Driving priority assignment and reference velocity planning method for multi-vehicle cooperation

Patent metadata

Field	Value
Publication number	US-12573291-B2
Application number	US-202519234384-A
Country	US
Kind code	B2
Filing date	Jun 11, 2025
Priority date	Jul 19, 2024
Publication date	Mar 10, 2026
Grant date	Mar 10, 2026

Abstract

The provided is a driving priority assignment and reference velocity planning method for multi-vehicle cooperation. The driving priority assignment method includes: obtaining driving parameter data of vehicles under multi-vehicle cooperation, and identifying potential collision points between vehicles and calculating a time limit for vehicles to drive to the potential collision points, wherein the time limit includes a minimum time and a maximum time; constructing and solving a slack nonlinear programming problem based on the time limit for the vehicles to drive to the potential collision points to obtain an initial solution result, wherein during the process of constructing the slack nonlinear programming problem, a vehicle driving priority p involved in the potential collision points and a time t when the vehicles reach the potential collision points are configured as optimization variables, and introducing a slack variable; and performing iterative solution to obtain an optimal vehicle driving priority.

First claim

What is claimed is:

1 . A driving priority assignment method for multi-vehicle cooperation, comprising the following steps:
Obtaining, for each vehicle, driving parameter data comprising at least a current velocity, a maximum acceleration, a minimum acceleration, a maximum velocity, and a minimum velocity of vehicles under multi-vehicle cooperation, and predicting future driving trajectories of the vehicles and identifying potential collision points between vehicles as intersections of the predicted trajectories between pairs of vehicles and calculating a time limit for vehicles to drive to the potential collision points, the time limit being calculated from the driving parameter data and a distance from each vehicle to each identified potential collision point and, wherein the time limit comprises a minimum time and a maximum time; constructing and solving a slack nonlinear programming problem based on the time limit for the vehicles to drive to the potential collision points to obtain an initial solution result, comprising an initial slack driving priority q, a time t when the vehicles reach the potential collision points, an integer solution index I p , a number of integer solutions N p , a continuous solution index I q , a number of continuous solutions N q , and an optimal priority p*(I p )=q(I p ), wherein during the process of constructing the slack nonlinear programming problem, a vehicle driving priority p involved in the potential collision points and the time t when the vehicles reach the potential collision points are configured as optimization variables, and introducing a slack variable for the vehicle driving priority p; and performing iterative solution based on an initial solution result to obtain an optimal vehicle driving priority, and, during multi-vehicle cooperative driving, re-solving a vehicle real-time reference velocity at each control time interval Δt and driving the vehicles according to updated real-time reference velocities such that: (g-1) a vehicle with later driving priority (right-of-way) decelerates and waits before a potential collision point, and (g-2) after a vehicle with earlier driving priority (right-of-way) passes the potential collision point, the waiting vehicle accelerates and passes the potential collision point, thereby the plurality of vehicles traverse the potential collision points safely and orderly while maintaining vehicle position constraints including at least inter-vehicle spacing not less than a set minimum distance and a limit on a vertical-projection overlap area between vehicles.

2 . The driving priority assignment method for the multi-vehicle cooperation according to claim 1 , wherein a calculation of the minimum time comprises two cases:
case I: the vehicles are in a uniform acceleration process before reaching the potential collision points, and a calculation expression for the minimum time is:

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case II: before reaching the potential collision points, the vehicles are in a uniform acceleration process, and maintain a maximum velocity and travel uniformly after accelerating to the maximum velocity, and a calculation expression for the minimum time is:

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Assignees

• Univ Tongji

Inventors

• Guo Lulu
• Sun Mengge
• Chen Hong

Classifications

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• G08G1/0112

  from the vehicle, e.g. floating car data [FCD] · CPC title

• Y02T10/40

  Engine management systems · CPC title

• G08G1/08

  according to detected number or speed of vehicles · CPC title

• G08G1/048

  with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector · CPC title