面向客货分离交叉口的网联货车队列车速引导与信号优先组合优化

Joint Optimization of Speed Guidance and Signal Priority Control for Connected Autonomous Truck Platoon at Intersections with Car and Truck Separation

相比于小汽车,货车的刹车距离更长,启动损失更大。采取路段车速引导和下游交叉口信号优先控制均有利于提高疏港道路上货车流的通行效率和安全性。为了降低货车车辆的停车延误和尾气排放,本文以网联无人驾驶货车车队为研究对象,提出一种车速引导与信号优先控制的联合优化方法,综合发挥车速引导策略和信号优先策略的作用。首先,详细分析了网联无人驾驶货车车队在货车道内的运行状态;然后,以货车车速、加速度、决策点位置以及优先相位绿灯时间为决策变量,以货车停车延误、尾气排放量和受影响相位内社会车辆的延误变化量等为优化目标,构建疏港道路货车队列在路段和下游信号控制交叉口处的跟车行为优化模型,实现货车车队安全和快速地通过交叉口;最后,编写遗传算法程序求解和验证模型,得出不同到达时刻以及不同绿灯时长下模型的优化结果。结果表明,网联货车队列的运行延误大幅降低,受影响相位的社会车辆的延误也均在合理区间内。

Trucks normally have longer braking distance and greater startup lost time compared to cars.Both speed guidance and signal priority control are beneficial to improving the efficiency and safety of truck flow on port access roads.To reduce the stop delay and exhaust emission of trucks,this study takes the connected autonomous truck platoon as the research object,and proposes a joint optimization model of speed guidance and signal priority control to play a comprehensive role in adjusting the following behavior in the connected autonomous truck platoon.First,the operation state of the connected autonomous truck platoon on a truck lane is analyzed in detail.Then,taking the truck speed,acceleration or deceleration rate,decision position and green time of the priority phase as decision variables,and taking the truck stop delay,exhaust emission and delay changes of public vehicles in the affected phase as the optimization objectives,an optimization model for the truck platoon operation on port access roads is formulated to achieve the goals of safety and efficiency.At last,the genetic algorithm is used to solve the proposed model,and the optimization results under different arrival time and different green time duration are obtained.The results show that the stop delay of the connected autonomous truck platoon is greatly reduced,and the delay of public vehicles in the affected phase is also within a reasonable range.