车路协同无信号交叉口的矩形冲突检测及消解  

Rectangular Conflict Detection and Resolution for Unsignalized Intersections Based on Vehicle-Infrastructure Cooperative Systems

作　　者：郭瑞军[1] 王婷婷 刘淼 王晚香[1] GUO Ruijun;WANG Tingting;LIU Miao;WANG Wanxiang(School of Transportation Engineering,Dalian Jiaotong University,Dalian 116028,Liaoning,China;Inner Mongolia Research Institute of Communications and Transportation Science,Hohhot 010000,China)

机构地区：[1]大连交通大学交通运输工程学院,辽宁大连116028 [2]内蒙古自治区交通运输科学发展研究院,呼和浩特010000

出　　处：《汽车工程学报》2023年第6期791-802,共12页Chinese Journal of Automotive Engineering

基　　金：辽宁省地方标准立项计划项目(2021108)。

摘　　要：针对车路协同环境下的冲突问题,建立了以系统反应时间代替驾驶员反应时间的自动驾驶车辆制动距离模型,以此作为安全距离改进了矩形冲突检测模型,并根据轨迹优化的研究思路,提出了以矩形冲突检测模型为基础的冲突消解算法,对非通行优先权车辆进行速度引导,避免车辆冲突。在车联网开源框架Veins的基础上,将交通仿真器SUMO和网络仿真器OMNeT++双向耦合,并对冲突检测模型与消解模型进行验证。仿真结果显示,该冲突检测及消解模型具有可行性,与传统无信号交叉口四路停车让行规则相比,模型中的速度引导方案能减少合流冲突车辆8.6%的平均行驶时间,减少交叉冲突车辆8.3%的平均行驶时间;合流冲突和交叉冲突中车辆的平均速度分别提高了61.4%和105.0%。在实际应用中,冲突消解模型可以为不同速度范围内的自动驾驶车辆提供速度参考,降低无信号交叉口车辆发生碰撞的概率,提高无信号交叉口的通行效率。Aiming at the conflict issue in the vehicle-infrastructure cooperative system,a braking distance model for autonomous vehicles is established.The model replaces the driver's reaction time with the system reaction time,which is used to calculate the safety distance to improve the rectangular conflict detection model.According to the concept of trajectory optimization,a conflict resolution algorithm based on the rectangular conflict detection model is proposed to provide speed guidance for vehicles without passing priority,thereby avoiding vehicular conflicts.Finally,on the basis of the internet of vehicles open-source framework Veins,the traffic simulator SUMO and the network simulator OMNeT++are bidirectionally coupled to validate both the conflict detection and resolution models.The simulation results show that the conflict detection and resolution model is feasible.Compared with the traditional non-signalized intersection four-way stopping rules,the speed guidance strategy in the model reduces the average travel time for merging conflict vehicles by 8.6%and for crossing conflict vehicles by 8.3%.Conversely,the average speeds for vehicles in merging conflicts and crossing conflicts increase by 61.4%and 105.0%,respectively.In practical applications,the conflict resolution model can provide speed guidance for autonomous vehicles within different speed ranges,reduce the chances of vehicle collisions at unsignalized intersections and improve the traffic flow efficiency at these intersections.

关 键 词：交通工程 无信号交叉口 车路协同 冲突检测与消解 速度引导 Veins仿真 

分 类 号：U491.265[交通运输工程—交通运输规划与管理]