低速瓶颈下高速公路网联无人驾驶车辆主动避碰运动生态速度优化  

Eco-speed Optimization for Active Collision Avoidance of Connected and Automated Vehicles on Freeways with Low-speed Incoming Traffic

作　　者：刘庆玲 胥效文[1] 关京京 LIU Qing-ling;XU Xiao-wen;GUAN Jing-jing(School of Automation,Northwestern Polytechnical University,Xi'an 710072,Shaanxi,China;School of Information Engineering,Chang'an University,Xi'an 710064,Shaanxi,China)

机构地区：[1]西北工业大学自动化学院,陕西西安710072 [2]长安大学信息工程学院,陕西西安710064

出　　处：《中国公路学报》2023年第5期210-219,共10页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(71871028)。

摘　　要：为了解决车载安全预警系统在高速公路上感知距离有限,且在曲线路段存在高事故风险和高燃油消耗的问题,在基于车联万物(V2X)技术的高速公路自动驾驶交通系统中,针对下游存在低速交通流的交通场景,提出一种高速公路网联无人驾驶车辆主动避碰运动生态速度优化模型。为了提高模型的求解效率,将原最优控制问题转化为由3个子问题构成的近似速度优化模型,并通过遗传算法求解得到最优的速度曲线,对上游车辆的运动速度进行主动控制,在保证安全和不影响交通效率的前提下,引导一系列车辆安全、平滑地跟随下游的低速交通流尾车运动,改善车辆行驶过程中的燃油经济性。为了验证所提出模型的性能,以车载安全预警系统控制策略作为对比方案,仿真结果表明:所提出的近似优化模型能够在基本保证求解精度的同时,明显改善求解效率;与车载安全预警系统控制策略相比,所提出的速度优化策略能够使车辆提前减速,避免追尾,能够在较小程度牺牲通行效率的情况下明显地平滑车辆速度曲线并节省总燃油消耗量。This study proposes an eco-speed optimization model to address the issue of the limited sensing range of an in-vehicle advanced driving alert system on freeways.This limitation can lead to increased accident risk and excessive fuel consumption,particularly on curved sections.The objective of this study is to enable active collision avoidance of connected and automated vehicles on freeways with low-speed incoming traffic.To improve the computational efficiency,the original optimal control problem was decomposed into three subproblems,and an approximate optimization model based on the hyperbolic tangent function was proposed.The optimal speed profile was obtained using a Genetic Algorithm to guide connected and automated vehicles in safe and smooth travel,while allowing them to follow upcoming low-speed traffic.To evaluate the performance of the proposed speed optimization model,the control strategy of in-vehicle advanced driving alert systems was considered as a comparative study example.The results of the simulation experiments show that the approximate optimization model can ensure computational accuracy and significantly improve computational efficiency.The speed control strategy derived in this study can be employed to decelerate the vehicle in advance to avoid rear collisions,smooth the vehicle's speed profile,and reduce total fuel consumption.Although there is a slight sacrifice in traffic efficiency,the benefits outweigh this drawback.

关 键 词：交通工程 主动避碰控制 理论分析与仿真验证 生态速度优化模型 低速交通流 

分 类 号：U495[交通运输工程—交通运输规划与管理]