Trunk line energy-saving control method in intelligent network connection mixed flow environment

Abstract

The invention discloses a trunk line energy-saving control method in an intelligent network connection mixed flow environment, and the method comprises the steps: taking each through lane of a road section between every two adjacent intersections on a target trunk line as a control road section, and setting a control region on each control road section, periodically judging whether there is a networked autonomous vehicle in the control area of each control road section, if there is a networked autonomous vehicle, selecting a networked autonomous vehicle closest to the downstream intersection as a target vehicle, and according to different situations of the current signal lamp state of the downstream intersection and a future signal lamp plan, determining whether there is a target vehicle; the driving speed of the target vehicle is correspondingly controlled, so that the target vehicle can pass through the downstream intersection without stopping; the method has the advantages that the control effect is still good when the permeability of the networked automatic driving vehicle is at a low level, the passing efficiency can be obviously improved, and the energy consumption is reduced.

Description

Technical Field

[0001] The present invention relates to a trunk line energy-saving control method, and in particular to a trunk line energy-saving control method in an intelligent networked mixed flow environment. Background Art

[0002] With the development of intelligent driving technology, networked autonomous vehicles have been used in urban traffic. At present, the mixed traffic scene that can realize vehicle-to-vehicle and vehicle-to-road communication, including networked autonomous vehicles and manually driven vehicles, is called an intelligent networked mixed flow environment. The urban road traffic system in the intelligent networked mixed flow environment can rely on vehicle-to-vehicle communication technology and vehicle-to-road communication technology to realize information sharing, so as to perform more real-time and accurate speed control of networked autonomous vehicles in the intelligent networked mixed flow environment. The development of vehicle-road cooperative technology has made it possible to formulate a speed control method in an intelligent networked mixed flow environment. Compared with the speed induction method suitable for traditional manually driven traffic, the speed control method in the intelligent networked mixed flow environment has greater advantages in real-time, accuracy and energy saving.

[0003] In the intelligent network mixed flow environment, the penetration rate of networked autonomous driving vehicles refers to the ratio of the number of networked autonomous driving vehicles to the total number of vehicles in the mixed flow formed by networked autonomous driving vehicles and manually driven vehicles, which usually represents the intelligence level of the mixed flow; traffic trunks refer to the routes that perform the main transportation tasks in the urban transportation network, which are usually composed of several intersections and all sections between two adjacent intersections. The existing trunk energy-saving control methods in the intelligent network mixed flow environment mainly control the networked autonomous driving vehicles to pass through the downstream intersections as quickly as possible based on the traffic light signal parameters of each intersection on the traffic trunk, the position and speed of the networked autonomous driving vehicles and other information. However, the existing trunk energy-saving control methods in the intelligent network mixed flow environment only consider the traffic efficiency of the networked autonomous driving vehicles themselves, and do not consider the impact of controlling the networked autonomous driving vehicles on manually driven vehicles. In the mixed flow, the fewer the number of manually driven vehicles, the better the control effect, the higher the traffic efficiency, and the lower the energy consumption. On the contrary, the more the number of manually driven vehicles, the worse the control effect, the lower the traffic efficiency, and the higher the energy consumption. Therefore, the existing trunk energy-saving control method in the intelligent network mixed flow environment can only achieve a relatively good control effect when the penetration rate of networked autonomous driving vehicles is high. However, intelligent driving technology is still in its early stages, the number of manually driven vehicles is much higher than that of networked autonomous driving vehicles, and the penetration rate of networked autonomous driving vehicles is still at a low level. Therefore, the existing trunk energy-saving control method in the intelligent network mixed flow environment cannot meet the needs of the current early stage of traffic intelligent development. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a trunk energy-saving control method in an intelligent networked mixed flow environment, which can maintain good control effect when the penetration rate of networked autonomous driving vehicles is at a low level, significantly improve traffic efficiency, and reduce energy consumption.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a trunk energy-saving control method in an intelligent connected mixed flow environment, wherein each straight lane of the section between each two adjacent intersections on the target trunk line is used as a control section, and a control area is set on each control section. It is periodically determined whether there is a connected autonomous driving vehicle in the control area of ​​each control section. When a connected autonomous driving vehicle exists, a connected autonomous driving vehicle closest to the downstream intersection is selected as the target vehicle. According to the current traffic light status of the downstream intersection and different situations of the future traffic light plan, the driving speed of the target vehicle is controlled accordingly, so that the target vehicle can pass through the downstream intersection without stopping.

[0006] Compared with the prior art, the advantage of the present invention is that according to the current signal light status (red light or green light status) of the downstream intersection signal light and the future signal light plan (such as the green light on time, the green light end time, etc.), combined with the control area set in the straight lane between each two adjacent intersections, the connected autonomous driving vehicle closest to the downstream intersection in the control area can be periodically selected as the target vehicle, thereby controlling the driving speed of the connected autonomous driving vehicles in the intelligent connected mixed flow environment under various circumstances, and then optimizing the driving speed of the overall intelligent connected mixed flow, so that the connected autonomous driving vehicles can pass through the downstream intersection without stopping under control, thereby reducing parking delays, improving traffic efficiency, and reducing energy consumption. Since the present invention only selects the connected autonomous driving vehicle as the target vehicle from the intelligent connected mixed flow environment for control, and does not control or induce the speed of other connected autonomous driving vehicles and manually driven vehicles other than the target vehicle, it still has a good control effect when the penetration rate of connected autonomous driving vehicles is at a low level.

[0007] Furthermore, the trunk line energy saving control method in an intelligent network hybrid flow environment comprises the following steps:

[0008] Step 1: The road section between each two adjacent intersections of the target trunk line is regarded as a control group, and each straight lane of the road section between each two adjacent intersections is regarded as a control section. A control area is set on each control section. The length of the control area on each control section is 1 / 10 of the length of the control section, and the starting point is the midpoint of the control section.

[0009] Step 2: Set up roadside detection equipment and a central control machine for each control group respectively. The roadside detection equipment and the central control machine of each control group are set in the middle position of the roadside of the control group. The roadside detection equipment of each control group is used to periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second and feed back to the central control machine of the control group. The central control machine of each control group can communicate wirelessly with the networked autonomous driving vehicles traveling on each control section of the control group. The networked autonomous driving vehicles traveling on each control section of the control group will periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second. The central control machine of each control group can also wirelessly communicate with the signal light control machine set at the downstream intersection of the control group for controlling the signal light status at the downstream intersection, and obtain the signal light control plan pre-stored at the signal light control machine in real time with a period of one second. The central control machine of each control group can obtain the current signal light status and future signal light plan of the downstream intersection according to the signal light control plan it obtains; the central control machine set at the middle position of the road side of each road section is preset with a control cycle and a control deceleration, and the control cycle is recorded as T c , T c The value is 2 seconds, and the controlled deceleration is recorded as d, d = 2m / s 2 ;

[0010] Step 3: When controlling the target trunk line, the central control machine of each control group of the target trunk line follows the control cycle T set in it. c , periodically controlling the vehicles traveling on each straight lane in the control group, wherein the specific process of the central control machine of each control group of the target trunk line controlling the vehicles traveling on each straight lane in the control group in each control cycle is:

[0011] Step S3-1: When a control cycle is started, the central control machine determines whether there is a networked autonomous driving vehicle in the control area of ​​each through lane. If there is no networked autonomous driving vehicle, the central control machine does not perform control operations in the current control cycle and waits for the next control cycle to start. If there is at least one networked autonomous driving vehicle in the control area of ​​a through lane, a networked autonomous driving vehicle in the control area of ​​the through lane that is closest to the downstream intersection is selected as the target vehicle, and the speed of the target vehicle currently received by the central control machine is recorded as v0, and the position is recorded as L, where L is the distance from the target vehicle to the stop line in front of the downstream intersection.

[0012] Step S3-2: The central control machine obtains the signal light control plan from the signal light control machine set at the downstream intersection, and obtains the green light on time t at the downstream intersection corresponding to the straight lane where the target vehicle is located based on the obtained signal light control plan.next When the green light ends, the length of end , where the green light is on for a period of time t next It refers to the time required from the current moment to the next time the traffic light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green. The green light end time t end It refers to the time required from the current moment to the end of the most recent green light of the traffic light at the downstream intersection corresponding to the through lane where the target vehicle is located;

[0013] Step S3-3: The central control machine determines whether there are other vehicles in front of the target vehicle on the straight lane. If not, it is considered that the target vehicle has no associated vehicles; if so, the vehicle closest to the target vehicle in front of the target vehicle is taken as its associated vehicle, and the number of vehicles in front of the target vehicle is counted and recorded as m, and the m vehicles are called the first vehicle to the mth vehicle in order of distance from the target vehicle from near to far, and the speed of the nth vehicle currently received by the central control machine is recorded as v pren , the distance between the nth vehicle and the downstream intersection stop line is recorded as L pren , n=1,2,…,m;

[0014] Step S3-4: According to the green light on time t next When the green light ends, the length of end Determine whether the traffic light at the downstream intersection of the straight lane is currently in the green light stage: if the green light is on for a period of time t next Greater than the green light end time t end , then the traffic light at the downstream intersection of the through lane is currently in the green light stage. If the green light is on for a period of t next Less than the green light end time t end , then the traffic light at the downstream intersection of the through lane is currently in the non-green light stage;

[0015] Step S3-5: Determine the number of vehicles N queuing at the intersection downstream of the target vehicle, specifically:

[0016] If the target vehicle has no associated vehicles, the central control machine directly records the number of vehicles queued at the intersection downstream of the target vehicle N=0;

[0017] If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently in the green light stage, N is determined according to the following steps:

[0018] A1. Calculate the speed of the nth vehicle at the current speed t end The distance of time is recorded as Ln, Ln = v pren ×t end ;

[0019] A2. Determine whether Ln is greater than or equal to L pren If yes, the nth vehicle is considered as a queue vehicle, if no, the nth vehicle is considered as not a queue vehicle;

[0020] A3. Counting the number of queued vehicles among the m vehicles, the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the counted number;

[0021] If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently not in the green light stage, N is determined according to the following steps:

[0022] B1. Calculate the current speed v of the nth vehicle pren Driving next The distance of time is recorded as Ln, Ln = v pren ×t next ;

[0023] B2. Determine whether Ln is less than L pren , if yes, then the nth vehicle is considered not to be a queue vehicle, if no, then the nth vehicle is considered to be a queue vehicle;

[0024] B3, counting the number of queued vehicles among the m vehicles, and the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the number obtained by counting;

[0025] Step S3-6: If the target vehicle has no associated vehicle, set y1 = (d×t next -v0) 2 -(v0) 2 +2×d×L, determine whether y1 is greater than or equal to 0, if so, proceed to step S3-7; if not, the central control machine does not control the speed of the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains the current driving state and continues to drive;

[0026] If the target vehicle has an associated vehicle, let y2 = (d × (t next +N×Δt)-v0) 2 -(v0) 2 +2×d×L, Δt is the delay time, which is 3 seconds. It is determined whether y2 is greater than or equal to 0. If so, the process proceeds to step S3-7. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive.

[0027] Step S3-7: If the traffic light at the downstream intersection of the through lane is currently green, determine v0×t endIs it greater than or equal to L? If so, it indicates that the target vehicle can pass the downstream intersection at the current speed v0 in the current green light stage, and the central control machine does not control the speed of the target vehicle in the current control cycle, waiting for the next control cycle to start, and the target vehicle continues to drive in the current driving state and can pass the downstream intersection in the current green light stage; if not, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 in the current green light stage;

[0028] At this time, if the target vehicle has no associated vehicles, perform the following operations:

[0029] C1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (1) and (2) to calculate v1 and v2 respectively:

[0030]

[0031] C2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time.

[0032] If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection at the moment when the signal light of the downstream intersection turns green next time and pass the downstream intersection without stopping. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0033] At this time, if the target vehicle has an associated vehicle, perform the following operations:

[0034] D1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (3) and (4) to calculate v1 and v2 respectively:

[0035]

[0036] Among them, Δt is the delay time, which is 3 seconds;

[0037] D2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can pass the downstream intersection without stopping when the traffic light at the downstream intersection turns green next time and the queued vehicles disappear;

[0038] D3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0039] If the traffic light at the downstream intersection of the through lane is not green, then determine whether v0×t next Less than or equal to L and v0×t end is greater than or equal to L. If so, it indicates that the target vehicle can pass through the downstream intersection at the current speed v0 after the next green light at the downstream intersection turns green. The central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0040] If v0×t next If it is greater than L, it means that the target vehicle cannot pass the downstream intersection at the current speed v0. At this time, if the target vehicle has no associated vehicles, perform the following operations:

[0041] E1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (5) and (6) to calculate v1 and v2 respectively:

[0042]

[0043] E2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time;

[0044] E3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0. If so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s. 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection at the moment when the signal light of the downstream intersection turns green next time and pass the downstream intersection without stopping. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0045] If the target vehicle has an associated vehicle, perform the following operations:

[0046] F1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (7) and (8) to calculate v1 and v2 respectively:

[0047]

[0048] F2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping after the traffic light of the downstream intersection turns green next time and the queued vehicles dissipate;

[0049] F3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0050] If v0×t endIf it is less than L, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 and does not meet the control conditions. The central control machine does not control the speed of the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of the trunk energy-saving control method in the intelligent network hybrid flow environment of the present invention;

[0052] Figure 2 A schematic diagram of a road scene of a target trunk line when the trunk line energy-saving control method in an intelligent network-connected hybrid flow environment of the present invention is implemented;

[0053] Figure 3 It is a schematic diagram of the spacing of each intersection of the target trunk line when the trunk line energy-saving control method in the intelligent network mixed flow environment of the present invention is implemented;

[0054] Figure 4 is a driving trajectory diagram of a vehicle along a target trunk line that is not controlled by the trunk line energy-saving control method in an intelligent network-connected hybrid flow environment of the present invention;

[0055] Figure 5 A driving trajectory diagram of a vehicle along a target trunk line under the control of the trunk line energy-saving control method in an intelligent networked hybrid flow environment of the present invention;

[0056] Figure 6 A statistical diagram showing a percentage reduction in the number of vehicle stops under the control of the trunk energy-saving control method in the intelligent network-connected hybrid flow environment of the present invention;

[0057] Figure 7 It is a statistical chart of the percentage reduction in total fuel consumption of vehicles under the control of the trunk energy-saving control method in the intelligent networked mixed flow environment of the present invention. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below with reference to the accompanying drawings.

[0059] Embodiment 1: A trunk energy-saving control method in an intelligent connected mixed flow environment, wherein each straight lane of the section between each two adjacent intersections on the target trunk line is used as a control section, and a control area is set on each control section. It is periodically determined whether there is a connected autonomous driving vehicle in the control area of ​​each control section. When a connected autonomous driving vehicle exists, a connected autonomous driving vehicle closest to the downstream intersection is selected as the target vehicle. According to the current traffic light status of the downstream intersection and different situations of the future traffic light plan, the driving speed of the target vehicle is controlled accordingly, so that the target vehicle can pass through the downstream intersection without stopping.

[0060] In this embodiment, based on the current signal light status (red or green light status) of the downstream intersection signal light and future signal light plans (such as the green light on time, green light off time, etc.), combined with the control area set for the through lane between each two adjacent intersections, the connected autonomous driving vehicle closest to the downstream intersection in the control area is periodically selected as the target vehicle, thereby controlling the driving speed of the connected autonomous driving vehicle in the intelligent connected mixed flow environment under various circumstances, and then optimizing the driving speed of the overall intelligent connected mixed flow, so that the connected autonomous driving vehicle can pass through the downstream intersection without stopping under control, thereby reducing parking delays, improving traffic efficiency, and reducing energy consumption.

[0061] Embodiment 2: Figure 1 As shown, a trunk energy-saving control method in an intelligent network hybrid flow environment includes the following steps:

[0062] Step 1: The road section between each two adjacent intersections of the target trunk line is regarded as a control group, and each straight lane of the road section between each two adjacent intersections is regarded as a control section. A control area is set on each control section. The length of the control area on each control section is 1 / 10 of the length of the control section, and the starting point is the midpoint of the control section.

[0063] Step 2: Set up roadside detection equipment and a central control machine for each control group respectively. The roadside detection equipment and the central control machine of each control group are set in the middle position of the roadside of the control group. The roadside detection equipment of each control group is used to periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second and feed back to the central control machine of the control group. The central control machine of each control group can communicate wirelessly with the networked autonomous driving vehicles traveling on each control section of the control group. The networked autonomous driving vehicles traveling on each control section of the control group will periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second. The central control machine of each control group can also wirelessly communicate with the signal light control machine set at the downstream intersection of the control group for controlling the signal light status at the downstream intersection, and obtain the signal light control plan pre-stored at the signal light control machine in real time with a period of one second. The central control machine of each control group can obtain the current signal light status and future signal light plan of the downstream intersection according to the signal light control plan it obtains; the central control machine set at the middle position of the road side of each road section is preset with a control cycle and a control deceleration, and the control cycle is recorded as T c , T c The value is 2 seconds, and the controlled deceleration is recorded as d, d = 2m / s 2 ;

[0064] Step 3: When controlling the target trunk line, the central control machine of each control group of the target trunk line follows the control cycle T set in it. c , periodically controlling the vehicles traveling on each straight lane in the control group, wherein the specific process of the central control machine of each control group of the target trunk line controlling the vehicles traveling on each straight lane in the control group in each control cycle is:

[0065] Step S3-1: When a control cycle is started, the central control machine determines whether there is a networked autonomous driving vehicle in the control area of ​​each through lane. If there is no networked autonomous driving vehicle, the central control machine does not perform control operations in the current control cycle and waits for the next control cycle to start; if there is at least one networked autonomous driving vehicle in the control area of ​​a through lane, a networked autonomous driving vehicle in the control area of ​​the through lane that is closest to the downstream intersection is selected as the target vehicle, and the speed of the target vehicle currently received by the central control machine is recorded as v0, and the position is recorded as L, where L is the distance from the target vehicle to the stop line in front of the downstream intersection;

[0066] Step S3-2: The central control machine obtains the signal light control plan from the signal light control machine set at the downstream intersection, and obtains the green light on time t at the downstream intersection corresponding to the straight lane where the target vehicle is located based on the obtained signal light control plan. next When the green light ends, the length of end , where the green light is on for a period of time t next It refers to the time required from the current moment to the next time the traffic light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green. The green light end time t end It refers to the time required from the current moment to the end of the most recent green light of the traffic light at the downstream intersection corresponding to the through lane where the target vehicle is located;

[0067] Step S3-3: The central control machine determines whether there are other vehicles in front of the target vehicle on the straight lane. If not, it is considered that the target vehicle has no associated vehicles. If so, the vehicle closest to the target vehicle in front of the target vehicle is taken as its associated vehicle, and the number of vehicles in front of the target vehicle is counted and recorded as m. The m vehicles are called the first vehicle to the mth vehicle in order of distance from the target vehicle from near to far, and the speed of the nth vehicle currently received by the central control machine is recorded as v pren , the distance between the nth vehicle and the downstream intersection stop line is recorded as L pren , n=1,2,…,m;

[0068] Step S3-4: According to the green light on time t next When the green light ends, the length of endDetermine whether the traffic light at the downstream intersection of the straight lane is currently in the green light stage: if the green light is on for a period of time t next Greater than the green light end time t end , then the traffic light at the downstream intersection of the through lane is currently in the green light stage. If the green light is on for a period of t next Less than the green light end time t end , then the traffic light at the downstream intersection of the through lane is currently in the non-green light stage;

[0069] Step S3-5: Determine the number of vehicles N queuing at the intersection downstream of the target vehicle, specifically:

[0070] If the target vehicle has no associated vehicles, the central control machine directly records the number of vehicles queued at the intersection downstream of the target vehicle N=0;

[0071] If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently in the green light stage, N is determined according to the following steps:

[0072] A1. Calculate the speed of the nth vehicle at the current speed t end The distance of time is recorded as Ln, Ln = v pren ×t end ;

[0073] A2. Determine whether Ln is greater than or equal to L pren If yes, the nth vehicle is considered as a queue vehicle, if no, the nth vehicle is considered as not a queue vehicle;

[0074] A3. The number of queued vehicles among the m vehicles is obtained by counting, and the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the number obtained by counting;

[0075] If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently not in the green light stage, N is determined according to the following steps:

[0076] B1. Calculate the current speed v of the nth vehicle pren Driving next The distance of time is recorded as Ln, Ln = v pren ×t next ;

[0077] B2. Determine whether Ln is less than L pren , if yes, then the nth vehicle is considered not to be a queue vehicle, if no, then the nth vehicle is considered to be a queue vehicle;

[0078] B3. Count the number of queued vehicles among the m vehicles, and the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the number obtained by counting;

[0079] Step S3-6: If the target vehicle has no associated vehicle, set y1 = (d×t next -v0) 2 -(v0) 2 +2×d×L, determine whether y1 is greater than or equal to 0, if so, proceed to step S3-7; if not, the central control machine does not control the speed of the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains the current driving state and continues to drive;

[0080] If the target vehicle has an associated vehicle, let y2 = (d × (t next +N×Δt)-v0) 2 -(v0) 2 +2×d×L, Δt is the delay time, which is 3 seconds. It is determined whether y2 is greater than or equal to 0. If so, the process proceeds to step S3-7. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive.

[0081] Step S3-7: If the traffic light at the downstream intersection of the through lane is currently green, determine v0×t end Is it greater than or equal to L? If so, it indicates that the target vehicle can pass the downstream intersection at the current speed v0 in the current green light stage, and the central control machine does not control the speed of the target vehicle in the current control cycle, waiting for the next control cycle to start, and the target vehicle continues to drive in the current driving state and can pass the downstream intersection in the current green light stage; if not, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 in the current green light stage;

[0082] At this time, if the target vehicle has no associated vehicles, perform the following operations:

[0083] C1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (1) and (2) to calculate v1 and v2 respectively:

[0084]

[0085] C2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time.

[0086] If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection and pass through the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0087] At this time, if the target vehicle has an associated vehicle, perform the following operations:

[0088] D1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (3) and (4) to calculate v1 and v2 respectively:

[0089]

[0090]

[0091] Among them, Δt is the delay time, which is 3 seconds;

[0092] D2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can pass the downstream intersection without stopping when the traffic light at the downstream intersection turns green next time and the queued vehicles disappear;

[0093] D3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0094] If the traffic light at the downstream intersection of the through lane is not green, then determine whether v0×t next Less than or equal to L and v0×t endis greater than or equal to L. If so, it indicates that the target vehicle can pass through the downstream intersection at the current speed v0 after the next green light at the downstream intersection turns green. The central control machine does not control the speed of the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0095] If v0×t next If it is greater than L, it means that the target vehicle cannot pass the downstream intersection at the current speed v0. At this time, if the target vehicle has no associated vehicles, perform the following operations:

[0096] E1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (5) and (6) to calculate v1 and v2 respectively:

[0097]

[0098] E2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time;

[0099] E3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0. If so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection and pass through the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0100] If the target vehicle has an associated vehicle, perform the following operations:

[0101] F1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (7) and (8) to calculate v1 and v2 respectively:

[0102]

[0103] F2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping after the traffic light of the downstream intersection turns green next time and the queued vehicles dissipate;

[0104] F3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive;

[0105] If v0×t end If it is less than L, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 and does not meet the control conditions. The central control machine does not control the speed of the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive.

[0106] In this embodiment, the central control machine of each control group of the target trunk line communicates wirelessly with the networked autonomous driving vehicle traveling on each control section of the control group, receives the speed and address sent by the networked autonomous driving vehicle in real time, determines whether there is a networked autonomous driving vehicle in the control area of ​​each control section of the control group, and determines the target vehicle when there is a networked autonomous driving vehicle in the control area of ​​a certain control section. At the same time, by wirelessly communicating with a signal light controller set at a downstream intersection of the control group for controlling the signal light status at the downstream intersection, the signal light control plan preset at the signal light controller is obtained in real time with a cycle of one second, thereby determining the current signal light status and future signal light status (signal light holding time, switching time, etc.) of the downstream intersection, so as to determine whether the target vehicle can be controlled according to the current signal light status and the future signal light status, and when the target vehicle can be controlled, it is controlled according to the corresponding control strategy, so that the target vehicle can pass through the downstream intersection without stopping, thereby finally achieving energy-saving control of the target trunk line.

[0107] In order to verify the performance of the trunk energy-saving control method in the intelligent networked hybrid flow environment of the present embodiment, the trunk energy-saving control method in the intelligent networked hybrid flow environment of the present embodiment is simulated and verified.

[0108] First, a verification platform was built in the micro traffic simulation software SUMO. Specifically, a traffic trunk line with three intersections was established in the micro traffic simulation software SUMO as the target trunk line of this embodiment. The road scene of the target trunk line is as follows: Figure 2 As shown, the target trunk line includes three intersections and road sections connecting the three intersections. One main road is a two-way six-lane road with lane directions of a straight right lane, a straight lane, and a left turn lane. The three secondary roads are two-way four-lane roads with lane directions of a straight right lane and a left turn lane. When the mixed traffic flow enters the target trunk line, the trunk line energy-saving control method in the intelligent networked mixed flow environment of this embodiment can select the networked automatic driving vehicle entering the control area for speed control. Manually driven vehicles do not need to comply with any speed recommendations and only need to follow the vehicle in front for normal driving. Then set the signal light control plan to a fixed signal timing plan, the trunk line straight green light duration is 30 seconds, and the signal cycle duration is 60 seconds. Figure 2 The spacing between intersections of the target trunk line is shown as Figure 3 As shown, the traffic will pass through the controlled section between the two intersections while traveling along the target trunk line. The networked autonomous driving vehicles in the control area will be identified and their future driving speeds will be planned so that the networked autonomous driving vehicles can pass through the downstream intersection without stopping. It should be pointed out that the objects of speed control in this embodiment are the networked autonomous driving vehicles on the road along the trunk line, that is, the networked autonomous driving vehicles on the middle straight lane on the trunk road.

[0109] Then, the trunk energy-saving control method in the intelligent network mixed flow environment of this embodiment is experimented in the micro traffic simulation software SUMO. Using Python to call SUMO's Traci can realize speed control of vehicle objects in SUMO. The specific simulation process is:

[0110] 1. Test the performance of the trunk energy-saving control method in the intelligent network mixed flow environment of this embodiment on several micro vehicles at the penetration level of 10%. Please note that the micro vehicles mentioned here do not mean that only several vehicles are input during the simulation, but that the time interval for vehicles to enter the road network follows the Poisson distribution, and both types of vehicles are fuel vehicles. 1 hour of traffic was input, and the simulation experiment ran for 4200s. 11 vehicles affected by the trunk energy-saving control method in the intelligent network mixed flow environment of this embodiment were selected for analysis. Among them, the driving trajectory of the vehicle along the target trunk line that is not controlled by the trunk energy-saving control method in the intelligent network mixed flow environment of this embodiment is as shown in the figure Figure 4 As shown, under the control of the trunk energy-saving control method in the intelligent network hybrid flow environment of this embodiment, the driving trajectory of the vehicle along the target trunk is as shown in FIG. Figure 5 shown. Figure 4 and Figure 5In the figure, CAV represents a connected autonomous vehicle, HDV represents a manually driven vehicle, the thick solid line represents the non-green stage of the traffic light, and the thick dotted line represents the green stage of the traffic light. Figure 4 It can be seen that when the networked autonomous driving vehicles are not subject to energy-saving speed control, almost all vehicles stop once before each intersection. This start-stop undoubtedly increases the parking delay of the vehicle, thereby increasing the vehicle's fuel consumption; Figure 5 It can be seen that after the energy-saving speed control of the connected autonomous driving vehicles, all vehicles in the fleet were able to pass through the intersection without stopping.

[0111] 2. To compare and analyze the performance of the overall traffic flow of the controlled lanes at different penetration levels, a simulation experiment was conducted at a flow rate of 500 vehicles per hour in the through lane, and the parking delays on the through lane at different penetration levels in the simulation experiment were counted. Under the control of the trunk energy-saving control method in the intelligent network mixed flow environment of this embodiment, the percentage of vehicle parking times reduced is shown in the following statistical chart: Figure 6 shown. Figure 6 The parking delay shown refers to the percentage reduction in the number of parking times generated under the control of the trunk energy-saving control method under the intelligent network hybrid flow environment of this embodiment relative to the trunk energy-saving control method not under the control of the intelligent network hybrid flow environment of this embodiment. Figure 6 It can be seen that the trunk energy-saving control method in the intelligent connected mixed flow environment of this embodiment has a significant effect in reducing the number of vehicle stops, and the percentage of reduction in stops increases significantly with the increase in the penetration rate of connected autonomous driving vehicles.

[0112] 3. A simulation experiment was conducted under a flow rate of 500 vehicles per hour in the straight lane, and the total fuel consumption of all vehicles on the straight lane at different penetration rates was counted, and compared with the total fuel consumption of all vehicles on the straight lane under the main line energy-saving control method in the intelligent networked mixed flow environment of this embodiment. A statistical chart of the percentage reduction of total fuel consumption of vehicles at different penetration rates under the control of the main line energy-saving control method in the intelligent networked mixed flow environment of this embodiment was obtained, as shown in FIG. Figure 7 As shown. Figure 7 It can be seen that the trunk energy-saving control method in the intelligent connected mixed flow environment of this embodiment can achieve positive energy-saving gains when the penetration rate of connected autonomous driving vehicles is lower than 40%, and can reduce the overall energy consumption of the mixed flow.

[0113] To summarize, the trunk energy-saving control method in the intelligent connected hybrid flow environment of the present invention only selects the connected autonomous driving vehicle as the target vehicle from the intelligent connected hybrid flow environment for control, and does not perform speed control or induction on other connected autonomous driving vehicles and manually driven vehicles other than the target vehicle. Therefore, it still has a good control effect when the penetration rate of connected autonomous driving vehicles is at a low level.

Claims

1. A trunk energy-saving control method in an intelligent network hybrid flow environment, characterized in that Each straight lane on the section between every two adjacent intersections on the target trunk line is used as a control section, and a control area is set on each control section. It is periodically determined whether there is a connected autonomous driving vehicle in the control area of ​​each control section. When a connected autonomous driving vehicle exists, a connected autonomous driving vehicle closest to the downstream intersection is selected as the target vehicle. According to the current traffic light status of the downstream intersection and different situations of future traffic light plans, the driving speed of the target vehicle is controlled accordingly so that the target vehicle can pass through the downstream intersection without stopping.

2. According to claim 1, a trunk energy-saving control method in an intelligent network hybrid flow environment is characterized in that The following steps are involved: Step 1: The road section between each two adjacent intersections of the target trunk line is regarded as a control group, and each straight lane of the road section between each two adjacent intersections is regarded as a control section. A control area is set on each control section. The length of the control area on each control section is 1 / 10 of the length of the control section, and the starting point is the midpoint of the control section. Step 2: Set up roadside detection equipment and a central control machine for each control group respectively. The roadside detection equipment and the central control machine of each control group are set in the middle position of the roadside of the control group. The roadside detection equipment of each control group is used to periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second and feed back to the central control machine of the control group. The central control machine of each control group can communicate wirelessly with the networked autonomous driving vehicles traveling on each control section of the control group. The networked autonomous driving vehicles traveling on each control section of the control group will periodically detect the speed and position of the manually driven vehicles traveling on each control section of the control group with a cycle of one second. The central control machine of each control group can also wirelessly communicate with the signal light control machine set at the downstream intersection of the control group for controlling the signal light status at the downstream intersection, and obtain the signal light control plan pre-stored at the signal light control machine in real time with a period of one second. The central control machine of each control group can obtain the current signal light status and future signal light plan of the downstream intersection according to the signal light control plan it obtains; the central control machine set at the middle position of the road side of each road section is preset with a control cycle and a control deceleration, and the control cycle is recorded as T c , T c The value is 2 seconds, and the controlled deceleration is recorded as d, d = 2m / s 2 ; Step 3: When controlling the target trunk line, the central control machine of each control group of the target trunk line follows the control cycle T set in it. c , periodically controlling the vehicles traveling on each straight lane in the control group, wherein the specific process of the central control machine of each control group of the target trunk line controlling the vehicles traveling on each straight lane in the control group in each control cycle is: Step S3-1: When a control cycle is started, the central control machine determines whether there is a networked autonomous driving vehicle in the control area of ​​each through lane. If there is no networked autonomous driving vehicle, the central control machine does not perform control operations in the current control cycle and waits for the next control cycle to start. If there is at least one networked autonomous driving vehicle in the control area of ​​a through lane, a networked autonomous driving vehicle in the control area of ​​the through lane that is closest to the downstream intersection is selected as the target vehicle, and the speed of the target vehicle currently received by the central control machine is recorded as v0, and the position is recorded as L, where L is the distance from the target vehicle to the stop line in front of the downstream intersection. Step S3-2: The central control machine obtains the signal light control plan from the signal light control machine set at the downstream intersection, and obtains the green light on time t at the downstream intersection corresponding to the straight lane where the target vehicle is located based on the obtained signal light control plan. next When the green light ends, the length of end , where the green light is on for a period of time t next It refers to the time required from the current moment to the next time the traffic light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green. The green light end time t end It refers to the time required from the current moment to the end of the most recent green light of the traffic light at the downstream intersection corresponding to the through lane where the target vehicle is located; Step S3-3: The central control machine determines whether there are other vehicles in front of the target vehicle on the straight lane. If not, it is considered that the target vehicle has no associated vehicles; if so, the vehicle closest to the target vehicle in front of the target vehicle is taken as its associated vehicle, and the number of vehicles in front of the target vehicle is counted and recorded as m, and the m vehicles are called the first vehicle to the mth vehicle in order of distance from the target vehicle from near to far, and the speed of the nth vehicle currently received by the central control machine is recorded as v pren , the distance between the nth vehicle and the downstream intersection stop line is recorded as L pren , n=1,2,…,m; Step S3-4: According to the green light on time t next When the green light ends, the length of end Determine whether the traffic light at the downstream intersection of the straight lane is currently in the green light stage: if the green light is on for a period of time t next Greater than the green light end time t end , then the traffic light at the downstream intersection of the straight lane is currently in the green light stage. If the green light is on for a period of t next Less than the green light end time t end , then the traffic light at the downstream intersection of the through lane is currently in the non-green light stage; Step S3-5: Determine the number of vehicles N queuing at the intersection downstream of the target vehicle, specifically: If the target vehicle has no associated vehicles, the central control machine directly records the number of vehicles queued at the intersection downstream of the target vehicle N=0; If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently in the green light stage, N is determined according to the following steps: A1. Calculate the speed of the nth vehicle at the current speed t end The distance of time is recorded as Ln, Ln = v pren ×t end ; A2. Determine whether Ln is greater than or equal to L pren If yes, the nth vehicle is considered as a queue vehicle, if no, the nth vehicle is considered as not a queue vehicle; A3. Counting the number of queued vehicles among the m vehicles, the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the counted number; If the target vehicle has an associated vehicle and the traffic light at the downstream intersection of the through lane is currently not in the green light stage, N is determined according to the following steps: B1. Calculate the current speed v of the nth vehicle pren Driving next The distance of time is recorded as Ln, Ln = v pren ×t next ; B2. Determine whether Ln is less than L pren , if yes, then the nth vehicle is considered not to be a queue vehicle, if no, then the nth vehicle is considered to be a queue vehicle; B3, counting the number of queued vehicles among the m vehicles, and the central control machine records that the number of queued vehicles N at the intersection downstream of the target vehicle is equal to the number obtained by counting; Step S3-6: If the target vehicle has no associated vehicle, set y1 = (d×t next -v0) 2 -(v0) 2 +2×d×L, determine whether y1 is greater than or equal to 0, if so, proceed to step S3-7; if not, the central control machine does not control the speed of the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains the current driving state and continues to drive; If the target vehicle has an associated vehicle, then let y2 = (d × (t next +N×Δt)-v0) 2 -(v0) 2 +2×d×L, Δt is the delay time, which is 3 seconds. It is determined whether y2 is greater than or equal to 0. If so, the process proceeds to step S3-7. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive. Step S3-7: If the traffic light at the downstream intersection of the through lane is currently green, determine v0×t end Is it greater than or equal to L? If so, it indicates that the target vehicle can pass the downstream intersection at the current speed v0 in the current green light stage, and the central control machine does not control the speed of the target vehicle in the current control cycle, waiting for the next control cycle to start, and the target vehicle continues to drive in the current driving state and can pass the downstream intersection in the current green light stage; if not, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 in the current green light stage; At this time, if the target vehicle has no associated vehicles, perform the following operations: C1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (1) and (2) to calculate v1 and v2 respectively: C2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection at the moment when the signal light of the downstream intersection turns green next time and pass the downstream intersection without stopping. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive; At this time, if the target vehicle has an associated vehicle, perform the following operations: D1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (3) and (4) to calculate v1 and v2 respectively: Among them, Δt is the delay time, which is 3 seconds; D2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can pass the downstream intersection without stopping when the traffic light at the downstream intersection turns green next time and the queued vehicles disappear; D3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive; If the traffic light at the downstream intersection of the through lane is not green, then determine whether v0×t next Less than or equal to L and v0×t end is greater than or equal to L. If so, it indicates that the target vehicle can pass through the downstream intersection at the current speed v0 after the next green light at the downstream intersection turns green. The central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive; If v0×t next If it is greater than L, it means that the target vehicle cannot pass the downstream intersection at the current speed v0. At this time, if the target vehicle has no associated vehicles, perform the following operations: E1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (5) and (6) to calculate v1 and v2 respectively: E2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping when the traffic light of the downstream intersection turns green next time; E3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0. If so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s. 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can reach the stop line of the downstream intersection at the moment when the signal light of the downstream intersection turns green next time and pass the downstream intersection without stopping. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive; If the target vehicle has an associated vehicle, perform the following operations: F1. Set two target speeds v1 and v2 for the target vehicle, and use formulas (7) and (8) to calculate v1 and v2 respectively: F2. If v1 is less than v0 and v1 is greater than 0, the central control unit sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2 m / s. 2 Start to decelerate, reduce its speed to the target speed v1, and then maintain the target speed v1. At this time, the target vehicle can reach the stop line of the downstream intersection without stopping after the traffic light of the downstream intersection turns green next time and the queued vehicles dissipate; F3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, then continue to determine whether v2 is less than v0 and v2 is greater than 0; if so, the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant speed of d = 2m / s 2 Start to decelerate, reduce its speed to the target speed v2, and then maintain the target speed v2. At this time, the target vehicle can pass through the downstream intersection without stopping after the traffic light at the downstream intersection turns green next time and the queued vehicles disappear. If not, the central control machine does not control the speed of the target vehicle in the current control cycle, and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive; If v0×t end If it is less than L, it indicates that the target vehicle cannot pass the downstream intersection at the current speed v0 and does not meet the control conditions. The central control machine does not control the speed of the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle maintains the current driving state and continues to drive.

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