不同渗透率下非信控交叉路口混合预约多车协同控制

doi:10.19562/j.chinasae.qcgc.2022.08.004

摘要/Abstract

摘要：

预约式方法是解决非信控交叉路口多车协同控制问题的经典方法。传统预约式方法通常假设路口中仅存在智能网联车辆（intelligent and connected vehicle， ICV），缺少对人类驾驶车辆（human-driven vehicle， HDV）和ICV并存情况的讨论。本文基于预约式方法，针对ICV与HDV混行的非信控交叉路口协同控制方法展开研究，并探究ICV渗透率变化对非信控交叉路口通行效率的影响。首先，对混合交通流下非信控交叉路口进行功能区域划分，并提出混合预约多车协同控制架构；其次，基于预约式方法制定考虑HDV驾驶行为特性的混合预约多车协同控制策略，包括ICV单元格预约策略和ICV速度控制策略；最后，基于SUMO/Python搭建非信控交叉路口混合交通联合仿真平台，以路口通过率和路段平均速度为评价指标，在ICV渗透率分别为100%、90%、60%和30%的情况下进行不同交通流量下的仿真验证。结果表明，所提出的控制策略能保证所有车辆安全通过交叉路口，且非信控路口通行效率随ICV渗透率的提高而提高。

关键词: 非信控交叉路口, 混合交通流, 智能网联汽车, 预约式方法, 不同渗透率

Abstract:

Reservation-based approach is a classical method of multi-vehicle cooperative controlling at traffic-lightless intersections. The traditional reservation-based approach usually assumes that only intelligent and connected vehicles （ICVs） exist at the intersection， which lacks discussion on the coexistence of human-driven vehicles （HDVs） and ICVs in this scenario. In this paper， based on the reservation-based approach， the cooperative control method for traffic-lightless intersections with mixed ICVs and HDVs is studied， and the impact of ICV penetration on traffic efficiency at traffice-lightless intersections is explored. Firstly， the functional zones of the traffic-lightless intersection under mixed traffic flow are divided， and the architecture of the reservation-based multi-vehicle cooperative control system for mixed traffic flow is proposed. Furthermore， the reservation-based multi-vehicle cooperative control strategy for mixed traffic flow is formulated， including the ICV cell reservation strategy and ICV speed control strategy considering the characteristics of HDVs. Finally， the SUMO/Python joint simulation platform is built to simulate the strategy under different traffic flows with the ICV penetration of 30%， 60%， 90% and 100% respectively， with the intersection passing rate and the average speed of the road section as the evaluation indicators. The results show that the proposed control strategy can ensure that all vehicles can pass the intersection safely， and the efficiency of traffic-lightless intersections increases with the increase of ICV penetration.

Key words: traffic-lightless intersections, mixed traffic flow, intelligent and connected vehicles, reservation-based approach, different penetration rates

钟文沁,孔伟伟,李志恒,于杰,罗禹贡. 不同渗透率下非信控交叉路口混合预约多车协同控制[J]. 汽车工程, 2022, 44(8): 1144-1152.

Wenqin Zhong,Weiwei Kong,Zhiheng Li,Jie Yu,Yugong Luo. Reservation Based Multi-Vehicle Cooperative Control at Traffic-Lightless Intersection Under Different Penetration of Mixed Traffic Flow[J]. Automotive Engineering, 2022, 44(8): 1144-1152.

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参数	数值
仿真单位步长/s	0.01
仿真步长个数	11 000
道路限速/（m·s^-1）	10
车长/m	5

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