Cooperative Control Method of Mixed Traffic at Signalized Intersection

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

Abstract

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

CLC Number:

U491.5+4

Huang Qiushi, Wang Yanyang, Wu Changliang, Huang Junfu, Zhang Shenggen, Luo Haoxuan. 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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