自动驾驶车辆在交叉口的通行模式研究

Traffic Patterns for Intelligent Vehicles in the Intersection

以GPS/DR/MM组合定位技术和车路协同技术为基础,构建自动驾驶车辆通过交叉口的3种通行模式,分别为信号灯自适应通行模式、车车自组织通行模式和基于车路协同的中央协调通行模式。这3种通行模式可以减少车辆延误、避免交通冲突、减少交通事故、提高交通运行效率,实现自动驾驶车辆在交叉口的无障碍通行。根据车辆到达率、临界速度和平均车辆间距等参数,构造间隙移动模型和圆周轨迹模型,计算自动驾驶车辆3种通行模式下交叉口的通行能力。

With the applications of GPS/DR/MM integrated positioning technology and vehicle infrastructure integration technology, three traffic patterns with which intelligent vehicles go through the intersection are put forward. These three traffic patterns include signal lights adaptive traffic pattern, vehicle self-organizing traffic pattern and vehicle infrastructure integration traffic pattern. They can reduce vehicle delay, avoid traffic conflicts, decrease the probability of traffic accidents, improve traffic efficiency and realize the barrier-free accessibility of intelligent vehicles to the intersection. According to the parameters such as vehicles arrival rate, critical velocity and the average vehicle spacing, a clearance movement model and a circular path model are established respectively in view of these three traffic patterns.