| In the context of "A Country with Strong Transportation Network" and "New Infrastructure Construction",vehicle-road cooperative autonomous driving has become a development trend,and truck platooning is considered to be one of the first related technologies to land on highways in China.However currently,truck platooning focuses primarily on vehicle-vehicle cooperative,which is limited to local vehicles and has insufficient research on vehicle-road cooperative with global traffic optimization.At the same time,the intelligent connected road infrastructure system proposes to implement platooning technology under specific conditions for a dedicated truck lane in truck platooning in a I3 freeway.However,existing truck lane management strategies are generally based on traditional road infrastructure and cars,and there is insufficient research on how to manage truck lanes when truck platooning in a connected and automated vehicle highway(CAVH)system is involved.Therefore,based on CAVH simulation,this paperconsiders the global traffic optimization and individual benefits in multi-objective optimization to optimal truck speed in platoon control.On this basis,the truck lane management strategies such as dedicated lanes for truck platooning is studied,and their impact on freeway traffic is analyzed to provide methods and recommendations for operators and managers of freeway enterprises.First,this paper analyzes the traffic operation characteristics and truck lane management strategies of one freeway section which is a one-way four-lane freeway from Nanjing to Shanghaiincluding the Meicun service area,the airport interconnection,and the Shuofang hub in the Wuxi section.Traffic operation characteristics are analyzed from two aspects: traffic flow characteristics and accident characteristics.Traffic flow characteristics analysis includes traffic volume,average speed and headway time,and accident characteristics analysis includes spatiotemporal distribution,lane distribution,facility distribution and accident type statistics.Secondly,this paper studies the construction of a multi-objective optimized speed control model for truck platooning to benefit from CAVH concept.A CAVH system means that roadside devices perceive global information and feed back decision planning information to a single autonomous vehicle.The model is based on the improved Cell Transmission Model and Model Predictive Control to predict the state of freeway traffic flow,with the bottleneck cell traffic flow and the minimum traffic time of all vehicles on the road as the global objective,with the minimum fuel consumption of truck platooning is the local objective.The optimal speed control value of the truck platooning is obtained through the non-dominated sorting genetic algorithm with elite strategy.Finally,on the basis of building a simulation platform for specific research sections,this paper analyzes the impact of truck lane management strategies based on multiple scenarios on road traffic efficiency and traffic safety.There are three types of vehicles,i.e.cars driven by human drivers(CAR),trucks driven by human drivers(HDT),and self-driving trucks in platoon.The driving behavior parameters of CAR and HDT models are calibrated separately in the VISSIM.Three simulation scenarios of lane management and control strategy setting are: Scenario I is under truck lane limit strategy for optimal speed control without a dedicated truck lane,and Scenario II has a dedicated truck lane for truck platooning.While Scenario III is under optimal speed control and a dedicated truck lane for truck platooning.The analysis results of lane management and control strategies include:(1)Study the impact of truck platoon in scenario I and scenario II through the interweaving zone in an integrated form and in a separate form;(2)combine scenario wagons in scenario I and scenario II whether to open the second lane for HDT driving for specific analysis;(3)Comparative analysis of the conditions for setting up a dedicated lane for truck platoon in scenario I and scenario II;(4)Finally,based on the foregoing analysis,study whether the optimal truck platoon in scenario III,and The impact of speed control is further analyzed by model and lane.In this paper,based on the multi-objective optimized truck platooning in CAVH,the multi-lane freeway truck lane management strategies are studied,and the following conclusions are drawn through the analysis of three simulation scenarios set on a complex road section of the Nanjing-Shanghai freeway:(1)The truck platooning in scenario I and scenario II should pass through the interweaving area in a separate form;(2)The separation form of truck platooning in scenario I is better than the overall form of truck platoon and the form of non-wagon platoon;(3)The proportion of trucks in the overall form of truck platoon in scenario II is: At20%,when the trucks account for 15% and 20% the second lane should be opened for HDT with separated platoon.when the trucks account for 20% the second lane should be opened for HDT with no-separated platoon;(4)When trucks account for 20% ～ 30% of the total traffic,trucks should be set up for exclusive use Lane;(5)The optimal speed control of the truck platooning in scenario III is better than the optimal speed control of the truck platooning. |
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