The invention discloses a confluence area mixed traffic speed cooperative control method based on stability analysis, and the method specifically comprises the steps: forming a vehicle cluster in the form of '1 + N', the '1' representing one intelligent automatic driving vehicle (CAV), and 'N' representing a plurality of following artificial vehicles (HV); constructing an intra-cluster stability analysis model, and analyzing intra-cluster stability conditions; on the premise that the intra-cluster stability condition is met, constructing an inter-cluster stability model and analyzing the inter-cluster stability condition; based on intra-cluster and inter-cluster stability conditions, establishing a cluster cooperation speed control model, and under the condition that the intra-cluster and inter-cluster stability conditions are met, introducing the confluence cluster to smoothly enter the confluence area by controlling the CAV speed. According to the method, the highway confluence area is used as a research object, the speed cooperative control model is constructed on the premise of stability, the accuracy is improved, the traffic flow risk is effectively reduced, the dynamic space occupancy is improved, and tail gas emission is reduced.
本发明公开了一种基于稳定性分析的合流区混合交通速度协同控制方法,具体为:以“1+N”形式构成车辆簇,“1”代表1辆智能自动驾驶车辆CAV,“N”代表跟随的多辆人工车辆HV;构建簇内稳定性解析模型,解析簇内稳定性条件;在满足簇内稳定性条件前提下,构建簇间稳定性模型,解析簇间稳定性条件;基于簇内及簇间稳定性条件,构建簇协同速度控制模型,在满足簇内及簇间稳定性条件下,通过控制CAV速度引导汇入簇顺利进入合流区。本发明以高速公路合流区作为研究对象,以稳定性为前提构建速度协同控制模型,提高了准确性,有效降低了交通流风险、提升了动态空间占有率及减少了尾气排放。
Confluence area mixed traffic speed cooperative control method based on stability analysis
一种基于稳定性分析的合流区混合交通速度协同控制方法
2021-08-13
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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