Research On The Lane Layout And Signal Timing Of Urban Road Mixed With Autonomous Vehicles

With the development of autonomous driving technology,the mixed traffic environment with autonomous vehicles(AVs)and human-driven vehicles(HVs)will exist on the urban road for a long time,which will bring new challenges and opportunities to traffic control.Based on the mixed traffic flow environment,this paper studies the layout of urban road lanes and signal timing to improve the operational benefits of traffic flow.The main contents are as follows:(1)Lane layout and signal timing method under mixed traffic flow at a single intersection.Firstly,the following situations in the mixed traffic flow environment are divided into four categories to determine the average following time under different following situations,and the calculation model of average time headway of single-lane mixed traffic flow is established according to the probability distribution.Secondly,the straight and left-turn lanes of all entrance directions of the intersection are planned uniformly,and each lane can be set with three lane functions,namely,the dedicated lane for AVs,the dedicated lane for HVs and the mixed lane for AVs and HVs,based on which the lane function and intersection flow distribution model is established.Finally,based on the dual-ring structure and the principle of equal saturation distribution,a mixed-integer nonlinear optimization model is established to optimize the lane layout,cycle length and green time of the intersection,which is solved by genetic algorithm.(2)A coordinated control method for mixed traffic flow at adjacent upstream and downstream intersections.Firstly,the traffic characteristics such as the arrival rate of the main line fleet and the time length of the fleet are analyzed.Secondly,the movement state of the main line fleet is extracted,and the delay type and calculation method of the main line fleet at the downstream intersection are determined.Finally,in order to minimize the average delay in the coordinated phase,a coordinated control model for the mixed traffic flow at the upstream and downstream intersections is established considering the lower limit of traffic benefits of all lanes,which optimizes cycle length,green time,phase set,and lane layout at upstream and downstream intersections and is solved by genetic algorithm.The research results show that this model can effectively deal with the coordinated control problem of upstream and downstream intersections under mixed traffic flow.In the context of vigorously developing autonomous driving and intelligent transportation in the "14th Five-Year Plan" for Digital Transportation Development by Ministry of Transport of the People’s Republic of China and the "14th Five-Year Plan for National Informatization" by Central Cyber Security and Informatization Committee,this paper optimizes the lane layout and signal control scheme for single intersection and adjacent upstream and downstream intersections based on the mixed traffic environment of AVs and HVs.The research achievements can be applied to the management and control of urban road traffic flow in the process of autonomous driving,which has good theoretical significance and practical value.