the vehicle state of the own vehicle and the control instruction to the surrounding vehicle; and controlling the surrounding vehicle and the own vehicle to run according to the control instruction, so that the own vehicle and the surrounding vehicle do not collide with each other.
Preferably, the determining the respective collision times of the own vehicle and the surrounding vehicles includes: acquiring the speed of the vehicle and the distance between the vehicle and each conflict point; and determining respective collision times of the own vehicle with the surrounding vehicles based on the vehicle speed of the own vehicle and the respective distances.
Preferably, the receiving vehicle information corresponding to surrounding vehicles includes: and receiving vehicle information corresponding to the surrounding vehicles at preset time intervals.
Preferably, the non-signalized intersection is passed under the speed constraint in a case where there is no collision of the own vehicle with the surrounding vehicle.
Preferably, when the bid of the surrounding vehicle is less than the demand bid threshold, the surrounding vehicle is controlled to re-bid and re-acquire the bid of the surrounding vehicle at each of the conflict time.
In addition, the invention also provides a distributed control system for the efficient running of the intelligent vehicle at the intersection without the signal lamp, and the distributed control system for the efficient running of the intelligent vehicle at the intersection without the signal lamp comprises: the information receiving unit is used for receiving vehicle information corresponding to surrounding vehicles, wherein the vehicle information comprises vehicle state information and driving intention; a collision determination unit configured to determine whether there is a collision between a host vehicle and a surrounding vehicle based on vehicle information corresponding to the host vehicle and the surrounding vehicle; a time determination unit configured to determine respective collision times of the own vehicle and the surrounding vehicle in a case where the own vehicle and the surrounding vehicle collide; the information acquisition unit is used for acquiring bids of surrounding vehicles at each conflict time and acquiring a time sequence of each conflict time and a corresponding priority thereof; the demand judging unit is used for sequentially judging whether the bids corresponding to the surrounding vehicles at each conflict time are greater than or equal to a demand bid threshold preset by the vehicle based on the priority; an instruction determination unit configured to determine a control instruction for controlling a surrounding vehicle when a bid of the surrounding vehicle is greater than or equal to the demand bid threshold; an instruction transmitting unit that transmits a vehicle state of the own vehicle and the control instruction to the surrounding vehicle; and a vehicle control unit for controlling the peripheral vehicle and the own vehicle to travel according to the control instruction so that the own vehicle and the peripheral vehicle do not collide with each other.
Preferably, the time determination unit includes: the vehicle speed distance acquisition module is used for acquiring the vehicle speed of the vehicle and the distance between the vehicle and each conflict point; and a time determination module for determining respective collision times of the own vehicle and the surrounding vehicles based on a vehicle speed of the own vehicle and the respective distances.
Preferably, the receiving unit is configured to receive vehicle information corresponding to a surrounding vehicle, and includes: the information receiving unit is used for receiving the vehicle information corresponding to the surrounding vehicles once every preset time.
Preferably, the vehicle control unit is further configured to control the vehicle to pass through the blinker intersection under a speed constraint in a case where there is no collision between the own vehicle and the surrounding vehicle.
Preferably, the distributed control system for efficient driving of the intelligent vehicle at the intersection without the signal lamp further comprises: a bid control unit for controlling the surrounding vehicles to bid again when the bids of the surrounding vehicles are less than the demand bid threshold; and the information acquisition unit is further used for re-acquiring the bids of the surrounding vehicles at each conflict time when the bids of the surrounding vehicles are smaller than the demand bid threshold value.
According to the technical scheme, the invention is different from the traditional centralized method, does not need a super-strong computing platform, does not need expensive sensors such as a laser radar and the like, and only needs to be provided with a vehicle-mounted communication module. In addition, the invention does not need the support of big data, does not need background network training, and only needs the instant state information of a plurality of vehicles in the intersection, thereby further reducing the deployment cost of the algorithm. The invention considers the influence of the priorities of a plurality of surrounding vehicles on the passing efficiency, so that the continuity of the vehicles entering and exiting the intersection is increased, and the passing efficiency of the intersection is further improved. The dynamic characteristics of the front and back games of the behaviors among the vehicles and the game actions are enhanced, and the traffic capacity of the intersection is improved while the safety is ensured.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart illustrating a distributed control method for efficient travel of a smart vehicle at a signalless intersection in accordance with the present invention; and
FIG. 2 is a block diagram of a distributed control system for efficient driving of intelligent vehicles at a signalless intersection according to the present invention.
Description of the reference numerals
1 information receiving unit 2 conflict judging unit
3 time determination unit 4 information acquisition unit
5 demand judging unit 6 instruction determining unit
7 command transmission unit 8 vehicle control unit
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a distributed control method for efficient driving of a smart vehicle at a turn-signal-free intersection, where as shown in fig. 1, the distributed control method for efficient driving of a smart vehicle at a turn-signal-free intersection may include:
s101, vehicle information corresponding to surrounding vehicles is received, wherein the vehicle information comprises vehicle state information and driving intention. The vehicle state information may include a vehicle driving state such as a vehicle speed, a vehicle angular yaw condition, and a driving intention which direction the vehicle is to overrun. The information can be obtained through navigation software, or can be obtained according to historical data of habits of vehicle users, or can be obtained through large-scale data statistics based on the current state of the vehicle.
S102, judging whether the own vehicle and the surrounding vehicle conflict or not based on the vehicle information corresponding to the own vehicle and the surrounding vehicle. Collision means that there is a risk of collision, i.e. the surrounding vehicle and the own vehicle will meet at a point at a certain moment, which is the conflict point of the vehicles.
And S103, determining each conflict time of the self vehicle and the surrounding vehicle when the self vehicle conflicts with the surrounding vehicle. The collision time of the vehicle is determined based on the traveling speed of the vehicle and the distance between the vehicle and the collision point, and the collision point of the vehicle can be predicted from the determination result in step S102, and the distance between the vehicle and the collision point can be determined in combination with the current vehicle position. Specifically, the collision time is determined in the following manner, and since there are many surrounding vehicles, there are many collision times, and the specific manner of determining the collision time includes: acquiring the speed of the vehicle and the distance between the vehicle and each conflict point; and determining respective collision times of the own vehicle with the surrounding vehicles based on the vehicle speed of the own vehicle and the respective distances.
And S104, obtaining the bids of the surrounding vehicles at each conflict time, and obtaining the time sequence of each conflict time and the corresponding priority thereof. The bidding information is from the communication module of the surrounding vehicles, and the surrounding vehicles can determine the bidding conditions of the vehicles in conflict according to the degree of criticality of the event and the vehicle attributes. For example, ambulances generally bid higher and their own demand bid threshold higher (avoidance condition).
And S105, determining a judgment order based on the time sequence of each conflict time and the priority, and sequentially judging whether the bids of the surrounding vehicles at each conflict time are greater than or equal to a preset demand bid threshold of the vehicle based on the judgment order. The bids are only weight values, wherein the priority represents the order of the collision time of the vehicles and the most important collision judgment, for example, the sequence of the collision time is a, b, c, 3 time points, wherein the priority of b is the highest, the ac priority is the same, the judgment of the priority of b is firstly carried out, then the judgment of a is carried out, finally the judgment of c is carried out, the priority with high priority is determined, and the priority with the same priority is determined by the time order.
And S106, when the bid value of the surrounding vehicle is larger than or equal to the demand bid threshold value, determining a control instruction for controlling the surrounding vehicle. The control instruction comprises a running mode for controlling surrounding vehicles and a control mode for controlling the own vehicle, and the control instruction is generally used for indicating the avoidance of the own vehicle and enabling the surrounding vehicles to know the avoidance mode and the current own state of the own vehicle so as to give certain warning to the surrounding vehicles.
S107, the vehicle state of the vehicle and the control command are sent to the surrounding vehicles. The sending mode may be a communication module. And
and S108, controlling the surrounding vehicle and the self vehicle to run according to the control command, so that the self vehicle and the surrounding vehicle do not collide with each other. After S107 is finished, the distribution strategy for the time period is completed, and when another time is reached, the operations of S101-S107 are continuously executed, that is, the vehicle information corresponding to the surrounding vehicles is received once every preset time, where the preset time may be 1S.
Preferably, after S102, the non-signalized intersection is passed under the speed constraint without the collision of the own vehicle with the surrounding vehicles.
Preferably, after S105, when the bid of the surrounding vehicle is smaller than the demand bid threshold, the surrounding vehicle is controlled to re-bid and re-acquire the bid of the surrounding vehicle at each of the conflict time.
The invention utilizes the information interaction among vehicles to embody the dynamic property of the intersection without the signal lamp and realize one of the important characteristics of safe driving. The game theory adopted by the invention can effectively highlight the interactive characteristics among vehicles, strengthen the front and back games among the vehicles and the dynamic characteristics aiming at the game action, and improve the traffic capacity of the intersection while ensuring the safety.
In addition, as shown in fig. 2, the present invention further provides a distributed control system for efficient driving of a smart vehicle at a turn-signal-free intersection, where the distributed control system for efficient driving of a smart vehicle at a turn-signal-free intersection includes: an information receiving unit 1 for receiving vehicle information corresponding to surrounding vehicles, wherein the vehicle information includes vehicle state information and driving intention; a collision determination unit 2 configured to determine whether there is a collision between the own vehicle and a surrounding vehicle based on vehicle information corresponding to the own vehicle and the surrounding vehicle; a time determination unit 3 configured to determine respective collision times of the own vehicle and the surrounding vehicles in a case where the own vehicle and the surrounding vehicles collide; the information acquisition unit 4 is used for acquiring bids of surrounding vehicles at each conflict time, and acquiring a time sequence of each conflict time and a corresponding priority thereof; the demand judging unit 5 is used for sequentially judging whether the bids corresponding to the surrounding vehicles at each conflict time are greater than or equal to a demand bid threshold preset by the vehicle on the basis of the priority; an instruction determination unit 6 for determining a control instruction for controlling the surrounding vehicle when a bid of the surrounding vehicle is greater than or equal to the demand bid threshold; an instruction transmitting unit 7 for transmitting the vehicle state of the own vehicle and the control instruction to the surrounding vehicle; and a vehicle control unit 8 for controlling the peripheral vehicle and the own vehicle to travel according to the control instruction so that the own vehicle and the peripheral vehicle do not collide with each other.
Preferably, the time determination unit 3 includes: the vehicle speed distance acquisition module is used for acquiring the vehicle speed of the vehicle and the distance between the vehicle and each conflict point; and a time determination module for determining respective collision times of the own vehicle and the surrounding vehicles based on a vehicle speed of the own vehicle and the respective distances.
Preferably, the information receiving unit 1 for receiving vehicle information corresponding to surrounding vehicles includes: the information receiving unit 1 is configured to receive vehicle information corresponding to the surrounding vehicle once every preset time.
Preferably, the vehicle control unit 8 is further configured to control the vehicle to pass through the blinked intersection under the speed constraint in a case where there is no collision of the own vehicle with the surrounding vehicle.
Preferably, the distributed control system for efficient driving of the intelligent vehicle at the intersection without the signal lamp further comprises: a bid control unit for controlling the surrounding vehicles to bid again when the bids of the surrounding vehicles are less than the demand bid threshold; and, the information acquiring unit 4 is further configured to, when the bid of the surrounding vehicle is smaller than the demand bid threshold, reacquire the bid of the surrounding vehicle at each of the conflict times.
Compared with the prior art, the distributed control system for the intelligent vehicle to efficiently run at the signalless intersection has the same distinguishing technical characteristics and technical effects as the distributed control method for the intelligent vehicle to efficiently run at the signalless intersection, and the description is omitted here.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A distributed control method for efficient running of an intelligent vehicle at a signal-free intersection is characterized by comprising the following steps:
receiving vehicle information corresponding to surrounding vehicles, wherein the vehicle information comprises vehicle state information and driving intention;
judging whether the own vehicle and the surrounding vehicle conflict or not based on vehicle information corresponding to the own vehicle and the surrounding vehicle respectively;
determining respective collision times of the own vehicle and the surrounding vehicle in a case where the own vehicle and the surrounding vehicle have a collision;
obtaining bids of surrounding vehicles at each conflict time, and obtaining a time sequence of each conflict time and a corresponding priority thereof;
determining a judgment order based on the time sequence of each conflict time and the priority, and sequentially judging whether the bids of surrounding vehicles at each conflict time are greater than or equal to a demand bid threshold preset by the vehicle based on the judgment order;
determining a control instruction for controlling a surrounding vehicle when a bid of the surrounding vehicle is greater than or equal to the demand bid threshold;
transmitting the vehicle state of the own vehicle and the control instruction to the surrounding vehicle; and
and controlling the surrounding vehicle and the own vehicle to run according to the control instruction, so that the own vehicle and the surrounding vehicle do not collide with each other.
2. The distributed control method for efficient driving of a smart vehicle at a signalless intersection according to claim 1, wherein the determining respective collision times of the own vehicle with the surrounding vehicles includes:
acquiring the speed of the vehicle and the distance between the vehicle and each conflict point; and
determining respective collision times of the own vehicle with the surrounding vehicles based on the vehicle speed of the own vehicle and the respective distances.
3. The distributed control method for efficient driving of intelligent vehicles at signalless intersections according to claim 1, wherein the receiving vehicle information corresponding to surrounding vehicles comprises:
and receiving vehicle information corresponding to the surrounding vehicles at preset time intervals.
4. The distributed control method for efficient driving of intelligent vehicles at signalless intersections according to claim 1 wherein the signalless intersections are traversed under speed constraints without conflict between the host vehicle and the surrounding vehicles.
5. The distributed control method for efficient driving of intelligent vehicles at signalless intersections according to claim 1, wherein when bids of surrounding vehicles are less than the demand bid threshold, the surrounding vehicles are controlled to re-bid and re-acquire bids of surrounding vehicles at each of the conflict times.
6. The utility model provides a distributed control system that intelligent vehicle high efficiency was gone under no signal lamp crossing which characterized in that, the distributed control system that intelligent vehicle high efficiency was gone under no signal lamp crossing includes:
the information receiving unit is used for receiving vehicle information corresponding to surrounding vehicles, wherein the vehicle information comprises vehicle state information and driving intention;
a collision determination unit configured to determine whether there is a collision between a host vehicle and a surrounding vehicle based on vehicle information corresponding to the host vehicle and the surrounding vehicle;
a time determination unit configured to determine respective collision times of the own vehicle and the surrounding vehicle in a case where the own vehicle and the surrounding vehicle collide;
the information acquisition unit is used for acquiring bids of surrounding vehicles at each conflict time and acquiring a time sequence of each conflict time and a corresponding priority thereof;
the demand judging unit is used for sequentially judging whether the bids corresponding to the surrounding vehicles at each conflict time are greater than or equal to a demand bid threshold preset by the vehicle based on the priority;
an instruction determination unit configured to determine a control instruction for controlling a surrounding vehicle when a bid of the surrounding vehicle is greater than or equal to the demand bid threshold;
an instruction transmitting unit that transmits a vehicle state of the own vehicle and the control instruction to the surrounding vehicle; and
and the vehicle control unit is used for controlling the surrounding vehicle and the self vehicle to run according to the control instruction, so that the self vehicle and the surrounding vehicle do not collide.
7. The distributed control system for efficient driving of smart vehicles at signalless intersections according to claim 6, wherein the time determination unit includes:
the vehicle speed distance acquisition module is used for acquiring the vehicle speed of the vehicle and the distance between the vehicle and each conflict point; and
a time determination module configured to determine respective collision times of the own vehicle and the surrounding vehicles based on a vehicle speed of the own vehicle and the respective distances.
8. The distributed control system for efficient driving of intelligent vehicles at signalless intersections according to claim 6, wherein the information receiving unit is configured to receive vehicle information corresponding to surrounding vehicles, and includes:
the information receiving unit is used for receiving the vehicle information corresponding to the surrounding vehicles once every preset time.
9. The distributed control system for efficient driving of smart vehicles at signalless intersections of claim 6 wherein the vehicle control unit is further configured to control the vehicles to pass through the signalless intersection under speed constraints if there is no conflict between the host vehicle and the surrounding vehicles.
10. The distributed control system for efficient driving of smart vehicles at signalless intersections according to claim 6, wherein the distributed control system for efficient driving of smart vehicles at signalless intersections further comprises:
a bid control unit for controlling the surrounding vehicles to bid again when the bids of the surrounding vehicles are less than the demand bid threshold;
and the information acquisition unit is further used for re-acquiring the bids of the surrounding vehicles at each conflict time when the bids of the surrounding vehicles are smaller than the demand bid threshold value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011307161.7A CN112652180A (en) | 2020-11-20 | 2020-11-20 | Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp |
| CN202110431014.9A CN112967514B (en) | 2020-11-20 | 2021-04-21 | Distributed control method and system for efficient driving of intelligent vehicle at signal-lamp-free intersection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011307161.7A CN112652180A (en) | 2020-11-20 | 2020-11-20 | Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112652180A true CN112652180A (en) | 2021-04-13 |
Family
ID=75349455
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011307161.7A Pending CN112652180A (en) | 2020-11-20 | 2020-11-20 | Distributed control method and system for efficient running of intelligent vehicle at intersection without signal lamp |
| CN202110431014.9A Active CN112967514B (en) | 2020-11-20 | 2021-04-21 | Distributed control method and system for efficient driving of intelligent vehicle at signal-lamp-free intersection |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110431014.9A Active CN112967514B (en) | 2020-11-20 | 2021-04-21 | Distributed control method and system for efficient driving of intelligent vehicle at signal-lamp-free intersection |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN112652180A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113095601A (en) * | 2021-05-18 | 2021-07-09 | 郑州大学 | Bad-sight-distance intersection safe meeting method and system based on artificial intelligence |
| CN113276884A (en) * | 2021-04-28 | 2021-08-20 | 吉林大学 | Intelligent vehicle interactive decision passing method and system with variable game mode |
| CN113658432A (en) * | 2021-08-17 | 2021-11-16 | 上海交通大学 | No-signal-lamp intersection traffic optimization method based on vehicle traffic priority game |
| CN114120639A (en) * | 2021-11-09 | 2022-03-01 | 广州文远知行科技有限公司 | Vehicle traffic control method, device and storage medium |
| CN114898554A (en) * | 2022-05-06 | 2022-08-12 | 云控智行科技有限公司 | Traffic intersection yielding speed planning method and device without signal lamp |
| CN115273503A (en) * | 2022-07-08 | 2022-11-01 | 上海复运智能科技有限公司 | Traffic control method for park automatic driving vehicle without signal lamp |
| CN115331461A (en) * | 2022-07-28 | 2022-11-11 | 武汉理工大学 | Mixed traffic passing control method and device for signalless intersection and vehicle |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113450570B (en) * | 2021-07-06 | 2022-04-12 | 湖南大学 | Autonomous intersection management system and method based on signal lamp-free intersection |
| CN113763705A (en) * | 2021-08-17 | 2021-12-07 | 上海交通大学 | Intersection automobile passing control method based on bargaining and price-returning passing time |
| CN113658433B (en) * | 2021-08-18 | 2022-08-30 | 苏州工业园区测绘地理信息有限公司 | Method for extracting passenger flow characteristics based on bus card swiping and code scanning data |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102368351B (en) * | 2011-10-19 | 2014-10-29 | 北京航空航天大学 | Method for eliminating traffic conflict of two vehicles at intersection without signal |
| CN102842097A (en) * | 2012-09-24 | 2012-12-26 | 吉林大学 | Urban transportation sustainable development-based road wayleave management and free transaction electronic platform |
| CN105118329B (en) * | 2015-08-24 | 2017-06-13 | 西安电子科技大学 | A kind of method for clearing up the car traffic conflict of unsignalized intersection two |
| US10768637B2 (en) * | 2018-08-30 | 2020-09-08 | Pony Ai Inc. | Prioritizing vehicle navigation |
| CN111653098B (en) * | 2020-06-04 | 2022-04-26 | 南京航空航天大学 | Intersection passing sequence optimization method for automatic guided vehicle with multiple loading capacity |
-
2020
- 2020-11-20 CN CN202011307161.7A patent/CN112652180A/en active Pending
-
2021
- 2021-04-21 CN CN202110431014.9A patent/CN112967514B/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113276884A (en) * | 2021-04-28 | 2021-08-20 | 吉林大学 | Intelligent vehicle interactive decision passing method and system with variable game mode |
| CN113095601A (en) * | 2021-05-18 | 2021-07-09 | 郑州大学 | Bad-sight-distance intersection safe meeting method and system based on artificial intelligence |
| CN113095601B (en) * | 2021-05-18 | 2023-12-12 | 郑州大学 | Artificial intelligence-based safe meeting method and system for poor-vision intersection |
| CN113658432A (en) * | 2021-08-17 | 2021-11-16 | 上海交通大学 | No-signal-lamp intersection traffic optimization method based on vehicle traffic priority game |
| CN113658432B (en) * | 2021-08-17 | 2022-10-14 | 上海交通大学 | No-signal-lamp intersection traffic optimization method based on vehicle traffic priority game |
| CN114120639A (en) * | 2021-11-09 | 2022-03-01 | 广州文远知行科技有限公司 | Vehicle traffic control method, device and storage medium |
| CN114120639B (en) * | 2021-11-09 | 2023-04-11 | 广州文远知行科技有限公司 | Vehicle traffic control method, device and storage medium |
| CN114898554A (en) * | 2022-05-06 | 2022-08-12 | 云控智行科技有限公司 | Traffic intersection yielding speed planning method and device without signal lamp |
| CN115273503A (en) * | 2022-07-08 | 2022-11-01 | 上海复运智能科技有限公司 | Traffic control method for park automatic driving vehicle without signal lamp |
| CN115273503B (en) * | 2022-07-08 | 2024-02-27 | 上海复运智能科技有限公司 | Traffic control method for automatic driving vehicles in park without signal lamp |
| CN115331461A (en) * | 2022-07-28 | 2022-11-11 | 武汉理工大学 | Mixed traffic passing control method and device for signalless intersection and vehicle |
| CN115331461B (en) * | 2022-07-28 | 2023-12-29 | 武汉理工大学 | Mixed traffic passing control method and device for signalless intersection and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112967514B (en) | 2022-05-10 |
| CN112967514A (en) | 2021-06-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112967514B (en) | Distributed control method and system for efficient driving of intelligent vehicle at signal-lamp-free intersection | |
| US9396661B2 (en) | Platoon travel system | |
| CN109643496B (en) | Vehicle control system | |
| US9799224B2 (en) | Platoon travel system | |
| CN102800214B (en) | Vehicle lane change conflict resolution method under vehicle information interaction condition | |
| CN113763742B (en) | Method and device for assisting driving of motorcade based on MEC and storage medium | |
| CN114644016A (en) | Vehicle automatic driving decision-making method and device, vehicle-mounted terminal and storage medium | |
| CN113053167A (en) | Interconnected vehicle intersection collision-free management method in mixed traffic environment | |
| CN113511203B (en) | Vehicle formation following driving control method, system, equipment and storage medium | |
| CN114620070A (en) | Driving track planning method, device, equipment and storage medium | |
| CN113771841A (en) | Driving assistance system, method, computer device and storage medium for a fleet of vehicles | |
| CN115331461B (en) | Mixed traffic passing control method and device for signalless intersection and vehicle | |
| CN115973179A (en) | Model training method, vehicle control method, device, electronic equipment and vehicle | |
| EP4095008A1 (en) | Method and device for controlling vehicle | |
| CN113734169A (en) | Car following control method and system based on vehicle-road cooperation | |
| CN109993965B (en) | Target speed calculation method and device, MEC server and storage medium | |
| JP7503618B2 (en) | Vehicle scheduling method, apparatus, electronic device, storage medium, and program | |
| Matsuo et al. | Design of advanced intersection systems utilizing v2x in an automated society | |
| CN114202949B (en) | Method for identifying adjacent vehicles and adjusting reference paths of expressway intelligent network-connected automobile | |
| KR102655317B1 (en) | Method for transferring platoon, server and user application for providing the same method | |
| KR102221017B1 (en) | Method for guiding platooning service, server and user equipment for providing the same method | |
| CN112929852B (en) | Vehicle-road networking cooperative system based on multi-access edge calculation | |
| US20240036575A1 (en) | Processing device, processing method, processing system, storage medium | |
| CN118259655A (en) | Overtaking control method and device for unmanned vehicle and server | |
| US20220317697A1 (en) | Multi-dimensional extended trajectory planning with changing dimensionality based on horizon steps |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210413 |
|
| WD01 | Invention patent application deemed withdrawn after publication |