基于车载激光雷达的城市路段交叉口交通控制研究  

Traffic Control at Urban Road Intersections Based on Vehicle-Mounted LiDAR

作　　者：王少英 胡世雄 王福忠[3] 王丹 WANG Shaoying;HU Shixiong;WANG Fuzhong;WANG Dan(School of Intelligent Engineering,Huanghe Jiaotong University,Jiaozuo 454950,Henan,China;School of Transportation Engineering,Huanghe Jiaotong University,Jiaozuo 454950,Henan,China;School of Electrical Engineering and Automation,Henan Polytechnic University,Jiaozuo 454000,Henan,China)

机构地区：[1]黄河交通学院智能工程学院,河南焦作454950 [2]黄河交通学院交通工程学院,河南焦作454950 [3]河南理工大学电气工程与自动化学院,河南焦作454000

出　　处：《重庆交通大学学报（自然科学版）》2024年第12期77-83,共7页Journal of Chongqing Jiaotong University(Natural Science)

基　　金：河南省自然科学基金项目(242300420228,242300420038);河南省科技攻关项目(232102241028)。

摘　　要：城市交叉口通常涉及多个方向的车流、行人和非机动车等,各种交通参与者之间的交互和冲突使得交通场景变得非常复杂,数据采集难度增加。车载激光雷达(Vehicle-mounted LiDAR,VM-LiDAR)可以实时扫描周围环境,获取车辆周围的交通数据;根据这些数据配合车联网技术,就能够完成复杂路段的智能化交通控制。通过VM-LiDAR采集城市路段交叉口点云数据,引入条件欧式聚类算法对点云数据进行分割后,利用支持向量机识别城市路段交叉口目标;根据目标识别结果、车辆延误、停车次数和通行能力,在车联网系统中建立城市路段交叉口交通控制的多目标优化模型,并利用改进遗传算法对模型求解,得到最优控制方案,实现城市路段交叉口智能交通控制。研究结果表明:该控制方法能有效识别城市路段交叉口的目标,降低车均停车次数,提升平均通行率,降低交通延误率,对城市路段交叉口的交通控制显著。Urban intersections usually involve traffic flow,pedestrians and non-motorized vehicles from multiple directions.The interaction and conflicts between various traffic participants make the traffic scene very complex,which causes the increase of difficulty of data collection.Vehicle-mounted LiDAR(VM-LiDAR)could scan the surrounding environment in real time and obtain traffic data around vehicles.Based on these data and combined with vehicle networking technology,the intelligent traffic control of complex road sections can be achieved.VM-LiDAR technology was used to collect point cloud data at urban road intersections,and support vector machine was used to identify urban road intersection targets after the conditional Euclidean clustering algorithm was introduced to segment the point cloud data.According to the results of target recognition,vehicle delay,parking frequency and traffic capacity,a multi-objective optimization model for urban road intersection traffic control was established in the vehicle networking system.Moreover,the improved genetic algorithm was used to solve the proposed model,and the optimal control scheme was obtained,which realized the intelligent traffic control at urban road intersections.The research results show that the proposed control method can effectively identify targets at urban road intersections,reduce the average number of stops per vehicle,improve the average traffic rates and reduce traffic delay rates,whose traffic control effect at urban road intersections is significant.

关 键 词：交通工程 车载激光雷达 交叉口 交通控制 改进遗传算法 

分 类 号：U491.4[交通运输工程—交通运输规划与管理]