自动驾驶环境下车辆轨迹及交通信号协同控制  

Cooperated control of signal and vehicle trajectory under the autonomous vehicle environment

作　　者：戴荣健 丁川[1,2] 鹿应荣 赵福全[2] DAI Rongjian;DING Chuan;LU Yingrong;ZHAO Fuquan(School of Transportation Science and engineering,Beihang University,Beijing 100191,China;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China)

机构地区：[1]北京航空航天大学交通科学与工程学院,中国北京100191 [2]汽车安全与节能国家重点实验室,清华大学,中国北京100084

出　　处：《汽车安全与节能学报》2019年第4期531-539,共9页Journal of Automotive Safety and Energy

基　　金：汽车安全与节能国家重点实验室开放基金(KF1805);国家自然科学基金(U1764265)

摘　　要：在自动驾驶环境下的交叉路口,为了提高车辆通行效率并减少停车次数,利用自动驾驶技术(AV)和车路协同系统(CVIS),开发一种交通信号灯和车辆轨迹协同优化控制方法,并利用多智能体技术进行仿真。该控制方法通过车辆速度、位置等信息对信号灯配时进行优化;并根据信号灯优化配时,对车辆轨迹进行优化控制。利用NETLOGO仿真平台,搭建多智能体仿真平台,进行仿真试验。试验结果表明和传统固定配时相比本文提出的信号交叉口车路协同控制方法能够降低53.4%的车辆平均通行时间和61.5%的平均停车次数,表明:该控制方法提高了信号交叉口通行效率,减少了停车次数。A cooperated control method of signal and vehicle trajectory was proposed for isolate signal intersection based on the technologies of cooperative vehicle and infrastructure system(CVIS)and autonomous vehicle(AV)to improve the traf fic ef ficiency and reduce the stop times of vehicles at the signal intersection under the autonomous vehicle environment.The method was simulated using the multi-agent technology.The signals in this control method were optimized according to the information of AVs,such as position,speed,etc.The optimized signal-timing plan was used to control trajectories of AVs.A multi-agent simulation environment was developed by NETLOGO,by which simulation experiments were conducted.The results indicate that this control method reduces about 53.4%travel time and 61.5%stop times of vehicles compared with traditional signal control strategy.Therefore,the method improves traf fic ef ficiency and reducts stop-times.

关 键 词：自动驾驶车辆(AV) 车路协同系统(CVIS) 轨迹控制 交叉口信号优化 协同控制 多智能体仿真 

分 类 号：U46[机械工程—车辆工程] U41[交通运输工程—载运工具运用工程]