Intersection Area Vehicles In Intelligent Networked Mixed Traffic Environment Cooperative Control Method Resrarch

At present,the number of motor vehicles and drivers in China is among the highest in the world,and urban congestion has become a norm.Under the condition that it is difficult to improve the supply of urban road resources,it is of great research significance to reduce the demand for private car trips and adopt modern transportation technology to improve traffic efficiency.The main idea of intersection signal control is to isolate traffic conflicts in time,and its control strategy loses a large amount of space-time resources.With the development and application of intelligent networked autonomous driving technology,the intersection control concept will change from control of manual driving to control of vehicle movement,and the control mode will change from one-dimensional(time or space)to two-dimensional(spatio-temporal).However,the development of intelligent network-connected autonomous driving technology is bound to go through the stage of mixed network-connected and autonomous vehicle(CAV)and network-connected human-driven vehicle(CHV).Therefore,it is important to study how to develop the control strategy of intersection hybrid vehicles,improve the utilization of intersection space-time resources in the hybrid environment,and ensure the safe and fast passage of vehicles in the intelligent network connected hybrid environment.This paper firstly describes the V2X(Vehicle to Everything)communication technology,all-time intelligent sensing technology,big data technology and intelligent control technology involved in the intelligent networked transportation system;from point to point,analyzes the intersection conflict mass point and the conflict area considering the physical size of real vehicles,and establishes the conflict point and conflict area relationship matrix;establishes the intelligent networked intersection control system architecture;the ideal environment of this study is established,and the intersection area is divided into five control sections: change zone,regulation zone,buffer zone,physical zone and recovery zone,in order to realize the regionalized and precise control of intersection vehicles.Secondly,for the future urban road traffic CAV/CHV mixed traffic situation,the following mode and following model of vehicles in the mixed traffic environment are analyzed,the passing capacity of mixed traffic flow is calculated,the basic diagram model of mixed traffic flow considering driver reaction time and fleet intensity is established by analyzing the fleet intensity,and the fleet formation model in the mixed traffic environment is proposed.Then,for the fully intelligent networked environment,the intersection physical zone vehicle conflict area calculation model considering the physical size of real vehicles is established,and the mathematical models for the physical zone straight-straight,straight-left-turn and left-turn-left-turn vehicle travel gap control are developed by optimizing the left-turn vehicle trajectory as an elliptical trajectory,optimizing the limit safety distance between vehicles and considering the safety following distance between vehicles;based on the trigonometric acceleration The speed induction model of the regulation zone and buffer zone is established based on the regulation model.The intersection mixed vehicle signal cooperative control method under hybrid gap coupling is proposed for the intelligent networked mixed traffic environment,with gap control for the CAVs fleet and speed induction for the DCAVs fleet,so as to reduce the waste of intersection control time gap and improve the intersection vehicle passing efficiency in the intelligent networked mixed traffic environment.Finally,a joint simulation using Matlab software platform and Vissim COM software platform is conducted to evaluate the effect of the intersection area vehicle cooperative control method under the intelligent network-linked hybrid environment,and the traditional signal-controlled intersection is selected for simulation comparison verification and effect evaluation,with the average intersection vehicle travel time,average fuel consumption,and average CO emission level as evaluation indexes at different The intersection vehicle travel time,average fuel consumption,and average CO emission level are used as evaluation indexes,and the comparative analysis is performed under different road saturation and CAV penetration conditions to verify the effectiveness of the proposed control strategy on the actual intersection control.The simulation results show that: the proposed gap control strategy and model can enable the conflicting CAV vehicles to pass through the conflicting area sequentially without stopping safely;under different road saturation conditions,the proposed cooperative control strategy can significantly improve the passing efficiency of straight and left-turning vehicles in the intersection area,effectively reduce fuel consumption and pollutant emission levels compared with the traditional signal control strategy;under different CAV penetration conditions,the proposed cooperative control strategy can significantly reduce the fuel consumption and CO Under different CAV permeability conditions,the higher the intersection CAV permeability,the lower the average vehicle delay time,the lower the average fuel consumption and the lower the average CO emissions.