汽车工程学报2024，Vol.14Issue(6)：981-992,12.DOI:10.3969/j.issn.2095‒1469.2024.06.06
CACC车辆在信号灯路口通行的控制算法研究
Development of a Control Algorithm for CACC Vehicles at Traffic Signal Intersections
何山 1袭悦 1黄锦洲 1陈子韬 1黄培辉1
作者信息
- 1. 一汽-大众汽车有限公司,长春 130013
- 折叠
摘要
Abstract
To improve the traffic flow efficiency of vehicle-road cooperative adaptive cruise vehicles at signalized intersections,a model predictive control algorithm considering traffic signal status is proposed.When following a vehicle through an intersection,the vehicle first uses V2X to obtain information about the traffic signal,including its position,color and countdown timer.The vehicle's longitudinal kinematics model is used to link the acceleration request from the controller to the vehicle's future state.An objective function considering both the vehicle-following state and the traffic signal is designed.Finally,the output acceleration request is calculated through nonlinear optimization,simulating the behavior of human drivers when following other vehicles through signalized intersections.The simulation results show that compared with ACC vehicles,the vehicle using this algorithm achieves higher traffic efficiency while maintaining safety when passing through signalized intersections.This research provides a theoretical basis for prioritizing efficiency in the design of CACC vehicle control algorithms,and offers practical insights for developing an efficiency mode in systems that include both economic and efficiency modes.关键词
车路协同/自适应巡航控制/信号控制交叉口/模型预测控制/非线性优化Key words
vehicle-road coordination/adaptive cruise control/signal-controlled intersection/model predictive control/nonlinear optimization分类
交通工程引用本文复制引用
何山,袭悦,黄锦洲,陈子韬,黄培辉..CACC车辆在信号灯路口通行的控制算法研究[J].汽车工程学报,2024,14(6):981-992,12.
