摘要
To improve traffic performance when on-ramp vehicles merge into the mainstream,a collaborative merging control strategy is proposed to determine the merging sequence and trajectory control of vehicles.Merging trajectory planning takes the minimization of vehicle acceleration as the optimization objective.Either the variational method or the quadratic programming method is utilized to determine arrival time,optimal time and control variables for each vehicle.As a supplement,the adaptive cruise control(ACC)model is used to calculate each control variable in each time interval on special occasions.Simulation results show that the cooperative merging control strategy outperforms the optimal control strategy.The root mean square(RMS)of acceleration and the root mean square error(RMSE)of time headway are significantly decreased,with the reductions up to 90.1%and 25.2%,respectively.Under the cooperative control strategy,the difference between the average speed and desired speed consistently approaches zero.In addition,few or no collisions occur.To conclude,the proposed strategy favours the improvements in passenger comfort,traffic efficiency,traffic stability and safety around highway on-ramps.
为了提升匝道车辆汇入高速公路主线时的运行性能,提出了协同汇入控制策略确定车辆的汇入顺序和控制轨迹.汇入轨迹规划问题以车辆加速度最小为优化目标,采用古典变分法或二次规划方法获取车辆的期望到达时间、优化控制时间和相应的控制变量.自适应巡航控制模型作为补充,用于计算特殊情况下车辆在每个时间间隔内的控制变量.仿真结果表明协同汇入控制策略优于现有的优化控制策略.在协同控制策略下,车辆加速度均方根值和车头时距均方根误差显著降低,减少量分别高达90.1%和25.2%.此外,平均速度与期望车速的差值始终趋近于零,且几乎不发生碰撞现象.因此,该控制策略能用于改善匝道汇入区域的乘客舒适性、交通运行效率、交通流稳定性和行驶安全性.
基金
The Scientific Innovation Research of Graduate Students in Jiangsu Province(No.KYCX17_0145,KYCX17_0141)
