Existing signalized intersection control methods allocate intersection resources to each phase from the time dimension based on traffic conflict. Solving the traffic control issues caused by the unbalanced traffic demands at intersections is always a challenge. Recently developed connected and automated vehicle (CAV) technologies render it possible to collect detailed real-time traffic information from vehicles for the optimal control and management of time-space resources at signalized intersections. In this paper, we propose a mixed integer quadratic programming to jointly optimize signal timings and variable guide lane settings for a typical four-arm intersection in the CAV environment. From the time dimension, restrictions of the conventional concept of the signal cycle are overcome. Phase sequences, green start, and duration are freely assigned for each CAV platoon based on the movement-based signal timing. From the space dimension, lane resources can be reasonably allocated in consideration of the dynamic traffic demand distribution. In this study, a demand-response control is realized for the signalized intersection through time-space resources cooperated optimization. Furthermore, vehicle trajectory control is integrated into the collaborative control framework to reduce or eliminate wasted green time. At last, we propose the dynamic control process using the collaborative control framework. Numerical simulation results show that the collaborative control method outperforms over fixed-time and signal optimization control modes in terms of travel time with both under-saturated and over-saturated conditions.

中文翻译：

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网联自动驾驶环境下孤立交叉口交通信号与可变引导车道协同控制

现有信号交叉口控制方法基于交通冲突从时间维度为各阶段分配交叉口资源。解决交叉路口交通需求不平衡导致的交通控制问题一直是一个挑战。最近开发的联网和自动驾驶汽车 (CAV) 技术使从车辆收集详细的实时交通信息成为可能，以优化控制和管理信号交叉口的时空资源。在本文中，我们提出了一种混合整数二次规划，以联合优化 CAV 环境中典型四臂交叉口的信号配时和可变引导车道设置。从时间维度上，克服了传统信号周期概念的限制。相序，绿色启动，和持续时间是根据基于移动的信号时序为每个 CAV 排自由分配的。从空间维度考虑动态交通需求分布，合理配置车道资源。本研究通过时空资源协同优化，实现了信号交叉口的需求-响应控制。此外，车辆轨迹控制被集成到协同控制框架中，以减少或消除浪费的绿灯时间。最后，我们提出了使用协同控制框架的动态控制过程。数值仿真结果表明，在欠饱和和过饱和条件下，协同控制方法在行程时间方面优于固定时间和信号优化控制模式。