网联环境下高速公路混行车流的车道引导策略研究

Research on Lane Guidance Strategy of Mixed Traffic Flow on Expressway in Connected Environment

为研究网联车在混行车流中的驾驶行为以及对车流通行效率的影响,根据前车类型和车间距设置不同跟驰模式,基于车辆驾驶意图构建自主换道、预期换道和强制换道模型。依据跟驰模型预测车流在各车道的稳态速度,并综合前车类型、驶出匝道意图和前车队长提出网联车车道引导策略。采用MATLAB实现算法验证模型有效性,结果表明,与间距选择策略相比,引导策略的平均走行时间更短,平均车队长度更长,途中换道次数更少;对比专用车道策略,在网联车渗透率为0.5~0.7时,平均走行时间相近,渗透率为0.1~0.4和0.8~1时,引导策略的平均走行时间均低于专用车道。

In order to study the driving behavior of connected vehicles in mixed traffic flow and the impact on traffic flow efficiency,different car-following modes were set according to the type of the preceding vehicle and the gap between vehicles,and discretionary lane change model,anticipatory lane change model and mandatory lane change model were constructed based on the driving intention of the vehicle.The steady-state speed of traffic flow in each lane could be predicted according to the car-following model.A lane guidance strategy for connected vehicles was proposed by integrating the steady-state speed of the traffic flow,the type of the preceding vehicle,the intention to leave the ramp,and the length of the preceding CACC string.MATLAB was used to implement the algorithm to verify the validity of the model.The results showed that the guidance strategy enables the connected vehicles to select lanes with better overall driving conditions,and its average travel time is shorter and the average string length is longer compared with the spacing selection strategy.Compared with the dedicated lane strategy,when the penetration rate is 0.5~0.7,their average travel time is similar;and when the penetration rate is 0.1~0.4 and 0.8 ~1,the average travel time of the guiding strategy is shorter.