无信号灯交叉路口智能车辆调度算法研究  

Research on Intelligent Vehicle Scheduling Algorithm for Unsignalized Intersection

作　　者：谢彭辉 孙宁[1] 庞堯 赵文骞 钱俊杰 XIE Penghui;SUN Ning;PANG Yao;ZHAO Wenqian;QIAN Junjie(College of Automotive and Transportation Engineering,Nanjing Forestry University,Nanjing 210037,China;College of Information Science and Technology,Nanjing Forestry University,Nanjing 210037,China)

机构地区：[1]南京林业大学汽车与交通工程学院,江苏南京210037 [2]南京林业大学信息科学技术学院,江苏南京210037

出　　处：《自动化仪表》2024年第4期35-39,共5页Process Automation Instrumentation

基　　金：国家自然科学基金资助项目(61803206);产业前瞻与共性关键技术重点基金资助项目(BE2017008-2);南京林业大学青年科学创新基金资助项目(CX2018004);南京林业大学2022年大学生创新训练计划基金资助项目(2022NFUSPITP0354)。

摘　　要：针对车辆在通过无信号灯交叉路口时存在通行效率低、发生冲突碰撞概率大、通行等待时间长等问题,提出了一种优化调度算法。将交叉路口网格化。考虑车辆在每个网格的方向权值、预警权值、转向权值并进行实时动态赋权,根据权值为车辆实时更新最优路径。基于此,提出了一种基于动态权值路径的算法以寻找车辆最佳行驶路径,可以根据交叉路口车辆的运行环境灵活调整每辆车的运行路线。通过将交叉路口网格化和使用动态权值规划路径相结合,该研究为避免发生碰撞、提高通行效率提供了可行的思路。An optimized scheduling algorithm is proposed to address the problems of low passage efficiency,high probability of conflict and collision,and long passage waiting time when vehicles pass through unsignalized intersections.The intersection is grided.Considering the direction weights,warning weights,steering weights and real-time dynamic assignment of vehicles in each grid,and updating the optimal paths for vehicles in real time according to the weights.Based on this,an algorithm based on dynamic weights path is proposed to find the optimal traveling path for vehicles,which can flexibly adjust the operating route of each vehicle according to the operating environment of intersection vehicles.By combining intersection gridding and planning paths using dynamic weights,the research provides a feasible idea for avoiding collisions and improving access efficiency.

关 键 词：智能交通 无人驾驶 车辆调度 动态权值 无信号灯交叉路口 最优路径 网格化路口 

分 类 号：TH-39[机械工程]