摘要
为研究含人工车的混合交通流下部分智能网联车借道城市公交专用车道的控制问题,以两个信号交叉口间公交专用车道为研究对象,提出以不妨碍公交车优先通行、满足换道动机和换道安全条件的智能网联车借道公交车道控制策略。基于公交车道控制预测模块设计智能网联车进入和离开公交专用道规则,采用改进最小化由换道引起的所有制动模型计算的收益作为智能网联车换道时激励准则。期望跟随车类型若为人工车时,目标车辆礼让系数取1;妨碍公交优先必须离开公交道时,满足安全规则即可。通过具体仿真实验予以验证,结果表明:本方法在高交通需求下,与不允许借道控制方法、基于清空距离公交专用车道控制方法对比,人均延误分别减少60%和40%,车均延误分别减少65%和32%,渗透率在30%~40%范围内控制效果显著。
The control of connected and automated vehicles(CAVs)driving on the dedicated bus lane is studied under mixed traffic flow with human-driven vehicles(HVs).Focusing on a dedicated bus lane between two signalized intersections,a control strategy for CAVs driving on the dedicated bus lane is proposed under the bus priority and the safety constraints of lane changing.The rules for CAV entering and leaving dedicated bus lanes are designed by the controlling prediction module.The revenue calculated by the improved model of Minimizing Overall Braking Induced by Lane Changes(MOBIL)is used as the incentive criterion when CAV enters and leaves bus lanes.The comity coefficient of the target vehicle is set to be one if the expected following vehicle is an HV.It is only necessary to meet the safety rules when a CAV must leave the bus lane to meet the bus priority.The effectiveness is validated through simulation experiments.The results indicate that the utilization efficiency of bus lanes is improved under high traffic demand.The per capita delay is reduced by 60%and 40%,respectively,and the average vehicle delay is reduced by65%and 32%,respectively,compared with the existing control method that does not allow CAVs to enter bus lanes and the control method based on clearance distance.When the penetration rate of CAVs reaches 30%~40%under high traffic demand,the control effect is remarkable.
作者
庞明宝
柴紫欣
巩丹阳
PANG Ming-bao;CHAI Zi-xin;GONG Dan-yang(School of Civil and Transportation,Hebei University of Technology,Tianjin 300401,China)
出处
《交通运输系统工程与信息》
EI
CSCD
北大核心
2021年第4期118-124,共7页
Journal of Transportation Systems Engineering and Information Technology
基金
国家自然科学基金(50478088)
河北省高等学校科学技术研究项目(ZD2021028)。
关键词
智能交通
借道公交专用车道
智能网联车
公交优先
混合交通
intelligent transportation
driving on dedicated bus lane
connected and automated vehicles(CAVs)
bus priority
mixed traffic
