摘要
【目的】提高网联高速出口匝道路段通行效率,降低交通事故风险,保障分流车辆通行秩序。【方法】针对出口匝道上游智能网联车辆(connected automated vehicle,CAV)的换道行为所导致的交通紊乱问题,提出一种协同换道策略。兼顾通行效率和舒适度,以研究时段内所有CAV平均速度、平均加速度变化率的加权和最小为目标,以速度、加速度、加速度振动、换道起点与分流点的纵向距离等为约束,构建CAV动态速度协同优化模型,有计划地优化每个时段每辆CAV的速度。采用Gurobi优化器求解协同控制模型,并使用SUMO软件建立仿真场景评估协同控制效果。【结果】与无控制情形相比,所提出的协同方法在不同总流量和分流比例下能使车辆平均速度最高提高17.7%,总延误降低75.9%以上,平均加速度变化率改善9.3%以上;当分流比例一定时,一定总流量情况下,总流量越高平均速度、平均加速度变化率改善效果越好;在安全换道所要求的最小纵向距离约束下,出口匝道路段通行效率最高。【结论】在不同总流量和分流比例下,协同策略可为换道车辆创造换道间隙,改善通行效率,提高乘客舒适度。
[Purposes]The paper aims to improve the efficiency of the off-ramp section of the connected expressway,reduce the risk of traffic accidents and ensure the order of diversion vehicle traffic.[Methods]A cooperative lane changing strategy is proposed to address the traffic disorder caused by the lane changing behavior of connected automated vehicle(CAV)upstream of the offramp.Taking into account both traffic efficiency and comfort,a collaborative CAV dynamic speed optimization model is constructed with the objective of minimizing the weighted sum of the average speed and average acceleration of all CAV during the speed,acceleration,acceleration vibration,and the longitudinal distance between the start of the lane change and the diversion point as constraints to systematically optimize the speed of each CAV in each period.The Gurobi optimizer is used to solve the cooperative control model,and a simulation scenario is built using SUMO to evaluate the cooperative control effect.[Findings]The results show that the proposed synergisticmethod can improve the average vehicle speed by up to 17.7%,reduce the total delay by more than75.9%,and improve the average acceleration change rate by more than 9.3% under different totalflow and diversion ratios compared with the uncontrolled case the diversion ratio is certain,for acertain total flow rate,the higher the total flow rate,the better the improvement of the averagevelocity and the average acceleration rate of change the minimum longitudinal distance constraintof safe lane change requirement,the exit ramp section has the highest traffic efficiency.[Conclusions]Under different total flow and diversion ratio,the synergistic strategy can createlane change gap for lane change vehicles,improve traffic efficiency and enhance passengercomfort.
作者
王正武
滑肖月
WANG Zhengwu;HUA Xiaoyue(School of Traffic and Transportation Engineering,Changsha University of Science&Technology,Changsha 410114,China)
出处
《长沙理工大学学报（自然科学版）》
CAS
2024年第1期141-149,共9页
Journal of Changsha University of Science and Technology:Natural Science
基金
长沙市科技重大专项(kh2301004)
湖南省自然科学基金项目(2023JJ30039)
湖南省交通科技项目(202140)
湖南省研究生科研创新项目(CX20220862)~~。
关键词
智能网联车辆
出口匝道
通行效率
协同控制
交通控制
connected automated vehicle
off-ramp
traffic efficiency
cooperative control
traffic control
