汽车工程

汽车工程 ›› 2018, Vol. 40 ›› Issue (10): 1223-1229.doi: 10.19562/j.chinasae.qcgc.2018.010.015

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考虑信号交叉口延时的最优车辆路径规划算法*

胡林1,3, 钟远兴1,3, 黄晶2, 杜荣华1,3, 张新1,3   

  1. 1.长沙理工大学汽车与机械工程学院,长沙 410114;
    2.湖南大学,汽车车身先进设计制造国家重点实验室,长沙 410082;
    3.长沙理工大学,工程车辆安全性设计与可靠性技术湖南省重点实验室,长沙 410114
  • 收稿日期:2017-09-06 出版日期:2018-10-25 发布日期:2018-10-25
  • 通讯作者: 胡林,副教授,博士,E-mail:hulin888@sohu.com。
  • 基金资助:
    *国家自然科学基金面上项目(51475048,51775178,51875049)、湖南省教育厅重点项目(17A004)和工程车辆安全性设计与可靠性技术湖南省重点实验室开放基金(KF1609)资助。

Optimal Path Programming Algorithm with Consideration of Signalized Intersection Delay

Hu Lin1,3, Zhong Yuanxing1,3, Huang Jing2, Du Ronghua1,3, Zhang Xin1,3   

  1. 1.School of Automotive and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410114;
    2.Hunan University, State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Changsha 410082;
    3.Changsha University of Science and Technology, Hunan Province Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle, Changsha 410114
  • Received:2017-09-06 Online:2018-10-25 Published:2018-10-25

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摘要： 本文中提出了一种考虑信号交叉口等待时间的车辆最优路径规划算法。通过GPS采集的浮动车数据与电子地图进行匹配,实时计算出各路段的车辆平均行驶速度和通行时间。基于马尔科夫链构建信号交叉口红绿灯的概率模型,通过车路协同技术预先获取各路段交叉口信号灯的位置和相位配时信息,并在车辆接近交叉口时对车辆速度进行优化,将车辆加速通过交叉口视为绿灯时间的延长,并以此构建车辆快速通过交叉口的等待时间模型。在此基础上,结合A*算法,提出一种考虑快速通过信号交叉口的改进A*算法。最后选取长沙市区某路网为算例进行仿真分析,结果表明改进A*算法所得路径的通行时间明显短于传统A*算法。

关键词: 最优路径算法, 车路协同, 信号交叉口, 等待时间

Abstract: An optimum path programming algorithm is proposed in this paper with consideration of waiting time at signalized intersections. Firstly through the collection of floating vehicle data by GPS and matching with electronic map, the average vehicle speed and traveling time at each road section are calculated real time. Then the probability model of traffic lights at intersections is constructed based on Markov chain, and by adopting vehicle-to-infrastructure communication technique, the position and phase timing information of traffic lights at each intersection are obtained in advance and the vehicle speed is optimized when vehicle is approaching intersection. Next, vehicle runs through the intersection in acceleration is considered as an extension of green phase, with which the waiting time model of vehicle fast passing through intersection is constructed, and based on this and A* algorithm, an improved A* algorithm is put forward. Finally a simulation is conducted with a road network in Changsha city as an example, and the results show that the travel time from starting point to destination obtained with the improved A* algorithm is obviously shorter than that with traditional A* algorithm

Key words: optimal path algorithm, cooperative vehicle-infrastructure system, signalized intersection, waiting time