Ultra-low-speed crawling method for driverless cars under mixed road congestion

Abstract

The invention belongs to the technical field of unmanned vehicles, and in particular relates to an ultra-low-speed crawling method of unmanned vehicles under mixed road congestion conditions. The specific technical scheme is: analyze the action trajectories of pedestrians and non-motorized vehicles within the range M around the vehicle pre-envelopment area, according to the distance between the front end of the vehicle and pedestrians and non-motorized vehicles, whether the pre-action trajectories of pedestrians and non-motorized vehicles deviate from the vehicle pre-envelope The driving trajectory, whether the pedestrian sees the vehicle, instructs the vehicle to stop and wait, slow down or drive at the same speed; this method comprehensively considers a variety of factors, which can not only ensure the safe passage of pedestrians and non-motor vehicles, but also ensure that the vehicle keeps moving forward. It avoids that vehicles are often unable to continue driving due to the principle of pedestrian safety, and greatly alleviates traffic jams when there is a large flow of people on mixed roads.

Description

technical field [0001] The invention belongs to the technical field of unmanned vehicles, and in particular relates to an ultra-low-speed crawling method of unmanned vehicles under mixed road congestion conditions. Background technique [0002] Mixed urban traffic roads refer to mixed driving of motor vehicles, non-motor vehicles, and pedestrians on the same road. Due to the low standard of the road and the narrow road surface, there is neither a divider nor a distinction between the roadway and the sidewalk, express trains and slow trains. Traffic accidents between people and vehicles are very prone to occur in this mixed traffic mode, and also directly affect the speed and efficiency of all aspects. For example, when a car enters the underground parking lot of a shopping mall, it must first turn from the motorway to the entrance of the underground parking lot, but the entrance of the parking lot is located on the sidewalk, so the car must pass through a mixed road when en...

AI Technical Summary

Problems solved by technology

[0004] In the above cases, when there is less traffic, the driverless car can better avoid pedestrians and drive into the parking lot, or wait for pedestrians to pass the sidewalk before continuing to drive, but when the traffic is large, the driverless car Cars often stop according to the principle of pedestrian safety and cannot continue driving, which will cause serious vehicle congestion

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