网联车辆编队的信号灯路口通行控制策略

Control strategy for connected vehicle platoon at signalized intersections

为提高信号灯路口场景下车辆编队的安全性和通行效率,提出V2X环境下网联车辆编队的信号灯路口通行控制策略。在信号灯路口上游设置一段控制区,以车辆编队领航车在信号灯路口排队疏散后到达信号灯路口为目标,对进入控制区的车辆编队速度进行优化。考虑速度变化对车辆编队纵向安全距离的影响,引入分布式模型预测控制理论,建立固定跟车时距控制策略下编队车辆的速度跟随控制模型,并采用加权二次型性能泛函将速度跟随控制问题转化为易于在线求解的凸二次规划问题。通过PreScan/Simulink软件仿真将信号灯路口通行控制策略与固定跟车时距控制策略进行对比,以验证速度跟随控制模型的有效性,结果表明:信号灯路口通行控制策略能够避免车辆间碰撞冲突,并可以减少编队车辆在信号灯路口的通行耗时,在保证安全性的同时提高了通行效率。

To improve the safety and traffic efficiency of vehicle platoon at signalized intersections,a signalized intersection control strategy for connected vehicle platoon in V2X environment is proposed.A control zone is set up upstream of the signalized intersection,with the aim of optimizing the speed of the vehicle platoon for the lead vehicle to queue and evacuate the signalized intersection.Considering the effect of speed variation on the longitudinal safety distance of the vehicle platoon,a distributed model predictive method is introduced.A speed tracking control model for the platoon vehicles is established under the fixed following headway control strategy.Weighted quadratic performance functionals are used to transform the speed tracking control problem into a convex quadratic programming problem that can be easily solved online.PreScan/Simulink softwore simulations are conducted to compare the signalized intersection control strategy with the traditional car-following strategy,to verify the effectiveness of the speed tracking control model.The results show that the proposed control strategy can avoid collision conflicts between vehicles and reduce the travel time of the platoon vehicles at signalized intersections,while ensuring safety and improving traffic efficiency.