信号交叉口混行交通协同控制方法

doi:10.16182/j.issn1004731x.joss.23-1035

系统仿真学报 ›› 2025, Vol. 37 ›› Issue (1): 271-283.doi: 10.16182/j.issn1004731x.joss.23-1035

• 论文 • 上一篇

信号交叉口混行交通协同控制方法

黄秋实¹^,³, 王艳阳¹^,², 邬昌良¹^,², 黄俊富³, 张胜根³, 罗浩轩³

^1.西华大学汽车测控与安全四川省重点实验室，四川成都 610039
^2.西华大学四川省新能源汽车智能控制与仿真测试技术工程研究中心，四川成都 610039
^3.中国汽车工程研究院股份有限公司，重庆 401122

收稿日期:2023-08-21 修回日期:2023-10-11 出版日期:2025-01-20 发布日期:2025-01-23
通讯作者: 王艳阳
第一作者简介:黄秋实(1997-)，男，助工，硕士，研究方向为V2X和路协同。
基金资助:
四川省重点研发计划重大科技专项(2023YFG0068);四川省科技计划重点研发项目(2023YFG0067);四川省自然科学基金面上项目(2022NSFSC0400);汽车测控与安全四川省重点实验室开放课题重点项目(QCCK2023-003)

Cooperative Control Method of Mixed Traffic at Signalized Intersection

Huang Qiushi¹^,³, Wang Yanyang¹^,², Wu Changliang¹^,², Huang Junfu³, Zhang Shenggen³, Luo Haoxuan³

^1.Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu 610039, China
^2.Provincial Engineering Research Center for New Energy Vehicle Intelligent Control and Simulation Test Technology of Sichuan, Xihua University, Chengdu 610039, China
^3.China Automotive Engineering Research Institute Co. Ltd. Chongqing 401122, China

Received:2023-08-21 Revised:2023-10-11 Online:2025-01-20 Published:2025-01-23
Contact: Wang Yanyang

摘要/Abstract

摘要：

针对信号交叉口下的混行交通，以改善交叉口的通行环境为目标，设计了一种分层解耦的信号灯-混行队列协同控制方法。在上层信号灯控制研究中，选取交叉口车辆延误时间计算模型，以车辆平均延误时间最小为目标，提出基于遗传算法的交叉口信号灯上层控制策略；在下层混行队列控制研究中采用“1 + N”模式，建立混行队列动力学模型，选取车辆能耗模型，以队列经济性最低为目标，提出基于最优控制的混行队列下层控制策略。在上、下层控制策略验证的基础上，对协同控制方法进行有效性和敏感性研究。研究结果表明，提出的协同控制方法在不同交通场景下，均能有效改善交叉口通行效率和车辆经济性；当最小绿灯时长和控制区长度的取值越小时，车辆平均延误时间和平均百公里油耗改善效果越好。

关键词: 协同控制, 交叉口, 混行队列, 遗传算法, 最优控制

Abstract:

A hierarchical decoupling cooperative control method for signal light mixed traffic platoon is designed with the goal of improving the traffic environment at signalized intersections. In the research of upper layer signal control, a calculation model for vehicle delay time at intersections is selected, with the goal of minimizing the average delay time of vehicles. A genetic algorithm based upper layer control strategy for intersection signal lights is proposed and verified; in the research of lower layer mixed platoon control, a "1+N" form is used to establish a dynamic model of the mixed platoon. A vehicle energy consumption model is selected, with the goal of minimizing platoon economy. A mixed platoon lower layer control strategy based on optimal control is proposed and validated. Based on the verification of upper and lower control strategies, the effectiveness and sensitivity of the cooperative control method are studied. The research results indicate that the cooperative control method proposed can effectively improve the traffic efficiency and vehicle economy of intersections in different traffic scenarios; the shorter the values of minimum green light duration and control zone length, the better the improvement effect of average vehicle delay time and average fuel consumption per 100 kilometers.

Key words: cooperative control, intersection, mixed traffic platoon, genetic algorithm, optimum control

中图分类号:

U491.5+4

黄秋实,王艳阳,邬昌良等 . 信号交叉口混行交通协同控制方法[J]. 系统仿真学报, 2025, 37(1): 271-283.

Huang Qiushi,Wang Yanyang,Wu Changliang,et al . Cooperative Control Method of Mixed Traffic at Signalized Intersection[J]. Journal of System Simulation, 2025, 37(1): 271-283.

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交通场景	东进口		西进口		南进口		北进口
交通场景	直行	左转	直行	左转	直行	左转	直行	左转
低	255	164	225	152	243	147	213	160
中	391	238	365	262	378	249	383	245
高	585	430	578	432	602	411	583	426

交通场景	东进口		西进口		南进口		北进口
交通场景	直行	左转	直行	左转	直行	左转	直行	左转
I	325	251	181	164	261	147	174	162
II	223	235	405	333	412	334	383	221
III	601	405	413	217	612	390	350	262

参数	数值	参数	数值
仿真步长/s	0.1	道路长度/m	800
最大加速度/(m/s²)	3	控制区长度/m	300
最小加速度/(m/s²)	-6	实际绿灯时长/s	20
终态位置权重	10⁵	黄灯时长/s	2
终态速度权重	10⁴	总车辆数	240
最高速度/(m/s)	15	最低速度/(m/s)	0
交叉比例	0.9	最大迭代次数	500
种群大小	100	变异概率	0.1

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信号交叉口混行交通协同控制方法

Cooperative Control Method of Mixed Traffic at Signalized Intersection

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