无信号交叉口智能车辆运行控制方法  

Operation Control Method for Connected and Autonomous Vehicles at Unsignalized Intersections

作　　者：刘宝珍 赵欣[1] 酆磊 刘中源 LIU Baozhen;ZHAO Xin;FENG Lei;LIU Zhongyuan(School of Transportation and Logistics Engineering,Wuhan University of Technology,Wuhan 430063,China)

机构地区：[1]武汉理工大学交通与物流工程学院,武汉430063

出　　处：《武汉理工大学学报（交通科学与工程版）》2024年第6期1050-1056,共7页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：国家自然科学基金青年项目(71701159)。

摘　　要：文中提出了基于先到先通行策略的智能车辆在交叉口的控制方法(FCFS-OCM),构建了以最小车辆通行时间为目标的非线性优化模型,该模型通过计算投影车辆间的安全车头时距,判断车辆冲突情况,同时利用安全车头时距与超车行为等对车辆进行约束,通过遗传算法进行求解得到所有投影车辆的最优控制命令(加速度),并将控制命令反馈到智能车辆,使得车辆平均延误降低,提高了交叉口的运行效率.通过SUMO仿真平台进行验证.结果表明:在交叉口饱和度较低的情况下,FCFS-OCM策略相较传统FCFS与信号控制策略车辆平均延误降低的并不明显,随着交叉口饱和度的增加,FCFS-OCM策略的优势会逐渐增大,但在交叉口饱和度大于0.75时,优势减小,但相较于FCFS策略与信号控制策略车辆平均延误分别降低72%、16%,同时交叉口的通行能力也相较上述两种方案分别提高了15%与68%.A control method of intelligent vehicles at intersections(FCFS-OCM)based on the first-come-first-served strategy was proposed,and a nonlinear optimization model with the minimum vehicle transit time as the goal was constructed.The model could judge the vehicle conflict by calculating the safe headway between projected vehicles,and restrain the vehicles by using the safe headway and overtaking behavior.The optimal control commands(accelerations)of all projected vehicles were obtained by solving with genetic algorithm,and the control commands were fed back to intelligent vehicles,so that the average delay of vehicles was reduced and the operation efficiency of intersections was improved.It was verified by SUMO simulation platform.The results show that the FCFS-OCM strategy does not significantly reduce the average vehicle delay compared with the traditional FCFS and signal control strategy under the condition of low intersection saturation.With the increase of intersection saturation,the advantage of FCFS-OCM strategy will gradually increase,but when the intersection saturation is greater than 0.75,the advantage will decrease.However,compared with FCFS strategy and signal control strategy,the average delay of vehicles is reduced by 72%and 16%respectively,and the capacity of intersections is increased by 15%and 68%respectively.

关 键 词：智能交通 自治交叉口管理 车联网 微观交通仿真 

分 类 号：U121[交通运输工程]