The invention discloses a traffic signal and vehicle trajectory optimization method based on vehicle-road cooperation under a mixed traffic flow. The method comprises the following steps: modeling a traffic information arrangement and control system based on vehicle-road cooperation; and optimizing signal lamps and traffic flow based on the double-layer optimization model. According to the method, a double-ring and barrier structure is adopted to optimize the timing of signal lamps on the upper layer, wherein the driving delay of all vehicles is minimized as a sub-optimization problem in dynamic planning. And the release time of the CAV and the HDV is calculated as an input parameter of an upper layer. And transmitting the optimized arrival time to a lower layer. According to the method, the CAV judges whether the optimal arrival time exceeds the deadline or not, two different optimization targets are adopted for economical driving, and therefore along with increase of the proportion of the CAV in the traffic flow, the optimization effect of the model on the driving time and oil consumption is more effective. The invention provides a more efficient and more environment-friendly signal lamp and track optimization scheme based on the collaborative optimization method of the road signal lamp and the vehicle track under the condition of mixed traffic flow.
本发明公开了混合车流下基于车路协同的交通信号与车辆轨迹优化方法,包括基于车路协同的交通信息整理与控制系统建模;基于双层优化模型的信号灯及车流优化。本方法采用双环和屏障结构对上层的信号灯配时进行优化,其中所有车辆的行驶延迟在动态规划中作为子优化问题被最小化。CAV和HDV的释放时间作为上层的输入参数计算。优化后的到达时间传输给下层。CAV根据判断最优到达时间是否超过截止时间,采用两种不同的优化目标进行经济性驾驶,因此随着CAV在车流中占比的增加,模型对于行驶时间与油耗的优化效果都将会更加富有成效。本发明基于混合车流情况下的道路信号灯与车辆轨迹的协同优化方法,提出更加高效且更加环保的信号灯和轨迹优化方案。
Traffic signal and vehicle track optimization method based on vehicle-road cooperation under mixed traffic flow
混合车流下基于车路协同的交通信号与车辆轨迹优化方法
2024-03-19
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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