Multi-vehicle cooperative control method and system for signal control intersection in mixed traffic environment

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Multi-vehicle cooperative control method and system for signal control intersection in mixed traffic environment

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DING YANCHAO / JING YING / LIU YUMIN / MA YULIN / CHEN SAI / LIU QILONG

The invention discloses a signal control intersection multi-vehicle cooperative control method and system in a mixed traffic environment, and relates to the technical field of intersection road multi-vehicle cooperation, and the method comprises the steps: carrying out the vehicle data collection when an intelligent network connection vehicle arrives at a control region, and constructing a vehicle constraint model; marshalling vehicles in the signalized intersection; and multi-vehicle collaborative marshalling intersection at the signalized intersection in the mixed traffic environment is constructed, and oil consumption calculation is carried out. According to the signal-control intersection multi-vehicle cooperative control method in the mixed traffic environment provided by the invention, the CAV speed is improved, so that the following HDV is guided, and the number of vehicles can be as many as possible in a certain signal period. If the vehicle is accelerated to the maximum speed in the current signal period and cannot pass through the signalized intersection, the speed of the CAV is guided, and the vehicle can pass through the signalized intersection without stopping when the green light is just turned on in the next signal period, so that the oil consumption of the vehicle can be reduced, and the comfort and the ecology can be improved.

本发明公开了一种混行交通环境下信控交叉口多车协同控制方法及系统，涉及交叉口路多车协同技术领域，包括智能网联车辆到达控制区域时，进行车辆数据采集，并构建车辆约束模型；进行信号交叉口内车辆编组；构建混合交通环境下信号交叉口多车协同编组交汇并进行油耗计算。本发明提供的混行交通环境下信控交叉口多车协同控制方法通过改善CAV速度，从而引导跟驰的HDV，在某一信号周期内能够尽可能多地通过车辆数。若是车辆在该当前信号周期内加速到最大速度也不能通过信号交叉口，对CAV进行速度引导，在下一信号周期绿灯刚亮起时车辆能够不停车通过信号交叉口，可以降低车辆的油耗，提高舒适性与生态性。