| Citation: | LU Yingrong, XU Xiaotong, DING Chuan, et al. Connected autonomous vehicle speed control at successive signalized intersections[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(11): 2257-2266. doi: 10.13700/j.bh.1001-5965.2018.0110(in Chinese)
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In order to improve fuel economy and reduce emissions on the urban road, a speed control method in successive signalized intersections was proposed for autonomous vehicles to interact with the roadside facilities and the regional center control system under the connected vehicles environment. The proposed automatic driving speed control model computes a constant speed that a vehicle can pass multiple downstream signalized intersections based on the information obtained in advance such as the distance between the vehicle and downstream signal intersections and the signal phasing and timing information. Meanwhile, in order to guarantee driving comfort and avoid sharp acceleration/deceleration at the intersection, we use the smooth curve of trigonometric function to represent the change of speed during the acceleration or deceleration process. To verify the efficiency of the speed control algorithm, the speed control simulation system embodying the cha-racteristics of the connected vehicles environment in successive signalized intersections is developed using the multi-agent technology, in which the fuel consumption, CO2 emissions and travel time under the speed control algorithm are compared with those without speed control algorithm when vehicles pass three signalized intersections. The results show that when vehicles go through the three successive intersections under low traffic density, the average fuel consumption and CO2 emissions are reduced by more than 30% by the aid of the speed control algorithm, and the travel time is reduced by about 5%; the fuel consumption and CO2 emissions can be reduced by approximately 20%, and the travel time is reduced by about 15% under the medium and high traffic density. In addition, compared with the current speed control model for the isolated signalized intersection, the proposed speed control model in successive signalized intersections has some advantages in energy saving and emission reduction.
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