Cyber-physical Model Based Mixed Traffic Pinning Control Approach

The network connection of automated vehicles will increase the information asymmetry and intelligence level of the overall traffic flow,which will lead to an increase in the complexity and uncertainty of the interaction between connected autonomous vehicles and human-driven vehicle.It might bring challenges to traffic efficiency and safety.Besides,automated vehicles can alleviate traffic congestion.It can be seen that the mixing of automated vehicles brings new control methods for the control and optimization of the traffic system.Therefore,it is necessary to carry out researches on the optimization and control of mixed traffic.This paper first gives the cyber-physical description of mixed traffic,and analyzes its characteristics,so that the cyber-physical characteristics of mixed traffic can be revealed and applied.Subsequently,the paper gives the pinning control strategy of the mixed platoon.Then the pinning control of the mixed traffic is given.By directly control the autonomous vehicles in the mixed traffic,the human-driven vehicles could be influenced,then the positive role of connected autonomous vehicles in mixed traffic could be full played.Finally,the effectiveness of the proposed control strategy is verified in the on-ramp merging zone.Specifically,the research of the paper mainly includes the following aspects:(1)By considering vehicles as nodes in the network and the interaction between vehicles as directed edges in the network,the cyber-physical model of road traffic is given.Then,the graph characteristics of the traffic network are analyzed,the regularity of the homogeneous traffic and the small-world and scale-free characteristics of the mixed traffic are obtained,and the dynamics of the traffic network topology is discussed.(2)On the basis of work(1),a pinning control strategy framework for mixed traffic based on the cyber-physical model is proposed,which is compatible with existing connected and automated vehicle(CAV)control strategies and can better improve the efficiency,safety and comfort of mixed traffic.In addition,the influence of the mixing of CAVs and dynamic physical topology are also analyzed.This framework brings new ideas to the optimization and control of mixed traffic.(3)On the basis of the previous researches,a CAV event-triggered switching control strategy suitable for mixed traffic is proposed,and this strategy is combined with the pinning control framework proposed in work(2)to deal with the complex and changeable scene of the lane reduction area.The simulation results show the effectiveness of the proposed strategy and give its scope of application.To sum up,the paper discovers the graph characteristics of the mixed traffic through the cyber-physical model.On this basis,this paper proposes a mixed traffic pinning control strategy.The research results can not only provide theoretical guidance for mixed traffic analysis and control,but also provide reference for the theoretical development and application of cyber-physical systems.