基于运行轨迹的网联混合车流速度协调控制

doi:10.13229/j.cnki.jdxbgxb20200569

摘要/Abstract

摘要：

为了减少车辆走走停停的不利影响，提出了一种基于运行轨迹的单车道速度协调控制策略。首先，利用路测交通传感器采集的信息对下游车辆簇中的网联自动驾驶车辆（CAV）轨迹进行偏移和修正，以预测尾车人工驾驶车辆（HV）的运行轨迹。然后，对上游车辆簇CAV的速度分布进行规划，使上游CAV车辆簇能以更合理平滑的速度逐渐合并到下游车流。最后，数值仿真结果表明：在所设计的CAV渗透率为0%~25%、瓶颈开始的位置为575~975 m时，渗透率越高、瓶颈开始位置越远以及CAV所选用的速度引导曲线越平滑，对速度振荡的抑制程度就越强，同时证明了速度协调控制策略能有效减小交通流的波动，提高驾驶员舒适性和车辆队列整体通行效率。

关键词: 交通运输系统工程, 网联混合车流, 轨迹预测, 速度协调, 数值仿真

Abstract:

In order to reduce the adverse impact of vehicle stop and go, a single-lane speed coordination control strategy based on the trajectory is proposed. Firstly, the information collected by road-side units is used to offset and modify the trajectories of Connected Autonomous Vehicles (CAVs) in downstream vehicle clusters to predict the trajectory of Human-driving Vehicle (HV). Then, the velocity distribution of upstream CAVs are planned, so that they can merge into the downstream traffic flow at a more reasonable and smooth speed.; The numerical simulation results show that, within the designed range of 0%~25% CAV permeability and 575 m~975 m bottleneck start position, the higher the permeability, the farther the bottleneck start position, and the smoother the CAV speed guidance curve, the stronger the inhibition of speed oscillation. At the same time, it proves that the speed coordinated control strategy can effectively reduce the fluctuation of traffic flow, improve driver's comfort and overall efficiency of vehicle queue.

Key words: engineering of communication and transportation system, connected mixed traffic flow, trajectory prediction, speed coordination, numerical simulation

中图分类号:

U491

贾彦峰,曲大义,林璐,姚荣涵,马晓龙. 基于运行轨迹的网联混合车流速度协调控制[J]. 吉林大学学报(工学版), 2021, 51(6): 2051-2060.

Yan-feng JIA,Da-yi QU,Lu LIN,Rong-han YAO,Xiao-long MA. Coordinated speed control of connected mixed traffic flow based on trajectory[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(6): 2051-2060.

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CAV渗透率/%	时间/s			减少率/%
CAV渗透率/%	500 m	600 m	700 m	减少率/%
0（参照组）	125.1	129.2	133.2	-
5	123.9	127.5	131.8	1.16
10	121.4	125.3	129.5	2.90
15	119.5	123.6	127.4	4.41
20	117.6	121.6	125.5	5.90
25	115.5	120.2	124.3	7.10

时间点/s	瓶颈开始不同位置处的加速度/（m·s^-2）
时间点/s	575 m	775 m	975 m
最值差	2.31	1.56	0.19
30	-0.25	-0.18	-0.13
35	-0.42	-0.21	-0.05
40	-0.68	-0.34	-0.02
45	-0.41	-0.23	0.00
50	0.09	0.05	0.02
55	1.63	1.22	0.06
60	0.16	0.07	0.04
65	0.08	0.05	0.02
70	0.04	0.02	0.01