交通运输研究2023，Vol.9Issue(6)：34-43,10.DOI:10.16503/j.cnki.2095-9931.2023.06.004
基于合作博弈的合流区加速路段智能网联汽车协同控制
Collaborative Control of Intelligent Connected Vehicles on Acceleration Section of Merging Area Based on Cooperative Game
摘要
Abstract
In the intelligent connected environment,in order to reduce vehicle conflicts in the ramp merg-ing area and improve the comfort and traffic efficiency of vehicles on the acceleration section of merging area,a collaborative control method for vehicles in merging area based on cooperative game was proposed.Firstly,based on the road conditions and vehicle operating status in the expressway merging area,the driv-ing comfort cost and vehicle traffic delays were comprehensively considered to construct a target cost func-tion for vehicle driving on the acceleration section.Then,cooperative game was applied to analyze the traf-fic sequence,and the traffic sequence with the minimum target cost was obtained.Lagrangian vector value function was applied to solve the vehicle motion equation,and the optimal longitudinal trajecto-ry planning analytical solution of the vehicle running on the acceleration section was derived.Finally,taking the merging area formed by the collector lane and ramp of a graded intersection on the Second Ring Road in Wuhan as an example,a merging scenario was constructed and a simulation experiment was conducted.The results showed that compared with the"first in,first out"sequence,the proposed sequence based on cooperative game could reduce the total vehicle driving cost by 4.54%,and it could reduce the vehicle driving comfort cost by 78.38%while ensuring vehicle traffic efficiency.This indi-cates that under intelligent connected environment,the vehicle sequence based on cooperative game can maintain high traffic efficiency and improve driving comfort.关键词
加速路段/智能网联汽车/合作博弈/协同控制/轨迹规划Key words
acceleration section/intelligent connected vehicles/cooperative game/collaborative control/trajectory planning分类
交通工程引用本文复制引用
柳祖鹏,黄镓法,王道斌..基于合作博弈的合流区加速路段智能网联汽车协同控制[J].交通运输研究,2023,9(6):34-43,10.基金项目
湖北省教育厅科学技术研究计划项目(B2019014) （B2019014）
