智能车辆多信号灯路口快速节能车速规划

doi:10.19562/j.chinasae.qcgc.2021.10.004

Abstract

Abstract:

The existing energy?saving speed planning method of intelligent vehicles for complex scenes at multi signal intersections is usually with big computational burden that cannot be implemented in real-time. This paper proposes an optimized intelligent vehicle energy?saving speed planning method combining dynamic programming and the interior point method， which can rapidly calculate the road energy?saving reference speed based on the vehicle fuel consumption model and the traffic light information， and realize real?time application. Firstly， in this paper， the vehicle fuel consumption model and the signal phase and time mathematical model are established. A weighted orientation graph based on energy consumption per unit distance at cruise speed is constructed by sampling the arrival time at each intersection. The weighted orientation graph is solved via dynamic programming to obtain the optimal period of green light passing phase. Then， taking the optimal green light passing phase as the constraint， the optimal control problem is formulated and transformed into a nonlinear optimization problem， which is solved via the interior point method. To accelerate convergence speed， the initial guess of the interior point method is set to the solution of the weighted orientation graph solved by dynamic programming. Finally， simulation is carried out for evaluation. The results show that：（1） the proposed method can reduce energy consumption by over 30% compared with the improved intelligent driver model；（2） the initial guess close to optimal solution calculated by dynamic programming improves computational efficiency by more than 40%， compared with the rule?based iterative initial guess generation method.

Key words: multi signal intersections, speed planning, dynamic programming, interior point method

Jianghao Leng,Chao Sun,Bing Lu. Fast Energy⁃saving Speed Planning Through Multi Signal Intersections of Intelligent Vehicles[J].Automotive Engineering, 2021, 43(10): 1442-1447.

Figures/Tables 11

符号	描述	数值	单位
m	质量	1 200	kg
$b 0$	巡航燃油消耗参数	0.156 9
$b 1$		2.450 $×$ 10^-2
$b 2$		-7.415 $×$ 10^-4
$b 3$		5.975 $×$ 10^-5
$c 0$	加速燃油消耗参数	0.072 24
$c 1$		9.681 $×$ 10^-2
$c 2$		1.075 $×$ 10^-3
$F d$	怠速燃油消耗率	0.1
$C D$	风阻系数	0.32
$ρ a$	空气密度	1.184	kg/m³
$A ν$	迎风面积	2.5	m²
$μ$	地面阻力系数	0.001 2
$g$	重力加速度	9.81	m/s²
$u m a x$	最大加速度	3	m/s²
$u m i n$	最大减速度	-3	m/s²

References 16

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MIDM		DP+非线性优化
最大车速/（m·s^-1）	油耗/mL	平均车速/（m·s^-1）	油耗/mL
13.88	129.7	6	87.4
16.67	118.6	7	78.9
19.44	137.4	8	59.6
22.22	159.1	9	56.4
25	183.2	10	48.4

MIDM			DP+非线性优化
最大车速/ （m·s^-1）	计算时间/ s	平均车速/ （m·s^-1）	DP提供的初始解计算时间/s	基于规则的初始解计算时间/s
13.88	0.003	6	0.426	0.859
16.67	0.002	7	0.409	0.872
19.44	0.002	8	0.233	0.495
22.22	0.001	9	0.266	0.474
25	0.001	10	0.239	0.539

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Fast Energy⁃saving Speed Planning Through Multi Signal Intersections of Intelligent Vehicles

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节点位置/m	属性	周期/s	红灯/s	偏置/s	限速/m·s^-1
0	起点
200	路口	60	30	10	27.78
400	路口	60	30	30	27.78
600	路口	60	30	0	27.78
800	路口	60	30	40	27.78
1 000	路口	60	30	30	27.78
1 200	路口	60	30	0	27.78
1 400	路口	60	30	50	27.78
1 600	路口	60	30	20	27.78
1 800	路口	60	30	35	27.78
2 000	终点