Trajectory Optimization Model Of Connected And Autonomous Vehicle At Unsignalized Intersections

Intersections are one of the most conflict-prone elements in the traffic network.They are highly complex and rapidly changing,and have a significant impact on traffic efficiency and traffic safety.With the continuous maturity of the Internet of Vehicles and intelligent networked vehicle technologies,unsignalized intersections relying on holographic perception and vehicle-to-vehicle/vehicle-to-vehicle communication technologies have become a research hotspot.By optimizing and controlling the trajectory of intelligent networked vehicles near the intersection,fast,safe,and smooth passage of vehicles can be realized,thereby solving the problem of congestion at the intersection.To solve this problem,this paper designs a vehicle trajectory control plan based on a mixed-integer nonlinear programming model,solves the optimal trajectory,and conducts visual simulation verification.This paper mainly launched the research work from the following aspects:First,the background and significance of trajectory control of intelligent networked vehicles at unsignalized intersections are explained.Based on a review of relevant literature,the relevant theories and general solutions involved in the establishment of the model in this paper are introduced,and the types of intersections and intersections are described.The types of conflicts that may exist when the vehicles studied in this paper are driving at unsignalized intersections are analyzed.Secondly,a piecewise dynamic trajectory control model based on mixed integer nonlinear programming is proposed to model the driving and interaction behavior of intelligent networked vehicles at unsignalized intersections.In this paper,the trajectory planning model is divided into straight trajectory planning and steering trajectory planning models.The maximum average speed of the vehicle in the intersection area during the study period is taken as the optimization goal,and the motion trajectory constraints,conflict-free constraints,and vehicle direction constraints are considered as constraints.Condition,judge the real-time position of the vehicle and propose a solution.By controlling the real-time speed of the vehicle,the collision avoidance and trajectory optimization of the vehicle are completed,and efficient,stable and safe vehicle trajectory planning is realized.After that,GAMS software was used to solve the trajectory planning model proposed in this paper,and the experimental analysis of different types of intersection conflicts was carried out.The experimental results show that the model proposed in this paper can effectively improve the efficiency and safety and reliability of vehicles at the intersection.Finally,based on Net Logo,the visual simulation of the trajectory optimization model proposed in this paper is realized,showing the simulation effect of the research model in this paper,and presenting and verifying the effectiveness and safety of the model proposed in this paper in an intuitive way.