CACC车辆在信号灯路口通行的控制算法研究  

Development of a Control Algorithm for CACC Vehicles at Traffic Signal Intersections

作　　者：何山 袭悦 黄锦洲 陈子韬 黄培辉 HE Shan;XI Yue;HUANG Jinzhou;CHEN Zitao;HUANG Peihui(FAW-Volkswagen Automotive Co.,Ltd.,Changchun 130013,China)

机构地区：[1]一汽-大众汽车有限公司,长春130013

出　　处：《汽车工程学报》2024年第6期981-992,共12页Chinese Journal of Automotive Engineering

摘　　要：为改善车路协同自适应巡航车辆通行信号灯路口的通行效率,提出一种考虑信号灯状态的模型预测控制算法。在信号灯路口跟随前车通行时,车辆通过V2X获取信号灯状态,包括信号灯位置、颜色、倒计时,利用车辆纵向运动学模型建立控制器输出的加速度请求与未来状态的关联,设计一个同时考虑跟车状态和信号灯通行的目标函数,通过非线性优化计算输出的加速度请求,模拟人类驾驶员在跟车通行信号灯路口的行为状态。仿真结果表明,相比于ACC车辆,使用该算法的车辆在信号灯路口通行时,在保证安全性的前提下有更高的通行效率。研究成果为CACC车辆的控制算法设计提供效率优先的理论基础,在系统同时包含经济模式和效率模式的设计状态下,对后者的设计有应用参考价值。To improve the traffic flow efficiency of vehicle-road cooperative adaptive cruise vehicles at signalized intersections,a model predictive control algorithm considering traffic signal status is proposed.When following a vehicle through an intersection,the vehicle first uses V2X to obtain information about the traffic signal,including its position,color and countdown timer.The vehicle's longitudinal kinematics model is used to link the acceleration request from the controller to the vehicle's future state.An objective function considering both the vehicle-following state and the traffic signal is designed.Finally,the output acceleration request is calculated through nonlinear optimization,simulating the behavior of human drivers when following other vehicles through signalized intersections.The simulation results show that compared with ACC vehicles,the vehicle using this algorithm achieves higher traffic efficiency while maintaining safety when passing through signalized intersections.This research provides a theoretical basis for prioritizing efficiency in the design of CACC vehicle control algorithms,and offers practical insights for developing an efficiency mode in systems that include both economic and efficiency modes.

关 键 词：车路协同 自适应巡航控制 信号控制交叉口 模型预测控制 非线性优化 

分 类 号：U461.91[机械工程—车辆工程]