Cooperative method for vehicle track and signal control in intelligent network connection environment

Abstract

The invention discloses a vehicle track and signal control cooperation method in an intelligent network connection environment, and the method comprises the steps: setting the green light duration of a signal lamp corresponding to a target entrance lane according to the traffic flow information, and combining with a control region disposed on a target through lane; and periodically selecting the networked automatic driving vehicle closest to the downstream intersection in the control area as a target vehicle, thereby controlling the driving speed of the networked automatic driving vehicle in the intelligent networked mixed flow environment under various conditions, and further optimizing the driving speed of the whole intelligent networked mixed flow. The networked automatic driving vehicle can pass through the downstream intersection without stopping under the control; the method has the advantages that when the permeability of the networked automatic driving vehicle is at a low level, the manual driving vehicle is not required to follow the networked automatic driving vehicle to run in a queue form, the control effect is still good, and the passing efficiency can be obviously improved.

Description

Technical Field

[0001] The present invention relates to a collaborative method, and in particular to a collaborative method for vehicle trajectory and signal control in an intelligent connected environment. Background Art

[0002] With the continuous progress of autonomous driving technology, more and more connected autonomous vehicles have been incorporated into the urban traffic system. Against this background, a new type of traffic environment - the intelligent connected mixed flow environment has emerged, which includes connected autonomous vehicles capable of vehicle-to-vehicle and vehicle-to-infrastructure communication, as well as traditional manually driven vehicles. In such an environment, the urban road traffic system can use advanced communication technologies to achieve data exchange between vehicles and between vehicles and traffic infrastructure, and then more instantaneously and precisely regulate the driving speed of connected autonomous vehicles and the intersection signal control scheme. The development of vehicle-road collaborative technology provides technical support for formulating the collaborative control of vehicle speed and signal schemes in the intelligent connected mixed flow environment. Compared with the traditional vehicle speed guidance methods that are only applicable to manually driven vehicles, these emerging control methods have shown significant advantages in response speed, regulation accuracy, and energy efficiency.

[0003] In the intelligent connected mixed flow environment, the penetration rate of connected autonomous vehicles refers to the proportion of the number of connected autonomous vehicles in the total number of vehicles in the mixed flow formed by connected autonomous vehicles and manually driven vehicles, and usually represents the intelligent level of the mixed flow. The current collaborative optimization of vehicle trajectory and signal in the intelligent connected environment mainly has the following two deficiencies. One is that the collaboration between vehicle trajectory and signal is only applicable to a pure connected environment, that is, all vehicles are connected autonomous vehicles, and a better control effect can only be achieved at a relatively high penetration rate. However, currently, intelligent driving technology is still in its initial stage, the number of manually driven vehicles is much higher than that of connected autonomous vehicles, and the penetration rate of connected autonomous vehicles is still at a relatively low level. The other is that in the current collaboration between signal control and connected autonomous vehicles, it is often assumed that vehicles travel in a queue, that is, it is required that manually driven vehicles follow connected autonomous vehicles and travel in a queue. However, in real life, manually driven vehicles do not necessarily follow connected autonomous vehicles and travel in a queue. Considering the above two points, the existing collaborative methods for vehicle trajectory and signal control in the intelligent connected environment have not fully adapted to the specific challenges and requirements faced in the initial stage of traffic intelligence. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a collaborative method for vehicle trajectory and signal control in an intelligent connected environment, which can still achieve good control effects, significantly improve the traffic efficiency, when the penetration rate of connected autonomous vehicles is at a relatively low level and does not require manually driven vehicles to follow connected autonomous vehicles and travel in a queue.

[0005] The technical solution adopted by the present invention to solve the above technical problems is as follows: A collaborative method for vehicle trajectory and signal control in an intelligent networked environment. The road section between every two adjacent intersections in a preset control area is used as a target road section, and each straight lane on each target road section is used as a control road section, and a control area is set on each control road section; 10 seconds before the end of the red light of the straight-through signal light at the downstream intersection of each target road section, determine whether the green light duration of the straight-through signal light at the downstream intersection needs to be reset according to the vehicle arrival situation of each straight lane on the target road section. When resetting is required, reset the green light duration of the straight-through signal light at the downstream intersection so that the next green light of the straight-through signal light at the downstream intersection works according to the currently set green light duration; after each setting of the green light duration of the straight-through signal light at the downstream intersection of each target road section is completed, the time from the completion moment of setting the green light duration of the straight-through signal light at the downstream intersection of each target road section to the end moment of the next green light of the straight-through signal light at the downstream intersection of this target road section is used as a control period of this target road section. In each control period of this target road section, first judge whether the duration of this control period is an integer multiple of the preset control cycle. If so, when entering this control period, start to perform vehicle control on each control road section of this target road section periodically according to the preset control cycle until the end of this control period. If not, when entering this control period, start to perform vehicle control on each control road section of this target road section periodically according to the preset control cycle until the remaining duration of this control period is less than one control cycle; The specific process of performing vehicle control on each control road section of a certain target road section in each control cycle is as follows: Judge whether there is a connected and autonomous vehicle in the control area of each control road section. If there is no connected and autonomous vehicle in the control area of a certain control road section, no vehicle control is performed on this control road section in this control cycle. If there is a connected and autonomous vehicle in the control area of a certain control road section, select the connected and autonomous vehicle closest to the downstream intersection on this control road section as the target vehicle, and correspond to control the driving speed of the target vehicle driving on this control road section according to the current green light duration of the straight-through signal light at the downstream intersection of this control road section, so that the target vehicle can pass through the downstream intersection without stopping.

[0006] Compared with the prior art, the advantages of the present invention are as follows: after setting the duration of the green light of the signal lamp corresponding to the target approach lane according to the traffic flow information, combined with the control area set on the target straight lane, the connected autonomous vehicle closest to the downstream intersection in the control area can be periodically selected as the target vehicle, so as to control the driving speed of the connected autonomous vehicle in the intelligent connected hybrid flow environment in various situations, and then optimize the driving speed of the overall intelligent connected hybrid flow, enabling the connected autonomous vehicle to pass through the downstream intersection without stopping under control, thereby reducing driving delays and improving traffic efficiency. Since the present invention only controls the connected autonomous vehicle selected as the target vehicle from the intelligent connected hybrid flow environment and does not perform speed control or induction on other connected autonomous vehicles and manually driven vehicles except the target vehicle, that is, it does not require the manually driven vehicle to follow the connected autonomous vehicle in a queue form, so it still has a good control effect when the penetration rate of the connected autonomous vehicle is at a low level and can significantly improve traffic efficiency.

[0007] Further, the length of the control area on each straight lane is 1 / 10 of the length of the straight lane, and the starting position is the midpoint of the straight lane; a roadside detection device and a central control machine are arranged on the roadside corresponding to the starting position of the control area of each control section. The roadside detection device arranged on the roadside of each control section is used to periodically detect the speed and position of the manually driven vehicle passing through the control section at a cycle of one second and feed them back to the central control machine arranged on the roadside of the control section. The central control machine arranged on the roadside of each control section can communicate wirelessly with the connected autonomous vehicle driving on the control section. The connected autonomous vehicle driving on the control section will send its current speed and position information to the central control machine arranged on the roadside of the control section at a cycle of one second; the central control machine arranged on the roadside of each control section can also communicate wirelessly with the signal lamp control machine arranged at the downstream intersection of the control section, and obtain the pre-stored signal lamp control plan at the signal lamp control machine in real time at a cycle of one second. The initial value G of the green light duration of the straight signal lamp of the control section at the downstream intersection of each control section pre is set to 20 seconds.

[0008] Further, 10 seconds before the end of the red light of the straight signal lamp arranged at the downstream intersection of a certain target section, it is determined whether the green light duration of the straight signal lamp at the downstream intersection of the target section needs to be reset according to the vehicle arrival situation on each straight lane of the target section. When resetting is required, the specific process of resetting the green light duration of the straight signal lamp at the downstream intersection of the target section is as follows:

[0009] Step A1: Denote the number of straight lanes on the target road section as I. The I straight lanes on the target road section are sequentially called the 1st straight lane to the Ith straight lane from right to left according to the vehicle driving direction. Denote the vehicles driving on the ith straight lane of the target road section as the 1st vehicle to the Jth vehicle of the ith straight lane in ascending order of their distances from the stop line of the downstream intersection. i vehicle, and J i represents the number of vehicles driving on the ith straight lane of the target road section at the current moment. The central controller set on the roadside of the target road section receives the speeds of the vehicles driving on each straight lane, and denote the speed of the jth vehicle on the ith straight lane of the target road section at the current moment as v i j , where i = 1, 2, …, I and j = 1, 2, …, J i ; Denote the distance of the jth vehicle on the ith straight lane from the stop line of the downstream intersection at the current moment as Calculate the distances traveled by each vehicle on each straight lane of the target road section from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section respectively. Denote the distance traveled by the jth vehicle on the ith straight lane from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section as Obtain it by calculating with formula (1)

[0010]

[0011] In formula (1), G pre equals 20 s;

[0012] Step A2: Judge whether each vehicle on each straight lane of the target road section meets the following condition respectively: when the duration of the next green light of the straight-ahead signal at the downstream intersection of the target road section is set to 20 seconds, the distance traveled by this vehicle from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section is greater than or equal to the distance of this vehicle from the stop line of the downstream intersection; Count the number of vehicles that meet the above conditions on all straight lanes of the target road section, and denote it as N1;

[0013] Step A3: Calculate the distances traveled by each vehicle on each straight lane from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section respectively when the duration of the next green light of the straight-ahead signal at the downstream intersection of the target road section is set to 22 seconds. Denote the distance traveled by the jth vehicle on the ith straight lane from the current moment to the end of the next green light as Obtain it by calculating with formula (2)

[0014] In formula (2), G pre is equal to 20 s;

[0015] Step A4: Determine whether each vehicle on each straight lane meets the following condition: when the next green light duration of the straight-ahead signal at the downstream intersection of the target section is set to 22 s, whether the distance traveled by the vehicle from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target section is greater than or equal to the distance of the vehicle from the stop line of the downstream intersection; and count the number of vehicles on all straight lanes of the target section that meet the above conditions, and record it as N2;

[0016] Step A5: Compare the magnitudes of N2 and N1, and set the green light duration of the straight-ahead signal at the downstream intersection according to the comparison result:

[0017] If N2 is equal to N1, it means that after the next green light duration of the straight-ahead signal at the downstream intersection of the target section is increased by 2 s, no more vehicles can pass through. Set the green light duration of the straight-ahead signal at the downstream intersection of the target section to 20 s;

[0018] If N2 is greater than N1, it means that when the next green light duration of the straight-through signal at the downstream intersection of the target road section is increased by 2 seconds compared to 20 seconds, more vehicles can pass through. At this time, continue to increase the next green light duration of the straight-through signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether more vehicles can pass through when the next green light duration of the straight-through signal at the downstream intersection of the target road section is set to 24 seconds, that is, increased by 4 seconds compared to 20 seconds. If the answer is no, then set the green light duration of the straight-through signal at the downstream intersection of the target road section to 24 seconds. If the answer is yes, then continue to increase the next green light duration of the straight-through signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether more vehicles can pass through when the next green light duration of the straight-through signal at the downstream intersection of the target road section is set to 26 seconds, that is, increased by 6 seconds compared to 20 seconds. If the answer is no, then set the green light duration of the straight-through signal at the downstream intersection of the target road section to 26 seconds. If the answer is yes, then continue to increase the next green light duration of the straight-through signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether more vehicles can pass through when the next green light duration of the straight-through signal at the downstream intersection of the target road section is set to 28 seconds, that is, increased by 8 seconds compared to 20 seconds. If the answer is no, then set the green light duration of the straight-through signal at the downstream intersection of the target road section to 28 seconds. If the answer is yes, then continue to increase the next green light duration of the straight-through signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether more vehicles can pass through when the next green light duration of the straight-through signal at the downstream intersection of the target road section is set to 30 seconds, that is, increased by 10 seconds compared to 20 seconds. If the answer is no, then set the green light duration of the straight-through signal at the downstream intersection of the target road section to 28 seconds. If the answer is yes, then set the green light duration of the straight-through signal at the downstream intersection of the target road section to 30 seconds.

[0019] Further, according to the current green light duration of the straight-through signal at the downstream intersection of a certain control road section, correspondingly control the driving speed of the target vehicle driving on the control road section, so that the specific process for the target vehicle driving on the control road section to pass through the downstream intersection without stopping is as follows:

[0020] Step B1: Record the speed of the target vehicle currently received by the central controller as v0 and the position as L. L is the distance from the target vehicle to the stop line of the downstream intersection.

[0021] Step B2: The central controller obtains the signal light control plan from the signal light controller set at the downstream intersection. If the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located is a red light at this time, then obtain the green light opening duration t of the downstream intersection corresponding to the straight lane where the target vehicle is located based on the obtained signal light control plan.next and the green light end duration \(t\) end ; if the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located is not red at this time, then based on the obtained signal light control plan, obtain the green light end duration \(t\) at the downstream intersection corresponding to the straight lane where the target vehicle is located end ; where the green light on duration \(t\) next refers to the duration from the current moment to the next time the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green, and the green light end duration \(t\) end refers to the duration from the current moment to the end of the most recent green light of the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located;

[0022] Step B3: The central controller determines whether there are other vehicles in front of the target vehicle on the control section. If not, it is considered that the target vehicle has no associated vehicle; if so, the vehicle closest to the target vehicle in front of the target vehicle is used as its associated vehicle, count the number of vehicles in front of the target vehicle, denote it as \(m\), and sequentially call the \(m\) vehicles the 1st vehicle to the \(m\)th vehicle in the order of the distance from the target vehicle from near to far. Denote the speed of the \(n\)th vehicle in front of the target vehicle currently received by the central controller as \(v\) pren and the distance of the \(n\)th vehicle in front of the target vehicle from the stop line of the downstream intersection as \(L\) pren , \(n = 1, 2,\cdots, m\);

[0023] Step B4: Determine the number \(N\) of queuing vehicles at the downstream intersection of the target vehicle, specifically:

[0024] If the target vehicle has no associated vehicle, the central controller directly records that the number \(N\) of queuing vehicles at the downstream intersection of the target vehicle is \(0\);

[0025] If the target vehicle has an associated vehicle and the straight-ahead signal light at the downstream intersection of the control section is currently in the green light phase, then determine \(N\) according to the following steps:

[0026] B4-1-1. Calculate the distance traveled by the \(n\)th vehicle at the current speed for \(t\) end duration, denote it as \(L_n\), \(L_n = v\) pren \(\times t\) end ;

[0027] B4-1-2. Judge whether \(L_n\) is greater than or equal to \(L\) pren , if so, consider the \(n\)th vehicle as a queuing vehicle, if not, consider the \(n\)th vehicle as a non-queuing vehicle;

[0028] B4-1-3. Statistically obtain the number of queuing vehicles among m vehicles, and the central controller records that the number of queuing vehicles N at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the statistically obtained m vehicles;

[0029] If the target vehicle has associated vehicles and the straight-through signal light at the downstream intersection of the control section is currently in a non-green light phase, then determine N according to the following steps:

[0030] B4-2-1. Calculate the distance traveled by the nth vehicle at the current speed v pren for a duration of t next and denote it as Ln, Ln = v pren ×t next ;

[0031] B4-2-2. Determine whether Ln is less than L pren . If so, it is considered that the nth vehicle is not a queuing vehicle; if not, it is considered that the nth vehicle is a queuing vehicle;

[0032] B4-2-3. Statistically obtain the number of queuing vehicles among m vehicles, and the central controller records that the number of queuing vehicles N at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the statistically obtained m vehicles;

[0033] Step B5: If the target vehicle has no associated vehicles, then let y1 = (d×t next -v0) 2 -(v0) 2 +2×d×L, where d represents the deceleration, d = 2m / s 2 , and determine whether y1 is greater than or equal to 0. If so, proceed to step B6; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; If the target vehicle has associated vehicles, then let y2 = (d×(t next +N×Δt)-v0) 2 -(v0) 2 +2×d×L, Δt is the delay time, with a value of 3 seconds, and determine whether y2 is greater than or equal to 0. If so, proceed to step B6; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state;

[0034] Step B6: If the straight-through signal light at the downstream intersection of the control section is currently in the green light phase, then determine v0×t endIs it 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 during the current green light phase. The central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains its current driving state and continues to drive, and can pass through the downstream intersection during the current green light phase; if not, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 during the current green light phase. At this time, it is judged whether the target vehicle has associated vehicles; if the target vehicle has no associated vehicles, the following operations are performed: Judge Is it greater than or equal to L, where a represents the acceleration, a = 0.5m / s 2 , v max is the maximum speed that the target vehicle can accelerate to. If so, it indicates that the target vehicle can accelerate to its maximum speed v max and pass through the downstream intersection during the current green light phase. Then the central controller sends a control signal to the target vehicle to control the target vehicle to start accelerating at a constant acceleration a = 0.5m / s 2 and accelerate its speed to the speed v max , and then maintain the speed v max to drive. At this time, the target vehicle can pass through the downstream intersection before the green light of the downstream intersection signal ends; if is equal to L, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains its current driving state and continues to drive; if the target vehicle has associated vehicles, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains its current driving state and continues to drive;

[0035] If the signal light at the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t next is less than or equal to L and v0×t end is greater than or equal to L, it indicates that the target vehicle can pass through the downstream intersection after the next green light turns green at the downstream intersection at the current speed v0. The central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle maintains its current driving state and continues to drive;

[0036] If the signal light at the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t next is greater than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0. At this time, it is judged whether the target vehicle has associated vehicles; if the target vehicle has no associated vehicles, the following operations are performed:

[0037] B6-1-1. Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (3) and (4):

[0038]

[0039] B6-1-2. If v1 is less than v0 and v1 is greater than 0, the central controller sends a control signal to the target vehicle to control the target vehicle to start decelerating at a constant deceleration d = 2 m / s², 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 at the moment when the downstream intersection signal turns green next time and pass through the downstream intersection without stopping; 2 Start decelerating, 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 at the moment when the downstream intersection signal turns green next time and pass through the downstream intersection without stopping;

[0040] B6-1-3. If v1 is greater than or equal to v0 or v1 is less than or equal to 0, continue to determine whether v2 is less than v0 and v2 is greater than 0. If so, the central controller sends a control signal to the target vehicle to control the target vehicle to start decelerating at a constant deceleration d = 2 m / s², 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 downstream intersection signal turns green next time and pass through the downstream intersection without stopping; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel at its current driving state; 2 Start decelerating, 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 downstream intersection signal turns green next time and pass through the downstream intersection without stopping; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel at its current driving state;

[0041] If the target vehicle has associated vehicles, perform the following operations:

[0042] B6-2-1. Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (5) and (6):

[0043]

[0044] B6-2-2. If v1 is less than v0 and v1 is greater than 0, the central controller sends a control signal to the target vehicle to control the target vehicle to start decelerating at a constant deceleration d = 2 m / s², 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 at the moment when the downstream intersection signal turns green and the queuing vehicles dissipate and pass through the downstream intersection without stopping; 2 Start decelerating, 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 at the moment when the downstream intersection signal turns green and the queuing vehicles dissipate and pass through the downstream intersection without stopping;

[0045] B6-2-3. 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 deceleration of d = 2 m / s 2 to start decelerating, reduce its speed to the target speed v2, and then maintain the target speed v2 for driving. At this time, the target vehicle can pass through the downstream intersection without stopping after the downstream intersection signal turns green next time and the queuing vehicles disperse; if not, the central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to drive in the current driving state;

[0046] If the signal of the downstream intersection of this straight lane is currently in a non-green light stage, and v0×t end is less than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 and does not meet the control conditions. The central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to drive in the current driving state.

[0047] Further, the control cycle T preset in the central control machine c = 2 seconds. Description of the Drawings

[0048] Figure 1 is a flowchart of the collaborative method for vehicle trajectory and signal control in the intelligent connected environment of the present invention;

[0049] Figure 2 is a schematic diagram of the road scene when the collaborative method for vehicle trajectory and signal control in the intelligent connected environment of the present invention is implemented;

[0050] Figure 3 is a schematic diagram of the spacing between intersections on the road when the collaborative method for vehicle trajectory and signal control in the intelligent connected environment of the present invention is implemented;

[0051] Figure 4 is a driving trajectory diagram of a vehicle along the target road without being controlled by the collaborative method for vehicle trajectory and signal control in the intelligent connected environment of the present invention;

[0052] Figure 5 is a driving trajectory diagram of a vehicle along the target road under the control of the collaborative method for vehicle trajectory and signal control in the intelligent connected environment of the present invention;

[0053] Figure 6The reduction ratio of vehicle delay on the target road from 10% penetration rate to 100% penetration rate under the collaborative method of vehicle trajectory and signal control in the intelligent networked environment of the present invention, at a traffic flow level of 700 vehicles per hour per lane. Detailed implementation manners

[0054] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0055] Embodiment 1: As Figure 1 shown, a collaborative method for vehicle trajectory and signal control in an intelligent networked environment, characterized in that the section between every two adjacent intersections in a preset control area is used as a target section, and each straight lane on each target section is used as a control section, and a control area is set on each control section; 10 seconds before the end of the red light of the straight-through signal light at the downstream intersection of each target section, determine whether the green light duration of the straight-through signal light at the downstream intersection needs to be reset according to the vehicle arrival situation of each straight lane on the target section. When resetting is required, reset the green light duration of the straight-through signal light at the downstream intersection so that the next green light of the straight-through signal light at the downstream intersection works according to the currently set green light duration; after each setting of the green light duration of the straight-through signal light at the downstream intersection of each target section is completed, the time from the completion moment of the green light duration setting of the straight-through signal light at the downstream intersection of each target section to the end moment of the next green light of the straight-through signal light at the downstream intersection of this target section is used as a control period of this target section. In each control period of this target section, first judge whether the duration of this control period is an integer multiple of a preset control cycle. If so, when entering this control period, start to perform vehicle control on each control section of this target section periodically according to the preset control cycle until the end of this control period. If not, when entering this control period, start to perform vehicle control on each control section of this target section periodically according to the preset control cycle until the remaining duration of this control period is less than one control cycle; the specific process of performing vehicle control on each control section of a certain target section in each control cycle is as follows: judge whether there are connected and autonomous vehicles in the control area of each control section. If there are no connected and autonomous vehicles in the control area of a certain control section, no vehicle control will be performed on this control section in this control cycle. If there are connected and autonomous vehicles in the control area of a certain control section, select the connected and autonomous vehicle closest to the downstream intersection on this control section as the target vehicle, and correspond to control the driving speed of the target vehicle driving on this control section according to the current green light duration of the straight-through signal light at the downstream intersection of this control section, so that the target vehicle can pass through the downstream intersection without stopping.

[0056] In this embodiment, after setting the duration of the green light of the signal lamp corresponding to the target import lane according to the traffic flow information, combined with the control area set on the target straight lane, the connected and autonomous vehicle closest to the downstream intersection in the control area can be periodically selected as the target vehicle, so as to control the driving speed of the connected and autonomous vehicles in the intelligent connected hybrid traffic environment in various situations, and then optimize the driving speed of the overall intelligent connected hybrid traffic, so that the connected and autonomous vehicles can pass through the downstream intersection without stopping under control, thereby reducing driving delays and improving traffic efficiency. Since the present invention only controls the connected and autonomous vehicles selected as target vehicles from the intelligent connected hybrid traffic environment, and does not perform speed control or induction on other connected and autonomous vehicles and manually driven vehicles other than the target vehicles, that is, it does not require the manually driven vehicles to follow the connected and autonomous vehicles in a queue form, and still has a good control effect when the penetration rate of the connected and autonomous vehicles is at a low level, and can significantly improve traffic efficiency.

[0057] Embodiment 2: This embodiment is basically the same as Embodiment 1, the difference is that: in this embodiment, the length of the control area on each straight lane is 1 / 10 of the length of the straight lane, and the starting position is the midpoint of the straight lane; a roadside detection device and a central control machine are arranged on the roadside corresponding to the starting position of the control area of each control section. The roadside detection device arranged on the roadside of each control section is used to periodically detect the speed and position of the manually driven vehicles passing through the control section every second and feed them back to the central control machine arranged on the roadside of the control section. The central control machine arranged on the roadside of each control section can communicate wirelessly with the connected and autonomous vehicles driving on the control section. The connected and autonomous vehicles driving on the control section will periodically send their current speed and position information to the central control machine arranged on the roadside of the control section every second; the central control machine arranged on the roadside of each control section can also communicate wirelessly with the signal lamp control machine arranged at the downstream intersection of the control section to obtain the pre-stored signal lamp control plan at the signal lamp control machine in real time every second. The initial value G of the green light duration of the straight-ahead signal lamp of the control section at the downstream intersection of each control section pre is set to 20 seconds.

[0058] Embodiment 3: This embodiment is basically the same as Embodiment 2, the difference is that: in this embodiment, 10 seconds before the end of the red light of the straight-ahead signal lamp arranged at the downstream intersection of a certain target section, it is determined whether the green light duration of the straight-ahead signal lamp at the downstream intersection of the target section needs to be reset according to the vehicle arrival situation on each straight lane of the target section. When resetting is required, the specific process of resetting the green light duration of the straight-ahead signal lamp at the downstream intersection of the target section is as follows:

[0059] Step A1: Denote the number of straight lanes on the target road section as I. The I straight lanes on the target road section are sequentially called the 1st straight lane to the I-th straight lane from right to left according to the vehicle driving direction. Denote the vehicles driving on the i-th straight lane of the target road section as the 1st vehicle to the J-th vehicle on the i-th straight lane from near to far according to their distances from the stop line of the downstream intersection. i vehicle, J i represents the number of vehicles driving on the i-th straight lane of the target road section at the current moment. The central controller set on the roadside of the target road section receives the speeds of the vehicles driving on each straight lane, and denote the speed of the j-th vehicle on the i-th straight lane of the target road section at the current moment as i = 1, 2, …, I, j = 1, 2, …, J i ; Denote the distance of the j-th vehicle on the i-th straight lane from the stop line of the downstream intersection at the current moment as Calculate the distances traveled by each vehicle on each straight lane of the target road section from the current moment to the end of the next green light of the straight signal at the downstream intersection of the target road section respectively. Denote the distance traveled by the j-th vehicle on the i-th straight lane from the current moment to the end of the next green light of the straight signal at the downstream intersection of the target road section as Calculate and obtain using formula (1)

[0060]

[0061] In formula (1), G pre equals 20 s;

[0062] Step A2: Judge whether each vehicle on each straight lane of the target road section meets the following condition respectively: when the duration of the next green light of the straight signal at the downstream intersection of the target road section is set to 20 seconds, the distance traveled by this vehicle from the current moment to the end of the next green light of the straight signal at the downstream intersection of the target road section is greater than or equal to the distance of this vehicle from the stop line of the downstream intersection; Count the number of vehicles meeting the above conditions on all straight lanes of the target road section, and denote it as N1;

[0063] Step A3: Calculate the distances traveled by each vehicle on each straight lane from the current moment to the end of the next green light of the straight signal at the downstream intersection of the target road section respectively when the duration of the next green light of the straight signal at the downstream intersection of the target road section is set to 22 seconds. Denote the distance traveled by the j-th vehicle on the i-th straight lane from the current moment to the end of the next green light as Calculate and obtain using formula (2)

[0064] In formula (2), G pre is equal to 20 s;

[0065] Step A4: Determine whether each vehicle on each straight lane meets the following condition: when the next green light duration of the straight signal at the downstream intersection of the target road section is set to 22 seconds, whether the distance traveled by the vehicle from the current moment to the end of the next green light of the straight signal at the downstream intersection of the target road section is greater than or equal to the distance of the vehicle from the stop line of the downstream intersection; and count the number of vehicles on all straight lanes of the target road section that meet the above conditions, and record it as N2;

[0066] Step A5: Compare the magnitudes of N2 and N1, and set the green light duration of the straight signal at the downstream intersection according to the comparison result:

[0067] If N2 is equal to N1, it means that after the next green light duration of the straight signal at the downstream intersection of the target road section is increased by 2 s, no more vehicles pass through, and set the green light duration of the straight signal at the downstream intersection of the target road section to 20 seconds;

[0068] If N2 is greater than N1, it means that there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is increased by 2 seconds compared to 20 seconds. At this time, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 24 seconds, that is, increased by 4 seconds compared to 20 seconds. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 24 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 26 seconds, that is, increased by 6 seconds compared to 20 seconds. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 26 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 28 seconds, that is, increased by 8 seconds compared to 20 seconds. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 28 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2 seconds. Using the same method as in steps A3 and A4, determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 30 seconds, that is, increased by 10 seconds compared to 20 seconds. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 28 seconds. If so, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 30 seconds.

[0069] In this embodiment, by statistically analyzing the speeds and positions of all vehicles corresponding to all straight lanes on the target road section, the green light times are respectively set to 20 seconds, 22 seconds, 24 seconds, 26 seconds, 28 seconds, and 30 seconds. When the straight-ahead signal light set at the downstream intersection of the target road section is from 10 seconds before the end of the red light to the end of the next green light, it is determined whether more vehicles will pass through the intersection stop line in the straight-ahead direction of the target road section every 2 seconds. The green light duration of the straight-ahead signal light at the downstream intersection of the target road section is formulated according to the actual traffic flow arrival demand in the straight-ahead direction, and the maximum green light duration is set to 30 seconds. The signal green light duration determined by the present invention according to the specific vehicle arrival demand can reduce the driving delay of vehicles on the straight lanes of the target road section without wasting the traffic time resources at the intersection, thereby improving the traffic efficiency of vehicles on the straight lanes of the target road section. Since the present invention determines the number of vehicles arriving in various time periods according to the actual vehicle operation conditions 10 seconds in advance to formulate the green light duration of the future signal lights, and the vehicle passing demand is judged step by step, the time resources at the intersection can be utilized to the maximum extent, and the traffic efficiency of vehicles on the straight lanes of the target road section can be improved.

[0070] Embodiment 4: This embodiment is basically the same as Embodiment 3, except that: in this embodiment, according to the current green light duration of the straight-ahead signal light at the downstream intersection of a certain control road section, the driving speed of the target vehicle traveling on the control road section is correspondingly controlled, so that the specific process for the target vehicle traveling on the control road section to pass through the downstream intersection without stopping is as follows:

[0071] Step B1: Record the speed of the target vehicle currently received by the central control machine as v0 and the position as L, where L is the distance from the target vehicle to the stop line of the downstream intersection.

[0072] Step B2: The central control machine obtains the signal light control plan from the signal light control machine set at the downstream intersection. If the signal light of the downstream intersection corresponding to the straight lane where the target vehicle is located is a red light at this time, the green light opening duration t next and the green light end duration t end corresponding to the downstream intersection of the straight lane where the target vehicle is located are obtained based on the obtained signal light control plan; if the signal light of the downstream intersection corresponding to the straight lane where the target vehicle is located is not a red light at this time, the green light end duration t end corresponding to the downstream intersection of the straight lane where the target vehicle is located is obtained based on the obtained signal light control plan; where the green light opening duration t next refers to the duration required from the current moment to the next time the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green, and the green light end duration t endIt refers to the time required from the current moment until the end of the most recent green light at the signal lamp at the downstream intersection corresponding to the straight lane where the target vehicle is located;

[0073] Step B3: The central controller determines whether there are other vehicles in front of the target vehicle on the control section. 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, the number of vehicles in front of the target vehicle is counted, denoted as m, and the m vehicles are successively called the 1st vehicle to the mth vehicle in the order of the distance from the target vehicle from near to far. The speed of the nth vehicle in front of the target vehicle currently received by the central controller is denoted as v pren , and the distance of the nth vehicle in front of the target vehicle from the stop line of the downstream intersection is denoted as L pren , n = 1, 2,..., m;

[0074] Step B4: Determine the number N of queuing vehicles at the downstream intersection of the target vehicle, specifically:

[0075] If the target vehicle has no associated vehicles, the central controller directly records that the number N of queuing vehicles at the downstream intersection of the target vehicle is 0;

[0076] If the target vehicle has associated vehicles and the straight-ahead signal lamp at the downstream intersection of the control section is currently in the green light phase, N is determined according to the following steps at this time:

[0077] B4-1-1. Calculate the distance traveled by the nth vehicle at the current speed for t end duration, denoted as Ln, Ln = v pren ×t end ;

[0078] B4-1-2. Judge whether Ln is greater than or equal to L pren , if so, it is considered that the nth vehicle is a queuing vehicle, if not, it is considered that the nth vehicle is not a queuing vehicle;

[0079] B4-1-3. Count the number of queuing vehicles among the m vehicles, and the central controller records that the number N of queuing vehicles at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the m vehicles obtained by statistics;

[0080] If the target vehicle has associated vehicles and the straight-ahead signal lamp at the downstream intersection of the control section is currently not in the green light phase, N is determined according to the following steps at this time:

[0081] B4-2-1. Calculate the distance traveled by the nth vehicle at the current speed v pren for t next duration, denoted as Ln, Ln = v pren ×t next ;

[0082] B4-2-2. Determine whether Ln is less than L pren , if so, it is considered that the nth vehicle is not a queuing vehicle; if not, it is considered that the nth vehicle is a queuing vehicle;

[0083] B4-2-3. Count the number of queuing vehicles among the m vehicles, and the central control machine records that the number of queuing vehicles N at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the m vehicles obtained by statistics;

[0084] Step B5: If the target vehicle has no associated vehicle, then let y1 = (d×t next -v0) 2 -(v0) 2 +2×d×L, where d represents the deceleration, d = 2m / s 2 , determine whether y1 is greater than or equal to 0. If so, go to step B6; if not, the central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; If the target vehicle has an associated vehicle, then let y2 = (d×(t next +N×Δt)-v0) 2 -(v0) 2 +2×d×L, where Δt is the delay time, with a value of 3 seconds. Determine whether y2 is greater than or equal to 0. If so, go to step B6; if not, the central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state;

[0085] Step B6: If the straight-through signal light at the downstream intersection of the control section is currently in the green light stage, then determine whether 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 during the current green light stage. The central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state and can pass through the downstream intersection during the current green light stage; if not, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 during the current green light stage. At this time, determine whether the target vehicle has an associated vehicle; If the target vehicle has no associated vehicle, then perform the following operations: Determine whether is greater than or equal to L, where a represents the acceleration, a = 0.5m / s 2 , v max represents the maximum speed v that the target vehicle can accelerate to max , if so, it indicates that the target vehicle can accelerate to its maximum speed v maxIf the target vehicle passes through the downstream intersection during the current green light phase, the central controller sends a control signal to the target vehicle to control the target vehicle to accelerate at a constant acceleration a = 0.5 m / s 2 to start accelerating and increase its speed to speed v max , and then maintain the speed v max to drive. At this time, the target vehicle can pass through the downstream intersection before the green light of the downstream intersection signal ends; If is equal to L, the central controller does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle continues to drive in its current driving state; If the target vehicle has associated vehicles, the central controller does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle continues to drive in its current driving state;

[0086] If the signal light at the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t next is less than or equal to L and v0×t end is greater than or equal to L, it indicates that the target vehicle can pass through the downstream intersection after the next green light change at the downstream intersection at the current speed v0. The central controller does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle continues to drive in its current driving state;

[0087] If the signal light at the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t next is greater than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0. At this time, it is judged whether the target vehicle has associated vehicles; If the target vehicle has no associated vehicles, the following operations are performed:

[0088] B6-1-1. Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (3) and (4):

[0089]

[0090] B6-1-2. If v1 is less than v0 and v1 is greater than 0, the central controller sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration d = 2 m / s 2 to start decelerating and reduce its speed to the target speed v1, and then maintain the target speed v1 to drive. At this time, the target vehicle can reach the stop line of the downstream intersection at the moment when the signal light at the downstream intersection turns green next time and pass through the downstream intersection without stopping;

[0091] B6-1-3. 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 deceleration d = 2 m / s 2 Start decelerating, reduce its speed to the target speed v2, and then maintain the target speed v2 to travel. 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 signal light of the downstream intersection turns green next time; if not, the central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state;

[0092] If the target vehicle has associated vehicles, the following operations are performed:

[0093] B6-2-1. Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (5) and (6):

[0094]

[0095] B6-2-2. If v1 is less than v0 and v1 is greater than 0, then the central control machine sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration d = 2 m / s 2 Start decelerating, reduce its speed to the target speed v1, and then maintain the target speed v1 to travel. 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 signal light of the downstream intersection turns green and the queuing vehicles disperse;

[0096] B6-2-3. 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 deceleration d = 2 m / s 2 Start decelerating, reduce its speed to the target speed v2, and then maintain the target speed v2 to travel. At this time, the target vehicle can pass through the downstream intersection without stopping when the signal light of the downstream intersection turns green and the queuing vehicles disperse; if not, the central control machine does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state;

[0097] If the signal light of the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t endIf it is less than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 and does not meet the control conditions. The central control machine does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle maintains its current driving state and continues to drive.

[0098] In this embodiment, the control cycle T preset in the central control machine c = 2 seconds.

[0099] In this embodiment, by selecting the connected autonomous vehicles in the control area set on the straight lane of the target section as the target vehicle every 2 seconds, combining the green light on duration and the green light off duration at the downstream intersection corresponding to the straight lane where the target vehicle is located, and according to the signal light color state corresponding to the straight lane where the target vehicle is located at the current moment, the running speed of the target vehicle at future moments in various situations is planned correspondingly, so that the target vehicle can pass through the downstream intersection without stopping. Since the present invention periodically selects the connected autonomous vehicles in the control area set on the straight lane of the target section as the target vehicle and plans its driving speed at future moments, it can effectively optimize the driving speed of some connected autonomous vehicles in the mixed vehicle flow, and then optimize the running speed of the overall mixed vehicle flow and improve the running efficiency of the mixed vehicle flow.

[0100] To verify the performance of the vehicle trajectory and signal control coordination method in the intelligent connected environment of the present invention, a simulation verification is carried out on the vehicle trajectory and signal control coordination method in the intelligent connected environment of the fourth embodiment. First, a verification platform is built in the microscopic traffic simulation software SUMO. Specifically: a road containing three intersections is established in the microscopic traffic simulation software SUMO as the target road of this embodiment. The scene of the target road is as Figure 2 shown. The target road includes three intersections and the sections connecting the three intersections. A main road is a two-way six-lane road, and the lane flow directions are straight-right lane, straight lane, and left-turn lane. Three secondary roads are two-way four-lane roads, and the lane flow directions are straight-right lane and left-turn lane. When the mixed traffic flow enters the target road, according to the vehicle trajectory and signal control coordination method in the intelligent connected environment of this embodiment, the duration of the next green light can be formulated according to the arrival situation of the vehicle flow in the straight direction along the target section 10 seconds before the end of each green light, and then the connected autonomous vehicles entering the control area are selected for speed control. The manually driven vehicles do not need to follow any speed suggestions and only follow the vehicle in front normally. The distance between each intersection is as Figure 3As shown in the figure, during the driving process of the traffic flow along the target road, it will pass through the control section between two intersections. The connected and autonomous vehicles in the control area will be identified and their driving speeds at future moments will be planned so that the connected and autonomous vehicles can pass through the downstream intersection without stopping. It should be noted that the object of signal control in this embodiment is the traffic lights controlling the straight direction at the upstream and downstream of the target section; the object of speed control in this embodiment is the connected and autonomous vehicles driving along the target road, that is, the connected and autonomous vehicles on the straight lanes of the target road.

[0101] Then, the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of Embodiment 4 is experimented in the microscopic traffic simulation software SUMO. Using Python to call Traci of SUMO can realize speed control of vehicle objects in SUMO. The specific simulation process is as follows:

[0102] 1. Test the performance of the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment at the 10% penetration rate level for a few microscopic vehicles. Note that the so-called few microscopic vehicles here does not mean only a few vehicles are input during the simulation, but the time intervals for vehicles to enter the road network follow a Poisson distribution, and both types of vehicles are fuel vehicles. Input the traffic flow for 1 hour, and the simulation experiment runs for 4200 s. Select 16 vehicles affected by the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment for analysis. Among them, without being controlled by the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment, the driving trajectory diagram of the vehicle along the target road is as Figure 4 shown. Under the control of the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment, the driving trajectory diagram of the vehicle along the target road is as Figure 5 shown. Figure 4 and Figure 5 In, CAV represents connected and autonomous vehicle, HDV represents human-driven vehicle, the dark solid line represents the non-green light stage of the traffic light, and the light solid line represents the green light stage of the traffic light. From Figure 4 it can be seen that when the green light duration of the straight direction signal of the target section is not extended and the driving speed of the connected and autonomous vehicles is not controlled, almost all vehicles stop once in front of each intersection. This start-stop undoubtedly increases the driving delay of the vehicles; while in Figure 5 it can be seen that through our inventive method, after optimizing the green light duration of the traffic light and controlling the driving speed of the connected and autonomous vehicles, all vehicles in the vehicle fleet have achieved passing through the intersection without stopping.

[0103] II. To compare and analyze the performance of the overall traffic flow on the controlled lane at different permeability levels, a simulation experiment was conducted at a traffic flow level of 700 vehicles per hour on the straight lane, and the driving delays on the straight lane at different permeability levels in the simulation experiment were counted. Under the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment, the statistical chart of the percentage reduction in the driving delay of the straight vehicles on the target road is as Figure 6 shown. Figure 6 The percentage reduction in the driving delay shown refers to the percentage reduction in the driving delay under the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment compared to that without the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of this embodiment. Analysis Figure 6 shows that the driving delay in this embodiment has a significant effect on reducing the driving delay of vehicles.

[0104] In summary, the collaborative method of vehicle trajectory and signal control in the intelligent connected environment of the present invention can adjust the duration of the signal green light in the straight direction of the target section, and select the connected and autonomous driving vehicles as the target vehicles from the intelligent connected mixed traffic flow environment for speed control, without performing speed control or induction on other connected and autonomous driving vehicles and manually driven vehicles except the target vehicles. Therefore, it still has a good control effect when the penetration rate of connected and autonomous driving vehicles is at a relatively low level, and the present invention does not require vehicles to drive in a queue, which is more in line with the actual traffic conditions and can be used for traffic control in the current intelligent transportation management system, having a wide application prospect.

Claims

1. A collaborative method for vehicle trajectory and signal control in an intelligent networked environment, characterized in that Take the road section between every two adjacent intersections in the preset control area as the target road section, and take each straight lane on each target road section as the control road section. Set up a control area on each control road section. At 10 seconds before the end of the red light of the straight-ahead signal at the downstream intersection of each target road section, determine whether the green light duration of the straight-ahead signal at the downstream intersection needs to be reset according to the vehicle arrival situation of each straight lane on the target road section. When resetting is required, reset the green light duration of the straight-ahead signal at the downstream intersection so that the next green light of the straight-ahead signal at the downstream intersection works according to the currently set green light duration. After setting the green light duration of the straight-ahead signal at the downstream intersection of each target road section each time, take the time from the completion moment of setting the green light duration of the straight-ahead signal at the downstream intersection of each target road section to the end moment of the next green light of the straight-ahead signal at the downstream intersection of this target road section as a control period of this target road section. During each control period of the target road section, first judge whether the duration of this control period is an integer multiple of the preset control cycle. If so, when entering this control period, start to perform vehicle control on each control road section of the target road section periodically according to the preset control cycle until the end of this control period. If not, when entering this control period, start to perform vehicle control on each control road section of the target road section periodically according to the preset control cycle until the remaining duration of this control period is less than one control cycle. The specific process of performing vehicle control on each control road section of a certain target road section during each control cycle is as follows: Judge whether there are connected and autonomous driving vehicles in the control area of each control road section. If there are no connected and autonomous driving vehicles in the control area of a certain control road section, do not perform vehicle control on this control road section during this control cycle. If there are connected and autonomous driving vehicles in the control area of a certain control road section, select the connected and autonomous driving vehicle closest to the downstream intersection on this control road section as the target vehicle, and according to the current green light duration of the straight-ahead signal at the downstream intersection of this control road section, correspondingly control the driving speed of the target vehicle driving on this control road section so that the target vehicle can pass through the downstream intersection without stopping.

2. The collaborative method for vehicle trajectory and signal control in an intelligent networked environment according to claim 1, wherein The length of the control area on each straight lane is 1 / 10 of the length of that straight lane, and the starting position is the midpoint of that straight lane; at the starting position of the control area corresponding to the roadside of each control section, roadside detection equipment and a central control machine are set. The roadside detection equipment set on the roadside of each control section is used to periodically detect the speed and position of manually driven vehicles passing through this control section at a cycle of one second, and feedback them to the central control machine set at the roadside of this control section. The central control machine set on the roadside of each control section can communicate wirelessly with the connected autonomous vehicles driving on this control section. The connected autonomous vehicles driving on this control section will periodically send their current speed and position information to the central control machine set at the roadside of this control section at a cycle of one second; the central control machine set on the roadside of each control section can also communicate wirelessly with the signal light control machine set at the downstream intersection of this control section to obtain the pre-stored signal light control plan at the signal light control machine in real time at a cycle of one second. The initial value G of the green light duration of the straight-ahead signal light for this control section in the signal light control machine set at the downstream intersection of each control section pre is set to 20 seconds.

3. The collaborative method for vehicle trajectory and signal control in an intelligent networked environment according to claim 2, characterized in that At 10 seconds before the end of the red light of the straight-ahead signal set at the downstream intersection of a certain target road section, determine whether the green light duration of the straight-ahead signal at the downstream intersection of the target road section needs to be reset according to the vehicle arrival situation of each straight lane on the target road section. When resetting is required, the specific process of resetting the green light duration of the straight-ahead signal at the downstream intersection of the target road section is as follows: Step A1: Denote the number of straight - through lanes on the target road section as I. The I straight - through lanes on the target road section are sequentially called the 1st straight - through lane to the Ith straight - through lane from right to left according to the vehicle driving direction. Denote the vehicles driving on the ith straight - through lane of the target road section as the 1st vehicle to the J i vehicles on the ith straight - through lane in sequence from the closest to the stop line of the downstream intersection. J i represents the number of vehicles driving on the ith straight - through lane of the target road section at the current moment. The central controller set on the roadside of the target road section receives the speeds of the vehicles driving on each straight - through lane, and denote the speed of the jth vehicle on the ith straight - through lane of the target road section at the current moment as where i = 1, 2, …, I and j = 1, 2, …, J i ; Denote the distance of the jth vehicle on the ith straight - through lane from the stop line of the downstream intersection at the current moment as l i j ; Calculate the distance traveled by each vehicle on each straight lane of the target section from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target section. Denote the distance traveled by the j-th vehicle on the i-th straight lane from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target section as Calculate and obtain using formula (1) : In formula (1), G pre equals 20 s; Step A2: Respectively judge whether each vehicle on each straight lane of the target road section meets the following conditions: When the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 20 seconds, the distance traveled by this vehicle from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section is greater than or equal to the distance of this vehicle from the stop line of the downstream intersection. Count the number of vehicles on all straight lanes of the target road section that meet the above conditions, and record it as N1; Step A3: Calculate respectively the distances traveled by each vehicle on each straight lane from the current moment to the end of the next green light duration of the straight-ahead signal at the downstream intersection of the target road section when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 22 seconds. Denote the distance traveled by the j-th vehicle on the i-th straight lane from the current moment to the end of the next green light as Calculate and obtain using formula (2) :[[]]END]] In formula (2), G pre equals 20 s; Step A4: Determine whether each vehicle on each straight lane meets the following conditions: when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 22 seconds, whether the distance traveled by the vehicle from the current moment to the end of the next green light of the straight-ahead signal at the downstream intersection of the target road section is greater than or equal to the distance of the vehicle from the stop line of the downstream intersection; And count the number of vehicles on all straight lanes of the target road section that meet the above conditions, and record it as N2; Step A5: Compare the magnitudes of N2 and N1, and set the green light duration of the straight-ahead signal at the downstream intersection according to the comparison result: If N2 is equal to N1, it means that after increasing the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s, there are no more vehicles passing through. Set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 20 seconds; If N2 is greater than N1, it means that there are more vehicles passing through after increasing the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s relative to 20s. At this time, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s. Use the same methods as in steps A3 and A4 to determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 24 seconds, that is, increased by 4s relative to 20s. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 24 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s. Use the same methods as in steps A3 and A4 to determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 26 seconds, that is, increased by 6s relative to 20s. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 26 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s. Use the same methods as in steps A3 and A4 to determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 28 seconds, that is, increased by 8s relative to 20s. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 28 seconds. If so, continue to increase the next green light duration of the straight-ahead signal at the downstream intersection of the target road section by 2s. Use the same methods as in steps A3 and A4 to determine whether there are more vehicles passing through when the next green light duration of the straight-ahead signal at the downstream intersection of the target road section is set to 30 seconds,, that is, increased by 10s relative to 20s. If not, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 28 seconds. If so, set the green light duration of the straight-ahead signal at the downstream intersection of the target road section to 30 seconds.

4. The collaborative method for vehicle trajectory and signal control in an intelligent networked environment according to claim 3, characterized in that According to the current green light duration of the straight-ahead signal light at the downstream intersection of a certain control section, correspondingly control the driving speed of the target vehicle traveling on this control section, so that the specific process for the target vehicle traveling on this control section to pass through the downstream intersection without stopping is as follows: Step B1: Record the speed of the target vehicle currently received by the central controller as v0, and the position as L, where L is the distance from the target vehicle to the stop line of the downstream intersection; Step B2: The central control machine obtains the signal light control plan from the signal light control machine set at the downstream intersection. If the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located is red at this time, the green light on duration t at the downstream intersection corresponding to the straight lane where the target vehicle is located is obtained based on the obtained signal light control plan. next And the green light end duration t end ; If the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located is not red at this time, the green light end duration t at the downstream intersection corresponding to the straight lane where the target vehicle is located is obtained based on the obtained signal light control plan. end ; Among them, the green light on duration t next Refers to the duration required from the current moment until the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located turns green next time, and the green light end duration t end Refers to the duration required from the current moment until the signal light at the downstream intersection corresponding to the straight lane where the target vehicle is located ends the most recent green light; Step B3: The central controller determines whether there are other vehicles in front of the target vehicle on this control section. If not, it is considered that the target vehicle has no associated vehicles; If it exists, the vehicle closest to the target vehicle in front of the target vehicle is used as its associated vehicle. The number of vehicles in front of the target vehicle is counted and denoted as m. The m vehicles are sequentially called the 1st vehicle to the mth vehicle in the order of the distance from the target vehicle from near to far. The speed of the nth vehicle in front of the target vehicle currently received by the central controller is denoted as v pren , and the distance of the nth vehicle in front of the target vehicle from the stop line of the downstream intersection is denoted as L pren , n = 1, 2,..., m; Step B4: Determine the number of queuing vehicles N at the downstream intersection of the target vehicle. Specifically: If the target vehicle has no associated vehicles, the central controller directly records that the number of queuing vehicles N at the downstream intersection of the target vehicle is 0; If the target vehicle has associated vehicles and the straight-ahead signal light at the downstream intersection of this control section is currently in the green light stage, then determine N according to the following steps: B4-1-1. Calculate the distance traveled by the nth vehicle at the current speed for t end duration, and denote it as Ln, where Ln = v pren ×t end ; B4-1-2. Determine whether Ln is greater than or equal to L pren If so, the nth vehicle is considered a queuing vehicle; if not, the nth vehicle is not considered a queuing vehicle. B4-1-3: Count the number of vehicles among the m vehicles that are queuing vehicles. The central controller records that the number of queuing vehicles N at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the m vehicles obtained by statistics; If the target vehicle has associated vehicles and the straight-ahead signal light at the downstream intersection of this control section is currently not in the green light stage, then determine N according to the following steps: B4-2-1. Calculate the distance traveled by the nth vehicle at the current speed v pren for a duration of t next and denote it as Ln. Ln = v pren ×t next ; B4-2-2, determine whether Ln is less than L pren If so, it is considered that the nth vehicle is not a queuing vehicle; if not, it is considered that the nth vehicle is a queuing vehicle. B4-2-3: Count the number of vehicles among the m vehicles that are queuing vehicles. The central controller records that the number of queuing vehicles N at the downstream intersection of the target vehicle is equal to the number of queuing vehicles among the m vehicles obtained by statistics; Step B5: If the target vehicle has no associated vehicle, let y1 = (d × t next - v0) 2 - (v0) 2 + 2 × d × L, where d represents the deceleration and d = 2 m / s 2 . Determine whether y1 is greater than or equal to 0. If so, proceed to Step B6; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel at its current driving state. If the target vehicle has an associated vehicle, let y2 = (d × (t next + N × Δt) - v0) 2 - (v0) 2 + 2 × d × L, where Δt is the delay time with a value of 3 seconds. Determine whether y2 is greater than or equal to 0. If so, proceed to Step B6; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel at its current driving state; Step B6: If the straight-ahead signal light at the downstream intersection of the control section is currently in the green-light phase, then determine whether 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 during the current green-light phase. The central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state and can pass through the downstream intersection during the current green-light phase; if not, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 during the current green-light phase. At this time, determine whether the target vehicle has associated vehicles; if the target vehicle has no associated vehicles, then perform the following operations: Determine whether is greater than or equal to L, where a represents the acceleration, a = 0.5m / s 2 , and v max represents the maximum speed of the target vehicle. If so, it indicates that the target vehicle can accelerate to its maximum speed v max and pass through the downstream intersection during the current green-light phase. Then the central controller sends a control signal to the target vehicle to control the target vehicle to start accelerating at a constant acceleration a = 0.5m / s 2 until its speed reaches the speed v max , and then maintains the speed v max to travel. At this time, the target vehicle can pass through the downstream intersection before the green light of the downstream intersection signal light ends; if is equal to L, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; if the target vehicle has associated vehicles, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; If the signal light at the downstream intersection of this straight lane is currently in a non-green light phase, and v0×t next is less than or equal to L and v0×t end is greater than or equal to L, it indicates that the target vehicle can pass through the downstream intersection after the next green light change at the downstream intersection at the current speed v0. The central controller does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle continues to travel in its current driving state; If the signal light at the downstream intersection of this straight lane is currently not in the green light phase, and v0×t next is greater than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0. At this time, it is judged whether the target vehicle has associated vehicles; if the target vehicle has no associated vehicles, the following operations are performed: B6-1-1: Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (3) and (4): B6-1-2. If v1 is less than v0 and greater than 0, the central controller sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration of d = 2 m / s 2 to start decelerating, 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 at the moment when the downstream intersection signal turns green next time and pass through the downstream intersection without stopping; B6-1-3. 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 controller sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration of d = 2 m / s 2 to start decelerating, reduce its speed to the target speed v2, and then maintain the target speed v2 to travel. At this time, the target vehicle can reach the stop line of the downstream intersection and pass through the downstream intersection without stopping at the moment when the downstream intersection signal turns green next time; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; If the target vehicle has associated vehicles, then perform the following operations: B6-2-1: Set two target speeds v1 and v2 for the target vehicle, and calculate v1 and v2 respectively using formulas (5) and (6): B6-2-2. If v1 is less than v0 and greater than 0, the central controller sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration of d = 2 m / s 2 to start decelerating, 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 and pass through the downstream intersection without stopping after the downstream intersection signal turns green again and the queuing vehicles dissipate; B6-2-3. 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 controller sends a control signal to the target vehicle to control the target vehicle to decelerate at a constant deceleration of d = 2 m / s 2 to start decelerating, reduce its speed to the target speed v2, and then maintain the target speed v2 to travel. At this time, the target vehicle can pass through the downstream intersection without stopping after the downstream intersection signal turns green next time and the queuing vehicles disperse; if not, the central controller does not perform speed control on the target vehicle in the current control cycle, waits for the next control cycle to start, and the target vehicle continues to travel in its current driving state; If the signal light at the downstream intersection of this straight lane is currently not in the green light phase, and v0×t end is less than L, it indicates that the target vehicle cannot pass through the downstream intersection at the current speed v0 and does not meet the control conditions. The central controller does not perform speed control on the target vehicle in the current control cycle and waits for the next control cycle to start. The target vehicle continues to travel in its current driving state.

5. The collaborative method for vehicle trajectory and signal control in an intelligent networked environment according to claim 1, characterized in that The preset control period T in the central control machine c = 2 seconds.

Images