Research On Optimal Control Strategy Of Connected Autonomous Vehicles At Road Intersections Based On Carbon Emission

With the continuous application of autonomous driving technology in vehicles,its advantages of intelligence,convenience,efficiency and the ability to avoid accidents at a certain time have attracted more and more attention.At present,the total quantity of vehicles in our country is still increasing,which will certainly increase traffic pressure,which will cause more and more serious traffic congestion.More and more vehicles emit large amounts of CO2 and other greenhouse gases,and the impact on the environment can not be underestimated.At present,with the help of policies and society,autonomous driving has made certain progress,and partial autonomous driving has been realized in vehicles.At the same time,the technology is also going deeper and deeper.However,in the simulation research of automatic driving,there are few related researches on the control coordination strategy applied at the intersection.In traffic flow studies of cars and buses,the benefits of autonomous driving are not clear;There is also little literature on autonomous driving technology that targets carbon emissions;In the study of traffic benefit of automatic driving,the research method of improving effect is not clear,or the evaluation is subjective and weak in persuasion.To sum up,it is an important means to use automatic driving technology to improve the running status and traffic efficiency of future vehicles at the intersection,which has certain reference significance for the research on automatic driving at the present stage and the management of intersection traffic,reflecting the further exploration of theoretical research and practical role of automatic driving is very necessary.In the research on the optimal control strategy of networked autonomous vehicle at road intersections based on carbon emissions,this paper uses a relatively simple and typical plane intersections as the basis,and obtains a new optimal control strategy through comparison and summary.After designing the algorithm,the vehicle running track at the intersections is obtained.After that,the construction of road network and the input of vehicle requirements were completed in SUMO,and the newly constructed intersection control strategy was realized in python using Traci interface,and the simulation study was carried out on the basis of completion.Due to the uncertainty of the parameters,the sensitivity analysis of acceleration and deceleration with potential influence is carried out,and it is found that it has little influence on the overall simulation results.Therefore,the comparative study on the advantages of optimal control strategies can be continued below.The three control modes are designed based on the comparison between non-control,fixed timing control,induction signal control and the control strategy designed in this paper.At the intersection with only four straight lanes,the average waiting time,travel time,number of stops,average speed,and CO2 emission were taken as the main reference values to compare the optimization effects of uncontrolled and designed non-signal coordinated control.Under the complete intersection control strategy,with carbon emission as the goal,the main automobile carbon emission gas CO2,exhaust emission major pollutant CO and fuel consumption were studied under different traffic flows.The optimized control strategy has certain feasibility.The results show that:(1)The optimization effect of automatic driving is obvious when the traffic flow is large at the intersection,and the optimization effect is not obvious when the traffic flow is small;(2)For small intersections,the comparison can be found that the optimization effect of control mode is sorted as follows:no signal coordination control,no control,induction signal control,fixed timing control,obviously fixed timing control is not suitable;(3)In terms of CO2 emissions under the control of four-channel straight-forward strategy,the coordinated control without signal can reduce about 3000mg of CO2 emissions on average compared with the control without signal.(4)When the complete road control model is implemented,it can be found that both carbon emission and fuel consumption have a greater impact on the other three control modes under the comparison of different control modes and different flows,and the impact on the non-signal coordinated control is not significant.