智能网联车辆在无信号交叉口的避让策略  

Avoidance Strategy of Connected Autonomous Vehicles at Unsignalized Intersections

作　　者：邹清全[1] ZOU Qingquan(SAIC Motor Co.,Ltd,Shanghai 201804,China)

机构地区：[1]上海汽车集团股份有限公司,上海201804

出　　处：《交通与运输》2021年第3期51-55,共5页Traffic & Transportation

摘　　要：智能网联车辆为无信号交叉口的安全和效率提高提供新思路。以双向2车道无信号交叉口为研究对象,提出基于车辆轨迹预测的车车冲突检测算法,在此基础上制定基于车辆优先级、道路交通安全法、道路优先级的三级判定法则,由此提出冲突碰撞避免策略。以典型的交叉口交叉冲突场景为例,对5种避撞策略进行仿真测试。仿真结果表明,各种策略均能实现避撞,但前4种策略车辆延误均有所增加;以单车行程时间为效率指标,前车状态保持不变,后车在距离冲突点50 m处减速的策略为兼顾安全和效率的最优策略。Connected and autonomous vehicles provide new ideas for improving the safety and efficiency of unsignalized intersections.In this thesis,taking the typical unsignalized intersection of cross two-way and two lane as the research object,a vehicle-vehicle conflict detection algorithm based on vehicle trajectory prediction is proposed.On this basis,a three-level decision rule based on vehicle priority,road traffic safety law and road priority is formulated,and a conflict avoidance strategy is proposed.Based on a typical conflict scenario at an intersection,five collision avoidance strategies are simulated.The simulation results show that each strategy could avoid potential collision,but the vehicle delay was increased for the first four strategies.Taking the single vehicle travel time as the efficiency index,the strategy in which the front vehicle state remaines unchanged,and the rear vehicle decelerated 50 meters away from the conflict point is the optimal strategy for both safety and efficiency.

关 键 词：智能网联 无信号交叉口 轨迹预测 冲突检测算法 避撞策略 

分 类 号：U491[交通运输工程—交通运输规划与管理]