混合交通下非信控交叉口队列预约式控制

doi:10.19562/j.chinasae.qcgc.2022.07.001

Abstract

Abstract:

The most current researches on the coordination control for intelligent and connected vehicle （ICV） at unsignalized urban intersections assume a 100% market penetration rate of ICV without consideration of the effects of human driven vehicle （HDV） on the system. This paper aims at resolving the coordinative control problem at unsignalized intersections under mixed traffic condition with HDVs and ICVs coexist， and exploring the effects of ICV penetration rate on system performance. Firstly， a reservation-based hierarchical platoon control framework is proposed， in which， the top layer assigns the intersection crossing moment for each vehicle and the bottom layer is in charge of execution and speed trajectory planning. Then the control and scheduling strategies of ICV and HDV are formulated respectively based on platoon reservation way. Finally， a comparative simulation is performed under different ICV penetration rates and traffic flows. The results show that under an ICV penetration rate of 10% to 100% and a traffic flow of 400 to 1 000 vehicles per hour， the proposed method can effectively enhance the traffic efficiency and reduce the average fuel consumption of vehicles， compared with actuated traffic light control strategy.

Key words: unsignalized intersection, mixed traffic, intelligent and connected vehicle, market penetration rate, reservation-based control

Yihe Chen,Weiwei Kong,Jie Yu,Keqiang Li,Yugong Luo. Reservation-based Vehicle Platoon Control at Unsignalized Intersections Under Mixed Traffic Condition[J].Automotive Engineering, 2022, 44(7): 953-959.

Figures/Tables 12

参数	数值
仿真步长 $T s$ /s	0.1
安全时距 $t s a f e$ /s	1
通过速度 $v f$ /（m·s^-1）	20
期望时距 $? t$ /s	0.2
最小绿灯时长 $t g, m i n$ /s	5
最大绿灯时长 $t g, m a x$ /s	50
黄灯时长 $t y$ /s	3
控制区长度 $L c$ /m	300
最大速度 $v m a x$ /（m·s^-1）	25
最大加速度 $a m a x$ /（m·s^-2）	10
最大减速度 $a m i n$ /（m·s^-2）	-10

References 14

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每车道车流量/ h^-1	平均延误（ATLC）/s	各渗透率下平均延误（队列预约式控制）/s
每车道车流量/ h^-1	平均延误（ATLC）/s	0	10%	20%	30%	40%	50%	60%	70%	80%	90%	100%
400	21.13	7.16	6.34	4.83	4.48	4.31	4.10	3.52	3.22	3.05	2.69	2.69
550	22.10	9.99	9.72	9.70	9.46	9.69	8.96	8.96	6.86	6.54	4.37	2.69
700	23.04	16.88	16.92	16.39	15.60	15.32	14.69	12.34	9.04	8.79	7.01	2.73
850	23.21	19.38	19.42	19.37	17.99	17.61	17.41	15.19	12.96	10.85	10.49	7.76
1 000	24.93	31.19	31.17	30.95	28.47	28.64	23.45	18.25	19.10	17.11	15.92	13.64

每车道车流量/ h^-1	平均油耗（ATLC）/mL	各渗透率下平均油耗（队列预约式控制）/mL
每车道车流量/ h^-1	平均油耗（ATLC）/mL	0	10%	20%	30%	40%	50%	60%	70%	80%	90%	100%
400	44.89	26.59	25.24	23.03	22.49	21.11	20.42	19.51	19.3	18.66	18.01	17.89
550	47.44	31.45	30.38	28.89	28.71	29.12	26.42	26.06	23.32	22.52	19.46	17.89
700	49.22	39.05	38.43	37.52	35.40	35.16	33.50	30.30	26.01	25.48	23.45	18.14
850	50.54	42.37	42.09	41.65	38.74	37.83	38.14	33.83	29.73	28.40	25.90	24.84
1 000	53.39	55.38	55.08	53.24	50.06	47.56	42.84	37.72	35.99	37.25	32.81	30.44

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Reservation-based Vehicle Platoon Control at Unsignalized Intersections Under Mixed Traffic Condition

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