Method Research Of Traffic Signal Coordination And Speed Guidance Under The Mixed Traffic Condition Of Intelligent Connected Vehicles And Non-Connected Vehicles

Intelligent connected vehicles(ICV)has made great progress in technology.It uses radar,IMU and camera to sense road traffic information and make driving strategies in different traffic environments."Interconnection of all things" is the development-trend of technology in the future.The linkage of "vehicle" and "road" in transportation is also the development direction of ITS in the future.With the development of 5G and other communication technologies,the realization of information interaction between vehicles and vehicles,vehicles and roads come to be of great significance to improve traffic efficiency and reduce accidents.But in this process,the vehicle composition on the road must go through the stage of mixed traffic with intelligent connected vehicles and non-connected vehicles.Therefore,under the condition of mixed operation of intelligent connected vehicles and non-connected vehicles,this paper studies how to give full play to the advantages of intelligent connected vehicles in information acquisition,how to use the mobility of intelligent connected vehicles to realize the safe and efficient operation of vehicles on the road at the intersection without light control.It is also of great significance to improve the traffic efficiency of arterial traffic flow by making use of the timeliness of information obtained and flexibility by intelligent connected vehicles in arterial traffic control.At the same time,this paper studied the fusing and calculating methods of traffic data under the mixed traffic condition of ICV and non-connected vehicles,according to the traffic data,the traffic operation condition can be judged so as to optimize the trunk line signal and guide vehicle speed on the road.Due to the lack of this kind of mixed traffic condition,the simulation software VISSIM 4.30 and MATLAB are used to simulate the road traffic conditions,and the implementation effect of the control strategy is judged by the simulation results.The results show that: ○1 The intelligent connected vehicle on the road increases the way to obtain road traffic parameters,and the emerging deep learning technology has strong processing ability for multi-source traffic data fusion;○2 At the intersection without light control and in the mixed traffic state,by coordinating the speed of the intelligent connected vehicles in the conflict direction,it can ensure the traffic order at the intersection,expand the passable gap and provide greater priority for the traffic flow on the main road;○3 the signal coordination of trunk line control sub area based on MAXBAND model can reduce the average delay of two-way vehicles effectively;○4 Using the timeliness of information transmission of intelligent connected vehicles to guide the speed of vehicles under the condition of double cycle signal control can reduce the number of vehicle stops and improve the operation efficiency of trunk traffic flow effectively.The main contents of this paper are as follows:1.Traffic data processing method under the mixed traffic condition of ICV and nonconnected vehicles.This paper introduces the classic multi-source data fusing method,chooses three groups of traffic flow data,uses the Kalman Filter and PSO-RBFNN for data fusion.The multi-source traffic flow fusion method introduced in this paper has a wide range of applications.In the same way,we can accurately grasp the traffic flow density and other information by collecting the data of ICV,so as to achieve a comprehensive grasp of the traffic operation condition.2.Using the mobility of intelligent connected vehicles to realize the safely and orderly control of intersection without traffic light.When the intersection has no traffic light or the traffic signal control system come to be invalid,it is necessary to consider using the mobility of ICV to ensure the safety and efficiency of trunk traffic operation.Under the mixed traffic condition of ICV,taking ICV on the road as the nodes,guide the ICV on the secondary road adjust their speed to form gaps that can allow the motorcade on main road pass safely;then calculate the corresponding speed of vehicles on main road based on the formation-time of those gaps and transfer the speed to the corresponding vehicles,so as to ensure the running efficiency of the main road vehicles.;by setting the speed adjustment area and the speed stability area at the position of each lane closed to the intersection to provide enough time and space for vehicle speed adjustment,which ensure the safety of this process.Compared with the free-running state of vehicles,this kind of vehicles control strategy improved the operation efficiency of trunk traffic flow on the basis of safety,and reduced the average vehicle delay and average times of vehicle stops.3.In the case of fully obtaining the road traffic flow,taking the trunk line traffic control as the research object.Firstly,according to the classic MAXBAND model,considering the different two-direction traffic flow volume of the trunk line,the objective function of this model is improved,and the optimal signal timing is calculated to improve the road operation efficiency.And then when the intersections of trunk adopts double cycle signal control method due to the difference of flow in two directions,the ideal speed of vehicles can be calculated according to the gap of the green light time of the upstream and downstream intersections,the ideal speed can be transfer to the ICV dynamically.By introducing the traffic flow into the objective function of MAXBAND model,we can get a green wave bandwidth and signal timing scheme which is more suitable for the demand of two-direction traffic flow;under the condition of double cycle,by guiding the speed of vehicles,the vehicles can go across the intersection without stopping.All of this above improved the operation efficiency of trunk line traffic flow,and reduce the increased fuel consumption due to parking.4.After studying above all,this paper use MATALB to train neural network,input traffic parameters for data fusion,and observe the effect of data fusion by comparing with the contrast data;and then build the vehicle-road collaborative simulation circumstance.The secondarydevelopment of VISSIM 4.30 is carried out to verify the effect of dual-cycle speed guidance to vehicles and the feasibility of gap-control method under the mixed traffic condition of ICV and non-connected vehicles,which verifies that the gap-control method can improve the operation efficiency of trunk vehicles.At the same time,it verifies the effect of speed guidance on reducing average vehicle delay and average times of vehicle stops under the condition of double cycle signal control.