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连续信号交叉口网联自动驾驶车速控制

鹿应荣 许晓彤 丁川 鲁光泉

鹿应荣, 许晓彤, 丁川, 等 . 连续信号交叉口网联自动驾驶车速控制[J]. 北京航空航天大学学报, 2018, 44(11): 2257-2266. doi: 10.13700/j.bh.1001-5965.2018.0110
引用本文: 鹿应荣, 许晓彤, 丁川, 等 . 连续信号交叉口网联自动驾驶车速控制[J]. 北京航空航天大学学报, 2018, 44(11): 2257-2266. doi: 10.13700/j.bh.1001-5965.2018.0110
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)
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)

连续信号交叉口网联自动驾驶车速控制

doi: 10.13700/j.bh.1001-5965.2018.0110
基金项目: 

汽车安全与节能国家重点实验室开放基金 KF1805

国家自然科学基金 U1764265

详细信息
    作者简介:

    鹿应荣  女, 博士, 教授, 硕士生导师。主要研究方向:智能交通

    许晓彤  女, 硕士研究生。主要研究方向:车联网交通系统

    丁川  男, 博士, 副教授, 硕士生导师。主要研究方向:交通行为建模与仿真

    鲁光泉  男, 博士, 教授, 硕士生导师。主要研究方向:车路协同与驾驶行为

    通讯作者:

    丁川, E-mail:cding@buaa.edu.cn

  • 中图分类号: U491.4

Connected autonomous vehicle speed control at successive signalized intersections

Funds: 

Science Fund of State Key Laboratory of Automotive Safety and Energy KF1805

National Natural Science Foundation of China U1764265

More Information
  • 摘要:

    为了提高车辆在城市道路上行驶时的燃油经济性,同时减少污染物的排放,针对车联网环境下自动驾驶车辆可以与路侧设施及区域中心控制系统实时信息交互的特征,提出了连续信号交叉口车速控制方法。当车辆距下游各信号交叉口的距离和下游交叉口信号相位及时长可以提前获取时,通过提出的自动驾驶车速控制模型计算出一个使车辆能够连续通过下游多个信号交叉口的恒定速度,同时为了保证驾驶舒适性,采用平滑的三角函数曲线表征加/减速过程中的速度变化,避免了车辆在交叉口处急刹车或急加速的情况。为验证车速控制方法的有效性,基于多智能体技术建立了车联网环境下连续信号交叉口车速控制仿真系统,模拟对比分析了有速度控制和无速度控制下车辆连续通过3个信号交叉口的燃油消耗量、CO2排放量以及行程时间。结果表明:在低密度车流下,运用该车速控制方法,车辆连续通过3个信号交叉口的平均燃油消耗量与CO2排放量均减少了30%以上,行程时间减少了约5%;在中、高密度车流下,车辆的平均燃油消耗量与CO2排放量减少了约20%,并能够节省约15%的行程时间。另外,通过与目前已有的针对单点信号交叉口的车速控制模型的比较,本文提出的连续信号交叉口车速控制模型在节能减排方面更具优势。

     

  • 图 1  连续信号交叉口车辆运动轨迹示意图

    Figure 1.  Schematic of vehicle movement trajectory at successive signalized intersections

    图 2  连续信号交叉口车速控制系统架构示意图

    Figure 2.  Schematic of speed control system architecture at successive signalized intersections

    图 3  连续信号交叉口车速控制流程图

    Figure 3.  Flowchart of speed control at successive signalized intersections

    图 4  连续信号交叉口车辆运动轨迹时空图

    Figure 4.  Time-space diagram of vehicle movement trajectories at successive signalized intersections

    图 5  自动驾驶车辆加速和减速过程中速度变化示意图

    Figure 5.  Schematic of speed change during acceleration and deceleration process of automated vehicle

    图 6  连续信号交叉口仿真路网

    Figure 6.  Simulated road network of successive signalized intersections

    图 7  低密度车流下车辆通过连续3个信号交叉口的平均燃油消耗量、CO2排放量和行程时间比较

    Figure 7.  Comparison of average fuel consumption, CO2 emissions and travel time when vehicle passes through three successive signalized intersections under low traffic density

    表  1  仿真参数设置

    Table  1.   Simulation parameter setting

    参数 数值
    vmax/(km·h-1) 60
    vmin/(km· h-1) 10
    L1/m 400
    L2/m 900
    L3/m 1 400
    amax/(m· s-2) 2.5
    amin/(m· s-2) -2.5
    jmax/(m· s-3) 10
    g11/s 10
    r11/s 60
    g21/s 80
    r21/s 20
    g31/s 30
    r31/s 80
    仿真时间/min 120
    下载: 导出CSV

    表  2  低密度车流下有速度控制和无速度控制车辆的平均燃油消耗量、CO2排放量、行程时间比较

    Table  2.   Comparison of vehicle average fuel consumption, CO2 emissions and travel time with and without speed control under low traffic density

    指标 有速度控制 无速度控制
    平均值 标准差 平均值 标准差
    燃油消耗量/(L·s-1) 1.96 1.14 2.85 1.88
    CO2排放量/(mg·s-1) 4.68 2.71 7.05 4.50
    行程时间/s 192.31 19.37 201.75 63.13
    下载: 导出CSV

    表  3  中、高密度车流下有速度控制和无速度控制车辆的平均燃油消耗量、CO2排放量、行程时间比较

    Table  3.   Comparison of vehicle average fuel consumption, CO2 emissions and travel time with and without speed control under medium and high traffic density

    指标 有速度控制 无速度控制
    平均值 标准差 平均值 标准差
    燃油消耗量/(L·s-1) 7.25 3.47 9.36 2.94
    CO2排放量/(mg·s-1) 18.49 4.81 23.05 4.74
    行程时间/s 287.12 10.28 340.77 20.56
    下载: 导出CSV

    表  4  不同车速控制方法下车辆的平均燃油消耗量、CO2排放量、行程时间比较

    Table  4.   Comparison of vehicle average fuel consumption, CO2 emissions and travel time among different speed control methods

    方法 燃油消耗量/(L·s-1) CO2排放量/(mg·s-1) 行程时间/s
    低密度 中、高密度 低密度 中、高密度 低密度 中、高密度
    单点信号交叉口 2.68 9.62 6.41 23.27 164.76 283.49
    连续信号交叉口 1.96 7.25 4.68 18.49 192.31 287.12
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-03-05
  • 录用日期:  2018-04-20
  • 刊出日期:  2018-11-20

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