CAV lane change decision method in freeway off-ramp diversion area

Abstract

The invention discloses a CAV lane-changing decision-making method in an off-ramp diversion area of ​​an expressway, including: constructing a forced lane-changing scene; calculating the existence probability of four types of vehicles when the mixed traffic flow is in a balanced state, and calculating the special lane for automatic driving based on the lane management strategy and the traffic volume of the general-purpose lane to construct the mixed traffic flow operating conditions; CAV chooses to change lanes when the cost function value J of the CAV lane-changing model is the smallest. The CAV lane-changing decision-making method in the freeway off-ramp diversion area of ​​the present invention analyzes the impact of CAV driving away from CAV-L on traffic conditions, establishes the location of the CAV lane-changing intention generation point and the lane-changing decision model, and the research results are future mixed traffic on expressways Traffic management provides important technical guidance, and also provides a theoretical basis for the deployment of special lanes for autonomous driving on expressways.

Description

technical field [0001] The invention belongs to the technical field of intelligent transportation, and relates to a CAV lane-changing decision-making method in an off-ramp diversion area of ​​an expressway. Background technique [0002] In recent years, with the increasing maturity of artificial intelligence technology, the research and development of autonomous driving technology has gradually shifted from pure theoretical research to the combination of theoretical research and specific actual vehicle testing, which means that the traffic mode of vehicles in the future will enter CAV and human-driven vehicles (Human vehicles). Manual Vehicles, HMV) mixed stage. However, the popularization of autonomous driving technology is limited by many factors, such as audience acceptance, matching degree of road infrastructure, relevant laws and regulations, etc., and the traffic mode still needs to experience a long period of mixed CAV and HMV in the process of technology maturity. l...

AI Technical Summary

Problems solved by technology

However, the popularization of autonomous driving technology is limited by many factors, such as audience acceptance, matching degree of road infrastructure, relevant laws and regulations, etc., and the traffic mode still needs to experience a long period of mixed CAV and HMV in the process of technology maturity. stage of row

In addition, due to the mixed traffic flow (referring to the mixed traffic flow of CAV and HMV) and its safety are not yet clear

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