[1]刘畅,庄伟超,殷国栋,等.高速匝道入口多智能网联车协同合流控制[J].东南大学学报(自然科学版),2020,50(5):965-972.[doi:10.3969/j.issn.1001-0505.2020.05.024]
　Liu Chang,Zhuang Weichao,Yin Guodong,et al.Cooperative merging control of multiple connected and automated vehicles on freeway ramp[J].Journal of Southeast University (Natural Science Edition),2020,50(5):965-972.[doi:10.3969/j.issn.1001-0505.2020.05.024]
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高速匝道入口多智能网联车协同合流控制()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
50
期数:
2020年第5期
页码:
965-972
栏目:
交通运输工程
出版日期:
2020-09-20

文章信息/Info

Title:
Cooperative merging control of multiple connected and automated vehicles on freeway ramp
作者:
刘畅; 庄伟超; 殷国栋; 黄泽豪; 刘昊吉
东南大学机械工程学院, 南京 210096
Author(s):
Liu Chang;  Zhuang Weichao;  Yin Guodong;  Huang Zehao;  Liu Haoji
School of Mechnical Engineering, Southeast University, Nanjing 210096, China
关键词:
智能网联汽车;  车辆轨迹规划;  最优控制;  协同合流
Keywords:
connected and automated vehicles;  vehicle trajectory planning;  optimal control;  cooperative merging
分类号:
U461
DOI:
10.3969/j.issn.1001-0505.2020.05.024
摘要:
为提高高速匝道入口车辆合流安全性与通行效率,减少燃油消耗,提出了面向高速匝道入口的多智能网联车辆最优纵向轨迹规划方法,以实现车辆的协同合流.首先,建立车辆纵向动力学模型,考虑能量效率与乘坐舒适性构造代价函数,构建入口匝道的车辆最优车速控制问题;同时,基于先进先出的合流次序,设计各相邻车辆到达合流点的时刻与时间间隔,实现安全与高效的协同合流.利用庞特里亚金极小值原理求解车辆最优车速控制问题,推导出各车辆纵向速度的最优解析解.仿真结果表明:与无控制自然合流相比,所提出控制方法通行时长缩短41.64%,燃油消耗降低12.25%;与现有基于虚拟队列的控制方法相比,通行时长相差1.67%,燃油消耗降低4.52%.
Abstract:
To improve the safety and the efficiency of vehicle merge at freeway ramp and reduce the fuel consumption, an optimal longitudinal trajectory planning method for multiple connected and automated vehicles facing freeway ramp was proposed to realize the vehicle cooperative merge. First, the vehicle longitudinal dynamics model was established, and the cost function of energy efficiency and ride comfort was considered to construct the optimal vehicle speed control problem on the on-ramp. Based on the first-in, first-out(FIFO)merging sequence, the time and the time interval of each adjacent vehicle arriving at merging point were designed to realize safe and efficient cooperative merge. The optimal vehicle speed control problem was solved by using Pontryagin’s minimum principle, and the optimal analytical solution of each vehicle longitudinal speed was derived. The simulation results show that compared with uncontrolled natural merge, the traffic time and the fuel consumption of the proposed control method are reduced by 41.64% and 12.25%, respectively. Compared with the existing control method based on virtual queue, the traffic efficiency difference is 1.67% and the fuel consumption is reduced by 4.52%.

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备注/Memo

备注/Memo:
收稿日期: 2020-05-03.
作者简介: 刘畅(1996—), 男, 硕士生; 殷国栋(联系人), 男, 博士, 教授, 博士生导师, ygd@seu.edu.cn.
基金项目: 国家重点研发计划资助项目(2016YFD0700905)、国家自然科学基金资助项目(51975118).
引用本文: 刘畅,庄伟超,殷国栋,等.高速匝道入口多智能网联车协同合流控制[J].东南大学学报(自然科学版),2020,50(5):965-972. DOI:10.3969/j.issn.1001-0505.2020.05.024.
更新日期/Last Update: 2020-09-20