Research On Coordinated Control Of Pure Electric Intelligent Connected Vehicle Traveling At Intersections

With the vigorous development of the automobile industry,people are no longer confined to the pleasure of driving cars,and began to consider how to liberate human labor and improve driving safety.Therefore,automatic driving has become a hot research topic in universities and enterprises.Automobiles have been upgraded in the direction of electrification,intellectualization and networking.This paper has do research on the coordinated control of pure electric and intelligent connected vehicle traveling at intersections,which is of great significance to provide solutions for automatic driving in urban environment.In this paper,the pure electric intelligent connected vehicle is selected as the research object,and the signalized intersection is selected as the research environment.The lane layout,signal phase setting and period interval of the intersection on the city road are collected,and the traffic model of the intersection is established.The parameters of pure electric vehicle are determined and the dynamic simulation model is established.Millimeter-wave radar and GPS positioning sensor are used as the main tools of vehicle information perception in intelligent connected vehicle.The process of acquiring target by millimeter-wave radar is studied.The target information is converted to underground reference frame by coordinate transformation method,and the way of target tracking and selection is determined.The pseudo-range method is used to process the GPS fixed distance information,and the calculation method of vehicle distance at intersection is determined.According to the information collected by millimeter wave radar,the double verification of vehicle distance calculation is realized.Aiming at the mode of vehicle-road interaction,an intelligent traffic solution of "information centralized collection + vehicle distributed control" is proposed,and the main content of vehicle-road interaction is determined.Aiming at the characteristics of intelligent connected vehicle,which can monitor the driving environment and acquire road information,a safety-based cooperative control strategy for intersection entry and departure is proposed.According to the characteristics of urban road driving and pure electric vehicle,a cooperative control strategy based on driving energy consumption and traffic efficiency is proposed.Based on the analysis of intersection traffic process,driving energy consumption and traffic efficiency,the optimal control mode of intersection is established,and the optimal control model is solved by genetic algorithm.According to the optimal control model of intersection,a joint simulation model is established by using MATLAB/Simulink and Prescan.The single intersection and multi-intersection traffic processes are simulated and analyzed respectively.The simulation results show that,in the process of single intersection,the genetic algorithm can get the optimal solution of multi-objective and multi-variable.In the simulation process,some vehicles that need to stop and wait are decelerated by regenerative braking,which can achieve maximum energy recovery and reduce the energy consumption of intersection.Some vehicles eventually form formation driving when they can’t pass through intersection directly.The traffic efficiency is 29.7% higher than the initial statistic value.In the process of multi-intersection traffic,both upstream traffic flow and downstream traffic signal phase information are taken into account,so that vehicles can pass at a uniform speed without stopping within a safe distance.The road traffic efficiency is 5% higher than the initial statistic value,which verifies the feasibility of the vehicle intersection cooperative control strategy and algorithm.