借道左转交叉口的网联左转车辆最佳轨迹控制

doi:10.13229/j.cnki.jdxbgxb.20230472

摘要/Abstract

摘要：

为避免车辆在借道左转交叉口频繁启停，降低车辆的延误和油耗，提出了一种智能网联车环境下借道左转交叉口左转车辆的最佳轨迹控制模型。首先，分析了考虑油耗下相较于传统交叉口，借道左转交叉口的独特之处。其次，考虑了借道左转的几何设计和交通信号，建立了相应的轨迹控制双层模型，优化车辆的车道选择和进入借道左转车道的时刻。最后，利用SUMO和Python软件进行了模型验证并设计了仿真实验分析交通量、绿信比、借道左转车道长度这些不同参数对模型效果的影响。实验结果表明：本文提出的最佳轨迹控制模型有效降低了车辆的延误和油耗，相较于Krauss控制模型，平均降低车均延误26.6%，平均降低油耗50.2%。此外，最佳轨迹控制模型在不同的借道左转车道长度下表现出鲁棒性，具有广泛的适用性。

关键词: 交通运输系统工程, 借道左转, 智能网联车环境, 轨迹控制, 交通仿真

Abstract:

To avoid frequent start-stop of vehicles and reduce delays and fuel consumption at exit lane for left-turn intersections， an optimal trajectory control model for left-turning vehicles is proposed. The model is applicable to exit lane for left-turn intersections in an intelligent connected vehicle environment. Firstly， the unique features of the exit lane for left-turn intersections are analyzed in terms of fuel consumption compared to traditional intersections. Secondly， the corresponding trajectory control double-layer model is established by considering the geometric design and traffic signals of the intersection， optimizing the lane selection and the time to enter the exit lane for left-turn. Finally， SUMO and Python software are used to simulate and verify the proposed control model and simulated experiments are designed to analyze the effects of different parameters such as traffic volume， green signal ratio and length of exit lane for left-turn on the model's performance. The experiments show that the proposed optimal trajectory control model effectively reduces delays and fuel consumption， with an average reduction of 26.6% in vehicle delay and 50.2% in fuel consumption compared to the Krauss control model. Moreover， the optimal trajectory control model exhibits robustness under different lengths of the exit lane for left-turn and has wide applicability.

Key words: engineering of communication and transportation, exit lane for left-turn, intelligent network environment, trajectory control, traffic simulation

中图分类号:

U491

陈永恒,杨家伟,孙经宇. 借道左转交叉口的网联左转车辆最佳轨迹控制[J]. 吉林大学学报(工学版), 2025, 55(2): 614-622.

Yong-heng CHEN,Jia-wei YANG,Jing-yu SUN. Optimal trajectory control for connected left-turn vehicles at exit lane for left-turn intersections[J]. Journal of Jilin University(Engineering and Technology Edition), 2025, 55(2): 614-622.

图/表 12

图1

图2

图3

表1

模型输入参数"

参数	数值	参数	数值
$d l$ /m	6	$ω$	0.1
$d s$ /m	1	$C$ /s	120
$v m a x$ /（m·s^-1）	16	$v m i n$ /（m·s^-1）	0
$a m i n$ /（m·s^-2）	-5	$s d$ /m	15
$a m a x$ /（m·s^-2）	5	$x c$ /m	235
$h s$ /s	2	$x s$ /m	300
$g s m$ /s	0	T/s	120
$g e m$ /s	30	$M$	10 000
$g s p$ /s	-21	$m$	0.000 01

表1

图4

图5

表2

图6

表3

图7

表4

图8

参考文献 14

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对比项	流量/（veh·h^-1）
对比项	100	200	300	400	500	600
延误/%	25.46	26.17	25.17	25.60	29.81	27.29
油耗/%	48.98	49.86	49.85	51.20	51.16	50.44

对比项	绿信比
对比项	0.10	0.15	0.2	0.25	0.3	0.35
延误/%	29.52	33.27	31.57	25.60	32.97	36.12
油耗/%	55.72	56.86	55.05	52.25	53.14	51.27

对比项	借道长度/m
对比项	20	35	50	65	80	95
延误/%	26.48	26.59	25.60	25.83	25.25	25.89
油耗/%	50.23	52.39	52.25	53.47	53.05	53.04