车路协同技术下ACC车辆交叉口灯态互联模型

Light-state interconnection model of ACC vehicle intersection under cooperative vehicle infrastructure

为面向未来自动驾驶技术的应用,研究车路协同技术(Vehicle-to-Infrastructure,V2I)与自适应巡航控制(Adaptive Cruise Control,ACC)技术结合下的车辆,在经过信号灯控制交叉口的通行特征。基于HELLY跟驰模型,扩展定义敏感系数C1和C2,构建V2I技术应用下的ACC车辆灯态互联模型,并划分出三类不同运行状态下的特征方程。利用MATLAB编译程序进行仿真模拟,对比分析在有无V2I技术应用下的ACC车辆通过交叉口时速度和加速度的变化特征,仿真结果表明,V2I技术应用下的灯态互联模型,在减速刹车和加速起步通过交叉口时,车流运行效益得到提升。最后,搭建实车试验场景,验证V2I技术应用到ACC车辆的可行性并采集实车数据,由时空轨迹图分析得:V2I技术应用下的车辆能更为及时地预判执行加减速,灯态互联模型提升了车流交叉口运行稳定性。

In order to face the application of the automatic driving technology in the future.In this paper,the running characteristics of the intersection are studied by the signal control intersection for the vehicle and the vehicle under the combination of the V2I and the ACC technology.Based on the HELLY car-following model,the sensitive coefficient of C1 and C2 is extended,and the ACC vehicle light-state interconnection model under the application of the V2I technology is constructed,and three kinds of characteristic equations under different driving conditions are divided.The simulation is carried out by using MATLAB,and the variation characteristic of ACC vehicles passing through intersections with or without V2I technology are compared and analyzed.The results show that the new model under the application of V2I technology,the effectiveness of the traffic flow is improved when the deceleration brake and the acceleration start through the intersection.Finally,the real vehicle test is conducted to verify the feasibility of applying V2I technology to ACC vehicle and record the data.Through the analysis of space-time trajectory diagram,it is found that the vehicle under the application of V2I technology can predict the acceleration and deceleration more timely,and the new model improves the stability of traffic flow intersection operation.