信号交叉口车路协同诱导策略下ACC车辆控制模式研究

Study on ACC Vehicle Control Mode under Cooperative Vehicle Infrastructure Guidance Strategy for Signalized Intersection

信号控制交叉口是城市道路交通网络中的基本节点,车辆在通过交叉口时频繁地启停和加减速等严重降低了交叉口的通行效率,并产生了更高的燃料消耗和污染物排放。无人驾驶技术中的车路协同技术和自适应巡航控制(AdaptiveCruise Control, ACC)技术为缓解交叉口处的交通拥堵和提高节能减排水平带来了新的契机。ACC车辆可以通过车载检测设备和传感器技术等实时获取自身与前车的行驶状态,并通过ACC控制系统做出比人类驾驶员更精确、稳定和安全的决策判断。根据ACC车辆在信号交叉口车路协同诱导策略下的行驶工况信息,考虑了ACC车辆在信号交叉口车路协同诱导策略下的控制模式,利用诱导策略对ACC车辆的控制模式进行了划分。在智能驾驶模型(IDM)的基础上建立了不同控制模式下的加速度算法,利用MATLAB对信号交叉口车路协同诱导策略下的ACC车辆的交通特性进行仿真模拟,对比分析了传统ACC车辆和车路协同诱导策略下的ACC车辆在通过交叉口时的平均延误、平均燃油消耗和平均污染物排放。仿真结果表明,车路协同诱导策略下的ACC车辆在不同等级车流密度下均能够降低交叉口的延误,并减少车辆的燃油消耗与污染物排放量。

Signalized intersection is the basic node in urban roadtraffic network. The frequent start-stop and acceleration anddeceleration of the vehicle when passing through the intersectionseriously reduce the traffic efficiency of the intersection and generatehigher fuel consumptions and pollutant emissions. The vehicleinfrastructure integration technology and the ACC technology indriverless technology have brought new opportunities to alleviatetraffic congestion at intersections and improve energy conservation andemission reduction. ACC vehicles can obtain the driving status of theirown and previous vehicle in real time through on-board detectionequipment and sensor technology, and make more accurate, stable and safedecision-making judgments than human drivers through the ACC controlsystem. According to the driving condition information of the ACCvehicle at signalized intersection under cooperative vehicleinfrastructure guidance strategy, considering the control mode of theACC vehicle at the signalized intersection under the abovementionedstrategy, the control mode of the ACC vehicle is divided by using theinduction strategy. Based on the intelligent driving model(IDM), theacceleration algorithms under different control modes are established.The traffic characteristics of the ACC vehicles at the signalizedintersection under the abovementioned strategy are simulated by MATLAB,and average delays, average fuel consumptions and average pollutantemissions of traditional ACC vehicles and the ACC vehicles under theabovementioned strategy when passing through the intersection arecompared and analyzed. The simulation result shows that the ACC vehiclesunder cooperative vehicle infrastructure guidance strategy can reducethe delays at intersection, the fuel consumptions and pollutantemissions of the vehicles under different levels of traffic density.