Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (6): 2051-2060.doi: 10.13229/j.cnki.jdxbgxb20200569

Previous Articles    

Coordinated speed control of connected mixed traffic flow based on trajectory

Yan-feng JIA1(),Da-yi QU1(),Lu LIN1,Rong-han YAO2,Xiao-long MA3   

  1. 1.School of Mechanical and Automotive Engineering，Qingdao University of Technology，Qingdao 266520，China
    2.School of Transportation & Logistics，Dalian University of Technology，Dalian 116024，China
    3.National Urban Road Traffic Equipment Intelligent Engineering Technology Research Center，Qingdao 266033，China
  • Received:2020-07-28 Online:2021-11-01 Published:2021-11-15
  • Contact: Da-yi QU E-mail:771210072@qq.com;dyqu@263.net

RICH HTML

 6   

PDF (PC)

146

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

CLC Number: 

  • U491

Fig.1

Schematic diagram of scene building"

Fig.2

Traffic information to be obtained"

Fig.3

Correction of offset trajectory near pend"

Fig.4

Connection merging points"

Fig.5

Modified offset trajectory"

Fig.6

First speed of CAV guidance process of upstream vehicle cluster"

Fig.7

Deceleration curves"

Fig.8

Acceleration curves"

Fig.9

Simulation results under different conditions"

Fig.10

Several different speed guide curves"

Table 1

Time of last vehicle to reach same positionunder different CAV penetration rates"

CAV渗透率/%时间/s减少率/%
500 m600 m700 m
0（参照组）125.1129.2133.2-
5123.9127.5131.81.16
10121.4125.3129.52.90
15119.5123.6127.44.41
20117.6121.6125.55.90
25115.5120.2124.37.10

Table 2

Acceleration of first CAV at different timecorresponding to different lB values"

时间点/s瓶颈开始不同位置处的加速度/（m·s-2）
575 m775 m975 m
最值差2.311.560.19
30-0.25-0.18-0.13
35-0.42-0.21-0.05
40-0.68-0.34-0.02
45-0.41-0.230.00
500.090.050.02
551.631.220.06
600.160.070.04
650.080.050.02
700.040.020.01
1 黄永现. 交通震荡演化特性的实验研究和建模仿真[D]. 合肥:中国科学技术大学工程科学学院, 2019.
Huang Yong-xian. Experimental research and modeling on the evolution of traffic oscillation[D]. Hefei: School of Engineering Sciences, China University of Science and Technology, 2019.
2 曲大义,万孟飞,李娟,等. 基于交通波理论的干线相位差优化及其控制方法[J]. 吉林大学学报:工学版,2017,47(2):429-437.
Qu Da-yi, Wan Meng-fei, Li Juan, et al. Offset optimization of arterial traffic based on traffic-wave theory and it control method[J]. Journal of Jilin University (Engineering and Technology Edition), 2017,47 (2): 429-437.
3 Laval J A, Daganzo C F. Lane-changing in traffic streams[J]. Transportation Research Part B: Methodological, 2006, 40B(3): 251-264.
4 Ahn S, Cassidy M J. Freeway traffic oscillations and vehicle lane-change maneuvers[C]∥Transportation and Traffic Theory, London, England,2007: 691-710.
5 Laval J A. Linking synchronized flow and kinematic waves[C]∥Traffic and Granular Flow'05, Berlin, Heidelberg, 2007: 521-526.
6 Li X, Wang X, Ouyang Y. Prediction and field validation of traffic oscillation propagation under nonlinear car-following laws[J]. Transportation Research Part B: Methodological, 2012, 46(3): 409-423.
7 文展,唐康健,李文藻. 一种改进粒子群优化算法在车辆路径问题的应用研究[J]. 重庆邮电大学学报:自然科学版, 2020, 32(5): 875-883.
Wen Zhan, Tang Kang⁃jian, Li Wen⁃zao. Research on application of vehicle routing problem using an enhanced particle swarm optimization[J]. Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition), 2020, 32(5): 875-883.
8 Zheng Z, Ahn S, Chen D, et al. Freeway traffic oscillations: microscopic analysis of formations and propagations using wavelet transform[J]. Procedia-Social and Behavioral Sciences, 2011, 17: 702-716.
9 王庞伟,于洪斌,张为,等. 城市车路协同系统下实时交通状态评价方法[J]. 中国公路学报,2019,32(6):176-187.
Wang Pang-wei, Yu Hong-bin, Zhang Wei, et al. Real-time traffic status evaluation method for urban cooperative vehicle infrastructure system[J]. China Journal of Highway and Transport, 2019, 32(6):176-187.
10 Piao J, McDonald M. Safety impacts of variable speed limits—a simulation study[C]∥2008 11th International IEEE Conference on Intelligent Transportation Systems, Beijing, China, 2008: 833-837.
11 Han Y, Chen D, Ahn S. Variable speed limit control at fixed freeway bottlenecks using connected vehicles[J]. Transportation Research Part B: Methodological, 2017, 98: 113-134.
12 Soriguera F, Martínez I, Sala M, et al. Effects of low speed limits on freeway traffic flow[J]. Transportation Research Part C: Emerging Technologies, 2017, 77: 257-274.
13 荆彬彬,卢凯,鄢小文,等. 车路协同下基于速度引导的双周期干道绿波协调控制方法[J].华南理工大学学报:自然科学版,2016,44(8):147-154.
Jing Bin-bin, Lu Kai, Yan Xiao-wen, et al. Green wave coordinated control method based on speed guidance for dual period arterial roads under vehicle road coordination[J]. Journal of South China University of Technology (Natural Science Edition), 2016, 44(8): 147-154.
14 曲大义,杨晶茹,邴其春,等. 基于干线车流排队特性的相位差优化模型[J].吉林大学学报:工学版,2018,48(6):1685-1693.
Qu Da-yi, Yang Jing-ru, Bing Qi-chun, et, al. Phase difference optimization model based on queuing characteristics of arterial traffic flow[J]. Journal of Jilin University (Engineering and Technology Edition), 2018, 48(6): 1685-1693.
15 庞明宝,安少怡. 快速路与邻接交叉口分散换道和速度引导方法[J]. 交通运输系统工程与信息,2019, 19(6): 168-175.
Pang Ming-bao, An Shao-yi. Dispersive lane change and speed guidance method for expressways and adjacent intersections[J]. Journal of Transportation Systems Engineering and Information Technology, 2019, 19(6): 168-175.
16 Zhao W, Ngoduy D, Shepherd S, et al. A platoon based cooperative eco-driving model for mixed automated and human-driven vehicles at a signalised intersection[J]. Transportation Research Part C: Emerging Technologies, 2018, 95: 802-821.
17 Guo Y, Ma J, Xiong C, et al. Joint optimization of vehicle trajectories and intersection controllers with connected automated vehicles: combined dynamic programming and shooting heuristic approach[J]. Transportation Research Part C: Emerging Technologies, 2019, 98: 54-72.
18 冯心欣,柳泽烽,谢志鹏,等.考虑道路形状约束的车辆轨迹聚类方法[J]. 重庆邮电大学学报: 自然科学版, 2019, 31(4): 556-562.
Feng Xin⁃xin, Liu Ze⁃feng, Xie Zhi⁃peng, et al. Vehicle trajectory clustering method considering road shape[J]. Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition), 2019,31(4):556-562.
19 夏英,王瑞迪,张旭,等. Spark环境下基于网格索引的轨迹k近邻查询方法[J].重庆邮电大学学报:自然科学版, 2019, 31(4): 531-537.
Xia Ying, Wang Rui⁃di, Zhang Xu, et al. Grid-based k-nearest neighbors query over moving trajectories under spark[J]. Journal of Chongqing University of Posts and Telecommunications(Natural Science Edition), 2019, 31(4): 531-537.
20 Wang Q, Hu J, Zhang J, et al. Extraction of traffic status based on spatial-temporal trajectory reconstruction[C]∥6th Advanced Forum on Transportation of China,Beijing, China,2011: 221-228.
[1] Zong-wei YAO,Xu-dong GAO,Gang LIU,Qiu-shi BI. Research on working performance of vertical screw stirring mill based on numerical simulations [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(5): 1642-1650.
[2] Zheng-lei YU,Li-xin CHEN,Ze-zhou XU,Ren-long XIN,Long MA,Jing-fu JIN,Zhi-hui ZHANG,Shan JIANG. Analysis of mechanical characteristics and recovery characteristics of bionic protective structures based on additive manufacturing [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(4): 1540-1547.
[3] Zheng-lei YU,Ren-long XIN,Li-xin CHEN,Yi-ning ZHU,Zhi-hui ZHANG,Qing CAO,Jing-fu JIN,Jie-liang ZHAO. Load bearing characteristics of honeycomb protection structure [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 1140-1145.
[4] Ya-feng GONG,Yun-ze PANG,Bo WANG,Guo-jin TAN,Hai-peng BI. Mechanical properties of new prefabricated box culvert structure based on road conditions in Jilin Province [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(3): 917-924.
[5] Chang SU,Ying HAN,Ying-chao ZHANG,Zhen-hua MIAO. Influence performance with wheel spoke design parameters of vehicle aerodynamic [J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 107-113.
[6] Zheng-wei GU,Lin CHEN,Li-hui ZHAO,Hong XU,Xin LI,Ge YU. Simulation of stamping process of some reinforcement plate below windows of railway vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 504-511.
[7] Xin CHEN,Ning WANG,Chuan-liang SHEN,Xiao FENG,Chang-hai YANG. Effect of rearview mirror modeling on aerodynamic noise of front window [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(2): 426-436.
[8] Chang-fu ZONG,Long WEN,Lei HE. Object detection based on Euclidean clustering algorithm with 3D laser scanner [J]. Journal of Jilin University(Engineering and Technology Edition), 2020, 50(1): 107-113.
[9] Wei-ping SHI,Xu ZHAO,Xing-jun HU,Tian-ming YU,Bo-wen LIU,Yan DUAN. Design and numerical simulation of water restriction device AICD for natural gas exploitation [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1986-1991.
[10] Ya-feng GONG,Bo WANG,Guo-jin TAN,Li-min ZHANG,Wen-ding WU,Hai-peng BI. Comparative analysis of mechanical characteristics of two typical fabricated culverts in Jilin [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1865-1870.
[11] Zhuo YI,Wen-zhi FU,Ming-zhe LI. Numerical simulation and experiment on double⁃layered split ultrahigh pressure die [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1593-1599.
[12] Xin LI,Yan-peng SUN,Dan WANG,Jun-xu CHEN,Zheng-wei GU,Hong XU. Finite element numerical simulation for automobile front floor forming [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(5): 1608-1614.
[13] Hua ZHOU,Zhi⁃gang YANG,Hui ZHU. Aerodynamic calculation of MIRA model correlated with wind tunnel test [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1043-1053.
[14] Xin LI,Dan WANG,Jun⁃xu CHEN,Yan⁃peng SUN,Zheng⁃wei GU,Hong XU. Numerical simulation for handbrake fixed plate forming [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1258-1265.
[15] Xue⁃guang ZHANG,Ming⁃meng JIA,Chun⁃guo LIU,Guang⁃zhong HE. Trajectory design and FE simulation for profile stretch bending based on incremental control method [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(4): 1272-1279.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd