The invention discloses an expressway tunnel entrance vehicle speed control method based on vehicle-road cooperation, and aims at an expressway tunnel entrance where intelligent network connection vehicles and manual driving vehicles are in mixed driving. The method comprises the following steps: firstly, collecting information of an automatic driving vehicle and a manual driving vehicle, including positions, speeds, lanes and time of entering a control area; secondly, calculating the speed track of the manually driven vehicle in the tunnel entrance area by adopting a driver car-following model; aiming at the intelligent network connection vehicle, establishing a vehicle speed optimization model by taking the shortest time for arriving at the tunnel portal and the safety weighting as targets; the displacement and the speed of the front vehicle are used as input conditions, conflict time is calculated, and safety constraint conditions are established. According to the speed control method for the mixed traffic flow in the expressway tunnel entrance area, the speed of the intelligent network connection vehicle is optimized, the speed track of the manual driving vehicle is adjusted by referring to the driving speed of the front vehicle, and the traffic safety and efficiency of the tunnel entrance are improved.

    本发明公开了一种基于车路协同的高速公路隧道口车速控制方法,针对智能网联车辆与人工驾驶车辆混合行驶的高速公路隧道入口。首先,本发明采集自动驾驶车辆和人工驾驶车辆的信息,包括位置、速度、所在车道以及进入控制区域的时间;其次,采用驾驶员跟驰模型计算人工驾驶车辆在隧道入口区域的速度轨迹。针对智能网联车辆,以到达隧道口的时间最短和安全加权为目标,建立车速优化模型;前车的位移和速度为输入条件,计算冲突时间,以此建立安全约束条件。本发明提出面向高速公路隧道口区域混合交通流的速度控制方法,通过优化智能网联车辆速度,以及人工驾驶车辆参考前车行驶速度调整速度轨迹,提高隧道入口的交通安全和效率。


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    Title :

    Expressway tunnel portal vehicle speed control method based on vehicle-infrastructure cooperation


    Additional title:

    一种基于车路协同的高速公路隧道口车速控制方法


    Contributors:
    WU WEI (author) / LIU YANG (author) / LIU TANGZHI (author) / XU JIN (author) / LIU HAODE (author) / LIU WEI (author) / LI SHUQING (author) / DENG TIANMIN (author)

    Publication date :

    2024-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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