考虑排队长度的信号交叉口生态驾驶轨迹优化

Trajectory optimization for eco-driving taking into account queuing length at signalized intersections

为避免车辆在信号交叉口频繁地启停和加减速,减少车辆通过信号交叉口的能耗和排放,本文提出了一种考虑排队长度的信号交叉口生态驾驶轨迹优化模型。首先,基于构建的交叉口场景提出了“单次踏板”生态驾驶行为的定义和基本原则。其次,考虑交叉口交通信号和排队信息,将生态驾驶行为分类为“加速-滑行”“减速-滑行”和“匀速-滑行”三种驾驶模式,并构建了相应的数学模型。最后,设计数值仿真实验分析了不同场景参数对目标车辆的CO_(2)排放和驾驶员操作容错性的影响。结果表明:(1)本文提出的“单次踏板”生态驾驶行为可以适应交叉口不同的场景特征,进而得到了异质性最优驾驶计划。(2)基于可接受加速度区间的设置,能够限制一定范围的驾驶员操作容错性。(3)与常规驾驶计划相比,“单次踏板”生态驾驶行为下的最优驾驶计划可以减少频繁的加减速,实现更为平稳的驾驶轨迹,能够减少超过2%的行程时间和20%的CO_(2)排放。因此,本文提出的生态驾驶模型具有操作简单、鲁棒性强等特点,能够实现生态驾驶,达到节能减排的目的。

To avoid frequent accelerations and decelerations of vehicles and thus reduce energy consumption and emissions,this study proposes an optimization model of eco-driving trajectory at signalized intersections that considers the queue length.First,based on the constructed intersection scene,the definition and basic principles of“single-pedal”eco-driving behavior are outlined.Second,considering the traffic signals and queuing information at the intersection,the eco-driving behavior is classified as three modes,that is,“accelerate-coast”“decelerate-coast”and“keep-coast”,and the corresponding mathematical models are constructed.Finally,a numerical simulation is designed to analyze the influence of scene parameters on the CO_(2)emissions of the target vehicle and the fault tolerance of the driver’s operation.The results show that(1)the single-pedal eco-driving behavior proposed in this paper can adapt to different scene characteristics at the intersection and then obtain a heterogeneous optimal-driving plan.(2)based on the acceptable acceleration interval,it is possible to limit the fault tolerance of the driver’s operation within a certain range;and(3)compared with the conventional driving plan,the optimal driving plan under the single-pedal eco-driving behavior can reduce frequent accelerations and decelerations,achieve a smoother driving trajectory,and reduce travel time by over 2%and CO_(2)emissions by 20%.Therefore,the proposed eco-driving model is simple to operate,highly robust,and can realize eco-driving with reduced energy and emissions.