The invention discloses a vehicle-road cooperative control method for an expressway entrance ramp. Microcosmic lines of vehicles on the expressway entrance ramp converging into a main road are controlled by using a wireless communication technology and an automatic driving technology. The method comprises the following steps of: firstly, optimizing a sequence of converging vehicles on a ramp into a main road, namely, distributing moments of each controlled vehicle passing through a convergence point through a roadside central controller to optimize a convergence sequence; the vehicles from the same direction (from the main road or the ramps) pass through the confluence point together, the number of times of cross confluence in different directions is reduced, and therefore traffic conflicts are reduced, and traffic safety is improved. Then, all vehicles run according to the optimal track and reach a confluence point based on a vehicle motion planning algorithm of time energy optimal control, and the optimized vehicle track enables the vehicles on the ramp to smoothly merge into a main road, so that energy consumption and pollutant emission are reduced, the riding comfort is improved, the traffic efficiency and the traffic safety are improved, and the traffic safety is improved. Meanwhile, the traffic operation environment is effectively improved.
本发明公开了一种高速公路入口匝道车路协同控制方法,利用无线通信技术和自动驾驶技术对高速公路入口匝道车辆汇入主路的微观行进行了控制。首先对匝道车辆汇入主路的顺序进行优化,即通过路旁中央控制器分配每辆受控车辆通过汇流点的时刻来优化汇流顺序。令来自同一方向(都来自主路或都来自匝道)的车辆一起通过汇流点,减少了不同方向的交叉汇流次数,从而减少了交通冲突和提高了交通安全。然后基于时间能量最优控制的车辆运动规划算法,使所有车辆按照最优轨迹行驶,到达汇流点,优化后的车辆轨迹使得匝道车辆能够平滑汇入主路,不仅降低能耗和减少了污染物排放,还提高了乘坐舒适性,提高交通效率和交通安全性,同时有效改善交通运行环境。
Vehicle-road cooperative control method for expressway entrance ramp
一种高速公路入口匝道车路协同控制方法
2023-03-03
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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