Simulation on Cooperative Control of Connected and Automated Vehicles at Interchange Based on Petri Net

doi:10.16182/j.issn1004731x.joss.21-1166

Abstract

Abstract:

To improve the traffic efficiency of interchange, a simulation model of complete process is built by timed Petri net (TdPN) considering multiple separation and merging behaviors in the process of connected and automated vehicles (CAVs) passing through the interchange. In the light of vehicle priority, a speed guidance strategy is proposed and a CAVs cooperative control model is established, so as to form a complete interchange TdPN model. This method is verified by simulation and compared with the cooperative control method of interchange exit and its connecting area, cooperative control method of multi-merging areas within the interchange. The results indicate that when the traffic demand is large, the control effect of this method is the best, which can further improve traffic efficiency and relieve the traffic pressure.

Key words: traffic simulation, Petri net, connected and automated vehicles(CAVs), interchange, cooperative control

CLC Number:

TP273.5

Mingbao Pang, Zhen Liu. Simulation on Cooperative Control of Connected and Automated Vehicles at Interchange Based on Petri Net[J]. Journal of System Simulation, 2023, 35(3): 484-493.

Figures/Tables 13

Fig. 1

Table 1

Key parameters of CAVs passing through interchange model

参数	定义
I_w	车辆所在车道
$T A i n$	车辆即将进入A_in区域，触发时延变迁
$P A i n$	车辆已经处于A_in区域
ρ	该路段上的车减速等待获取通行优先权
$T A s t r$	车辆直行，触发时延变迁
$T A l r$	车辆左右转，触发时延变迁
$P A s$	车辆从A_in区域直行至A_s区域
$P A l r$	车辆从A_in区域右转至A_lr区域
$T A s$	车辆完成A_s区域的穿行，触发时延变迁
$T A l r_1$	车辆左转，触发时延变迁
$P A l$	车辆从A_lr区域左转至A_l区域
$T A l$	车辆完成A_l区域的穿行，触发时延变迁
$P C A$	车辆已经处于CA区域
$T C A$	车辆完成CA区域的穿行，触发时延变迁
$P A o u t$	车辆从A_out区域驶离立交桥
$T A o u t$	车辆完成A_out区域的穿行，触发时延变迁

Table 1

Fig. 2

Table 2

Coordination unit traffic flow members

协同单元编号	成员
1	$L A L$ 、 $L B L$ 、 $L C L$ 、 $L D L$
2	$L A R$ 、 $L B R$ 、 $L C R$ 、 $L D R$
3	$L A S$ 、 $L B S$ 、 $L C S$ 、 $L D S$

Table 2

Fig. 3

Fig. 4

Fig. 5

Table 3

Definition of parameters

变量	定义	变量	定义
w	车辆转向， w={ A_l、 A_r、 A_s、 B_l、 B_r、 B_s、 C_l、 C_r、 C_s、 D_l、 D_r、 D_s}	t_n	协同单元车n减速到v_max所需时间
p	协同单元编号， p=1表示由A_l、 B_l、 C_l、 D_l组成的协同单元； p=2表示由A_r、 B_r、 C_r、 D_r组成； p=3表示由A_s、 B_s、 C_s、 D_s组成	t₁	车<w, q>以当前减速度减速至v_max所需时间
p		t₂	车<w, q>以v_max至下游匝道合流区截面时间
w_p	与车流w不冲突的协同单元车流	v_{<w, q>}	车<w, q>的当前速度
<w, q>	车流w的第q辆车	a_{<w, q>}	车<w, q>的当前减速度， a_{<w, q>} >0
t $< w, q >$	车<w, q>到其下游主线合流区截面所需时间	v_{com_}_n	协同单元车n的当前速度
t $< w, q >'$	车<w, q>到其下游匝道合流区截面所需时间	a_{com_}_n	协同单元车n的当前减速度，a_{com_}_n >0
t $p r i'$	最优车辆到其下游匝道合流区截面所需时间	v_n_{_}_i	协同单元车n前方第i辆车的当前速度
s_{<w, q>_}₁	车<w, q>到其下游主线分流区截面的距离	a_n_{_}_i	协同单元车n前方第i辆车当前减速度， a_n_{_}_i >0
s_{<w, q>_}₂	车<w, q>到其下游匝道分流区截面的距离	a	施加控制后车辆的理论减速度， a>0
s_{<w, q>_}₃	车<w, q>到其下游匝道合流区截面的距离	v_{opt_com_}_n	协同单元车n优化后的速度
s_{<w, q>_}₄	车<w, q>到其下游主线合流区截面的距离	a_{opt_com_}_n	协同单元车n优化后的减速度， a_{opt_com_}_n >0
v_max	匝道允许的最高行驶速度	v_{opt_}_n_{_}_i	协同单元车n前方第i辆车优化后的速度
s_com_{_n_}₃	协同单元车n到其下游匝道合流区截面距离	a_{opt_}_n_{_}_i	协同单元车n前方第i辆车优化后减速度， a_{opt_}_n_{_}_i >0
s_n	协同单元车n匀减速行驶距离	T	仿真步长

Table 3

Fig. 6

Fig. 7

Fig. 8

Fig. 9

Fig. 10

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