网联交叉口信号-车辆轨迹协同优化控制方法

doi:10.19562/j.chinasae.qcgc.2021.11.002

Abstract

Abstract:

In order to improve the traffic efficiency and fuel economy at the connected intersection， a collaborative control application scenario of the connected and signalized intersection is designed， and a hierarchical decoupling collaborative optimization control method of traffic signals and vehicle trajectories is proposed. An optimization method combining “job scheduling” and genetic algorithm is used to minimize the average travel time delay at the top layer to realize signal timing and phase sequence optimization； at the bottom layer， combined with the timing optimization result， the piecewise optimization method is used to realize vehicle trajectories optimization so as to minimize the average fuel consumption. The simulation results show that the proposed cooperative control method can effectively improve the traffic efficiency and fuel economy at the connected intersection under the conditions of balanced and unbalanced traffic flow， and low and high traffic density. The effect of the proposed method is more significant with the decrease of minimum green light duration and increase of V2X communication range. Considering the factors of traffic fairness and construction cost， the minimum green light duration and effective V2X communication range of the proposed cooperative control system for connected signalized intersection should be set as 5 s and 800 m respectively.

Key words: intelligent connected vehicle, signalized intersection, cooperative control, layered decoupling, average travel time delay, fuel economy

Xiangmo Zhao,Xinrui Zhang,Runmin Wang,Zhigang Xu,Haijin Fan. Cooperative Optimization Control Method of Traffic Signals and Vehicle Trajectories at Connected Intersection[J].Automotive Engineering, 2021, 43(11): 1577-1586.

Figures/Tables 18

情况	约束条件
1-1	$D ≥ v 02 2 a d m a x + v m a x 2 2 a c$ $v f = v m a x$	$a 1 ≥ - a c v 02 2 a c D - v m a x 2$ $a 2 = a c$
1-2	$v 02 2 a d m a x + v m a x 2 2 a m a x ≤ D ≤ v 02 2 a d m a x + v m a x 2 2 a c$ $v f = v m a x$	$a 1 ≥ - a c v 02 2 a c D - v m a x 2$ $a 2 = a m a x$
1-3	$v 02 2 a d m a x ≤ D ≤ v 02 2 a d m a x + v m a x 2 2 a m a x$ $v f < v m a x$	$a 1 = a d m a x$ $a 2 = a m a x$
1-4	$D ≤ v 02 2 a d m a x$ $v f = v 0 + a 1 T$	$a 1 = 2 (D - v 0 T) T 2$

情况

约束条件

2-1

$D ≥ v m a x 2 2 a c$

$v f = v m a x$

$a 1 = a m a x$

$a 2 = a c$

2-2

$v m a x 2 2 a m a x ≤ D ≤ v m a x 2 2 a c$

$v f = v m a x$

$a 1 = a m a x$

$a 2 = a m a x$

2-3

$D ≤ v m a x 2 2 a m a x$

$v f = v 0 + a 1 T$

a 1 = 2 (D - v 0 T) T 2

References 17

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参数	取值	参数	取值
道路限速/（m·s^-1）	16.67	仿真步长/s	1
黄灯时长/s	3	车辆长度/m	5
最小绿灯时长/s	10	最大加速度/ （m·s^-2）	3
最大绿灯时长/s	30	最大制动加速度/ （m·s^-2）	4.5
最小车头时距/s	2	迭代次数	500
变异概率	0.05	交叉概率	0.85
聚类扫描半径/m	100	最小包含车辆数	1

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Cooperative Optimization Control Method of Traffic Signals and Vehicle Trajectories at Connected Intersection

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