车联网环境下交叉路口车辆入队与轨迹规划  

Vehicle Mobilization and Trajectory Planning at Intersections under Internet of Vehicles

作　　者：李香芹 曹青松 易星 LI Xiang-qin;CAO Qing-song;YI Xing(School of Artificial Intelligence,Jiangxi University of Technology,Nanchang 330098,China;Center of Collaboration and Innovation,Jiangxi University of Technology,Nanchang 330098,China)

机构地区：[1]江西科技学院人工智能学院,南昌市330098 [2]江西科技学院协同创新中心,南昌市330098

出　　处：《公路》2024年第5期277-284,共8页Highway

基　　金：国家自然科学基金,项目编号51765021;江西省教学改革项目,项目编号JXJG-22-24-1、JXJG-21-24-11;江西省科技厅重点研发项目,项目编号20181BBE50012。

摘　　要：针对车联网环境下的十字交叉路口车辆换道进入主路的交通场景,重点考虑交叉路口次路车右转弯加入主路车辆的情形,根据交叉路口车辆的行驶特征,建立次路车入队运动学模型和主路车队控制模型。对比分析主路车队采用不变间距控制策略和变间距控制策略,在给定初始条件下,分别获得车队给次路车预留间隙过程中车队车辆的位移和速度变化曲线。采用四阶贝塞尔曲线得到次路入队车辆在交叉路口的可行轨迹区域,并进行轨迹规划,以使入队车辆安全平稳入队。最后以5辆车队列为例,利用MATLAB软件仿真分析主路车队在次路车辆入队过程的速度、位移的变化特点,并规划次路车的进入主路的轨迹路径。结果表明:主路车队采用变间距控制策略更有利于次路车安全平稳入队,次路车最佳入队位置与其速度、轨迹和初始位置有关。研究结果可为提高交叉路口通行效率和交通安全提供参考。Aiming at the traffic scenario where vehicles at intersections change lanes and enter the main road in the environment of the Internet of Vehicles,the focus is on the situation where vehicles turn left on the second road at the intersection and join the main road fleet,according to the characteristics of vehicles driving at intersections,a kinematics model for the entry of vehicles on the secondary road and a vehicle fleet control model on the main road are established.Comparative analysis of the main road fleet adopts the constant spacing control strategy and the variable spacing control strategy.Under the given initial conditions,the displacement and speed change curves of the fleet vehicles during the process of reserved clearance for the secondary road vehicles are obtained.The fourth-order Bezier curve is used to obtain the feasible trajectory area of the vehicles entering the team at the intersection,and the trajectory planning is carried out to make the vehicles entering the team smoothly.Finally,taking the 5vehicle queue as an example,the MATLAB software is used to simulate and analyze the change characteristics of the speed and displacement of the main road vehicle fleet in the secondary road vehicle enqueue process,and the trajectory path of the secondary road vehicle is planned.The results show that the variable spacing control strategy of the main road fleet is more conducive to the safe entry of vehicles on the secondary road.The best entry position of the secondary road vehicles is related to its speed and position.The research results can provide reference for improving the traffic efficiency and traffic safety of the intersection.

关 键 词：交通流仿真 智能车辆队列 车联网车辆 交叉路口 入队控制 轨迹规划 

分 类 号：U491.112[交通运输工程—交通运输规划与管理]