北京交通大学学报2025，Vol.49Issue(1)：100-109,10.DOI:10.11860/j.issn.1673-0291.20240026
异质交通流下高速公路CAV合流次序优化与轨迹规划方法
Merging order optimization and trajectory planning methods for highway CAVs in heterogeneous traffic flow
摘要
Abstract
To enhance traffic operation efficiency and improve driver and passenger comfort in highway merging areas while ensuring safety,this study proposes an optimization method for highway merging order and trajectory planning for Connected and Autonomous Vehicles(CAVs)in a heterogeneous traf-fic flow environment where Human Driven Vehicles(HDVs)and CAVs coexist.First,vehicle travel time and delay are used as performance indicators to characterize traffic operation efficiency in the merging area,and a merging order optimization function is established.The Monte Carlo Tree Search(MCTS)algorithm is used and adjusted to determine the optimal merging order.Then,based on the optimized merging order,a CAV merging trajectory planning function,referred to as Minimize Accel-eration and Jerk Trajectory Planning(MAJTP),is established.By applying optimal control theory,the analytical solution for the longitudinal optimal trajectory of CAVs is derived,forming a cooperative control strategy for highway merging.Finally,traffic simulations are conducted using the SUMO soft-ware and PYTHON libraries to validate the proposed method.Simulation results demonstrate that,at CAV penetration rates of 0.2,0.4,0.6 and 0.8,the MCTS-based merging order optimization method reduces cumulative delay by 5.75%,8.84%,12.24%,and 11.06%,respectively,compared to the First In First Out(FIFO)algorithm.Additionally,compared to the Minimize Acceleration Trajectory Planning(MATP)method,the MAJTP approach results in an average jerk value closer to zero,thereby enhancing ride comfort and verifying the effectiveness of the method.These findings provide theoretical support for traffic management and control strategies in highway merging areas.关键词
交通工程/合流区/合流次序/轨迹规划/蒙特卡洛树搜索/最优控制Key words
traffic engineering/merging area/merging order/trajectory planning/Monte Carlo tree search/optimal control分类
交通工程引用本文复制引用
程国柱,陈永胜,王文志,徐亮..异质交通流下高速公路CAV合流次序优化与轨迹规划方法[J].北京交通大学学报,2025,49(1):100-109,10.基金项目
国家自然科学基金(52378433) （52378433）
中央高校基本科研业务费专项资金(2572023CT21) National Natural Science Foundation of China(52378433) （2572023CT21）
Fundamental Research Funds for the Central Universities(2572023CT21) （2572023CT21）
