Multi-intelligent-vehicle intersection traffic coordination control method in vehicle-road coordination environment

Abstract

The invention provides a multi-intelligent-vehicle intersection traffic coordination control method in a vehicle-road coordination environment. The method comprises the following steps: 1, establishing a traffic right division model; 2, establishing a vehicle trajectory and signal timing overall optimization model; 3, establishing an overall control model according to the passage right division model and the vehicle track and signal timing overall optimization model. According to the multi-intelligent-vehicle intersection traffic coordination control method in a vehicle-road coordination environment, through establishing traffic right distribution model, a signal timing model and a vehicle track optimization model, a set of theoretical algorithm used for intersection overall control in thevehicle-road cooperation environment is established, quantitative analysis is further carried out on the control effects of different control algorithms under different conditions by setting four sets of simulation experiments, and the significant effect of the algorithm provided by the invention on intersection overall control in the vehicle-road cooperation environment is verified.

Description

technical field [0001] The invention relates to the field of vehicle control at road intersections, in particular to a coordinated control method for multi-intelligent vehicle intersection traffic in a vehicle-road collaborative environment. Background technique [0002] With the continuous development of vehicle-road coordination technology, more active and scientific traffic control can be implemented based on full-time and space-time traffic data. In the intersection area, the specific factors that cause traffic congestion and exhaust pollution include unreasonable signal timing, unreasonable vehicle driving and unreasonable distribution of right of way. [0003] In terms of trajectory optimization, Liu et.al proposed a vehicle speed guidance algorithm under a fixed signal with the goal of minimizing the delay, which can reduce the delay by nearly 50% at low saturation, and the higher the penetration rate, the better the algorithm control effect. Xu et al. proposed a dis...

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Problems solved by technology

[0007] The purpose of the present invention is to provide a coordinated control method for multi-intelligent vehicle intersection traffic in a vehicle-road collaborative environment, which is used to solve the problem that the existing research does not simultaneously consider the right of way, signal timing, and vehicle trajectory as control objects. Provide reference for the role of vehicle-road coordination in traffic control

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