The invention relates to the technical field of vehicle confluence under mixed traffic flow, and discloses a cooperative control method for a vehicle confluence track in an expressway confluence area under mixed traffic flow, which comprises the following steps of: dividing the expressway confluence area into a control area and a merging area; determining a main road convergence feasible gap according to vehicle types and vehicle states in front of and behind the gap in the control area and a feasible gap cooperative adjustment range between the safe distance and different vehicle gaps; according to the main road convergence feasible gap and the time when the vehicle arrives at the tail end of the control area, a trajectory optimization model is established with the minimum vehicle running energy consumption as the target, all possible convergence main road gaps are traversed through the trajectory optimization model, and the feasible gap with the minimum energy consumption is selected as the convergence gap for vehicle trajectory collaborative optimization control. According to the method, the cooperative control of the confluence sequence and the vehicle running track planning during confluence of vehicles in the confluence area is realized, and the running efficiency is improved and the comprehensive energy consumption is reduced.

    本发明涉及混合交通流下车辆合流技术领域,公开了一种混合交通流下高速公路合流区车辆汇入轨迹协同控制方法,包括将高速公路合流区划分为控制区和合并区,根据控制区内间隙前后车辆类型和车辆状态、以及安全间距和不同车辆间隙间的可行间隙协同调整范围,确定主路汇入可行间隙;根据主路汇入可行间隙和车辆到达控制区末端时间,以车辆运行能耗最小为目标建立轨迹优化模型,利用轨迹优化模型对所有可能汇入的主道间隙进行遍历,选择能耗最小的可行间隙作为汇入间隙进行车辆轨迹协同优化控制。本发明实现了提高运行效率和降低综合能耗的合流区车辆汇入时的合流序列和车辆运行轨迹规划协同控制。


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    Title :

    Cooperative control method for vehicle confluence track in highway confluence area under mixed traffic flow


    Additional title:

    混合交通流下高速公路合流区车辆汇入轨迹协同控制方法


    Contributors:
    LI HAO (author) / LI XI (author) / WANG ZHENGWU (author) / ZHANG ZHAO (author) / WANG JIE (author) / CHEN TAO (author) / MUKAI KEN (author) / WU JUQIANG (author)

    Publication date :

    2025-03-18


    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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