面向高速公路混合交通流的车辆协同合流策略  

Cooperative Merging Strategy for Freeway Ramp in a Mixed Traffic Environment

作　　者：郝威 龚雅馨 张兆磊 易可夫 HAO Wei;GONG Ya-xin;ZHANG Zhao-lei;YI Ke-fu(School of Traffic and Transportation Engineering,Changsha University of Science&Technology,Changsha 410114,China;School of Automotive and Mechanical Engineering,Changsha University of Science&Technology,Changsha 410114,China)

机构地区：[1]长沙理工大学交通运输工程学院,长沙410114 [2]长沙理工大学汽车与机械工程学院,长沙410114

出　　处：《交通运输系统工程与信息》2023年第1期224-235,共12页Journal of Transportation Systems Engineering and Information Technology

基　　金：国家重点研发计划(2022YFC3803700);国家自然科学基金(52172339);国家自然科学基金青年科学基金(52002036)。

摘　　要：为提高高速公路匝道合流区的运行效率、减少交通事故的发生,面向网联自动驾驶车辆(Connected and Automated Vehicles,CAV)与人工驾驶车辆(Human Driven Vehicles,HDV)混行的交通场景,提出高速公路匝道分层协作合流框架,该框架集成合流序列调度算法和协作合流算法,并根据车辆类型与车辆状态进行实时调整。首先,提出一种基于启发式规则的高速公路合流序列实时调度算法,优化合流区车辆的合流顺序,解决了传统固定合流序列无法适应HDV驾驶行为随机扰动的问题。然后,根据合流序列调度算法及当前车辆位置,判断协作合流的车辆组及其车辆类型,分别建立CAV-CAV、CAV-HDV和HDV-HDV的协作合流控制算法。通过试验仿真发现:相较于无控制情况和“先进先出”策略,总延误分别降低了21.66%、39.88%;协作控制区长度对燃油经济性存在一定影响,能耗随着距离的增加而减小,并存在一个最小值,即300 m,到达该值后能耗将逐渐增大;车辆之间车头时距的增加,对减小车辆能耗存在一定的影响。其中,HDV之间车头时距的影响大于CAV之间车头时距的影响。In order to improve traffic efficiency and reduce traffic accidents,a hierarchical cooperative merging framework was proposed under a mixed traffic condition that is composed of both connected and automated vehicles(CAV)and human-driven vehicles(HDV).The framework integrated the merging sequence scheduling algorithm and the cooperative merging algorithm and adjusted it in real time according to the vehicle type and state.Firstly,a realtime merging sequence scheduling algorithm based on heuristic was proposed to optimize the merging sequence,which can address the drawback that traditional merging sequence scheduling algorithms cannot adapt to the random disturbance of HDV driving behavior.Next,Using the merging sequence scheduling algorithm,the cooperative merging vehicle group as well as the vehicle type was determined according to the position of the vehicles.The cooperative merging algorithm of CAV-CAV,CAV-HDV,and HDV-HDV was established to describe the merging strategy under the mixed traffic flow by mathematical models.Simulation investigations demonstrate that compared with the no-control situation and the"first-in-first-out"strategy,the total delay is reduced by 21.66%and 39.88%,respectively.The length of the cooperative control area has a influence on the fuel consumption,and the energy consumption decreases with the increase of the distance,and there is a minimum value,namely 300 m,after reaching the minimum value,the energy consumption will gradually increase;the increase of the time headway has a certain influence on reducing the energy consumption of the vehicles.Among them,time headway between HDVs has a greater influence on fuel consumption than time headway between CAVs.

关 键 词：智能交通 协同合流策略 动态规划 高速公路匝道 车路协同 

分 类 号：U491.4[交通运输工程—交通运输规划与管理]