Abstract

The emerging intelligent connected technology provides conditions for obtaining the trajectory of vehicles. To reduce the adverse effects of stop-and-go vehicles in the bottleneck section of expressways, a strategy of coordinated speed control based on trajectory is proposed in a single-lane. Firstly, the trajectories of the connected and autonomous vehicles (CAV) in the downstream vehicle cluster are offset and modified to predict the trajectory of the last human vehicle (HV) based on the information collected by the road side traffic sensors and combined with the speed of traffic wave and the driver’s reaction time. Then, according to the predicted trajectory, the velocity distribution of the first CAV in the vehicle cluster upstream at different time points is planned to restrain the propagation of velocity oscillation, the CAV can gradually merge into the downstream traffic flow at a more reasonable and smooth speed. Finally, the influence of different factors on the suppression of speed oscillation are analyzed by numerical simulation. The results show that: within the numerical simulation range of the designed CAV permeability of 0%∼25% and the starting position of the bottleneck is 575 m∼975 m, the higher the permeability, the farther the starting position of the bottleneck and the smoother the speed curve selected by CAV, the stronger the suppression of speed oscillations, and at the same time it proves that the strategy of coordinated speed control can effectively reduce the fluctuation of traffic flow, improve driver comfort and overall efficiency of vehicle queue.

摘要

新兴的智能网联技术为获取车辆轨迹提供了条件。为减少高速公路瓶颈路段走走停停车辆的不利影响，提出了一种基于单车道轨迹的协调速度控制策略。首先，根据路边交通传感器收集的信息并结合车速，对下游车群中的联网自动驾驶汽车（CAV）的轨迹进行偏移和修正，以预测最后一辆人类车辆（HV）的轨迹。交通波和驾驶员的反应时间。然后，根据预测轨迹，规划车群上游第一辆CAV在不同时间点的速度分布，以抑制速度振荡的传播，CAV 能够以更合理、更顺畅的速度逐渐融入下游交通流。最后通过数值模拟分析了不同因素对速度振荡抑制的影响。结果表明：在设计CAV渗透率0%～25%的数值模拟范围内，瓶颈起始位置为575 m～975 m，渗透率越高，瓶颈起始位置越远， CAV选择的速度曲线越平滑，对速度振荡的抑制越强，同时证明协调速度控制策略可以有效减少交通流量的波动，提高驾驶员的舒适度和车辆排队的整体效率。通过数值模拟分析了不同因素对速度振荡抑制的影响。结果表明：在设计CAV渗透率0%～25%的数值模拟范围内，瓶颈起始位置为575 m～975 m，渗透率越高，瓶颈起始位置越远， CAV选择的速度曲线越平滑，对速度振荡的抑制越强，同时证明协调速度控制策略可以有效减少交通流量的波动，提高驾驶员的舒适度和车辆排队的整体效率。通过数值模拟分析了不同因素对速度振荡抑制的影响。结果表明：在设计CAV渗透率0%～25%的数值模拟范围内，瓶颈起始位置为575 m～975 m，渗透率越高，瓶颈起始位置越远， CAV选择的速度曲线越平滑，对速度振荡的抑制越强，同时证明协调速度控制策略可以有效减少交通流量的波动，提高驾驶员的舒适度和车辆排队的整体效率。