Cooperative optimization and control method for mixed traffic flow of expressway

Abstract

The invention discloses a cooperative optimization and control method for a mixed traffic flow of an expressway. The cooperative optimization and control method for the mixed traffic flow of the expressway is applied to vehicle optimal control under a merging scene of a ramp of the expressway. The cooperative optimization and control method for the mixed traffic flow of the expressway comprises the steps of predicting a vehicle track by using a microscopic vehicle following model; determining an optimization and control target vehicle; determining an optimization track section of a controllable vehicle; controlling a decision point and an admissible state set under each time; and carrying out optimization and control on the vehicle track. The cooperative optimization and control method forthe mixed traffic flow of the expressway has the beneficial effects that a microscopic traffic flow simulation environment based on the microscopic vehicle following model is established, and trafficeffects of different traffic states and different automatic driving vehicle permeability are analyzed; a brand-new cooperative merging model is proposed on the basis of the microscopic following model, traffic characteristics, geometric constraint and security constraint of the expressway are considered, and a cooperative merging problem is concluded into an optimization and control problem aboutdiscrete time state constraint; and a solving method based on dynamic programming is proposed to effectively solve the problem.

Description

technical field [0001] The invention relates to the technical field of traffic engineering, in particular to a collaborative optimization control method for mixed traffic flows on expressways. Background technique [0002] As a traffic demand input link of the entire expressway system, the on-ramp of the expressway is also a link that is prone to congestion, and is of great significance to the smooth and stable operation of the entire expressway system. With the emergence and development of self-driving cars, future highways will face a mixture of self-driving vehicles and traditional driving vehicles. Decision-making control in the mixed traffic flow environment of autonomous vehicles and traditional vehicles is a long-term realistic problem that needs to be faced in future traffic travel. Therefore, it is of great significance to study the optimization control of freeway ramp merge under the environment of mixed traffic flow. [0003] For the optimization control problem...

AI Technical Summary

Problems solved by technology

[0003] For the optimization control problem of expressway ramp cooperative convergence, some model methods have been proposed, but the decision-making control methods studied at this stage mostly assume the traffic environment with 100% penetration rate of autonomous driving vehicles and the designed decision-making methods are mostly from single vehicle, From a micro perspective, there are few studies on collaborative decision-making control from the perspective of multi-vehicles in a mixed traffic flow environment

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