长沙理工大学学报（自然科学版）2025，Vol.22Issue(5)：130-142,13.DOI:10.19951/j.cnki.1672-9331.20241202001
网联自动驾驶环境下信号交叉口生态驾驶方法
Ecological driving strategy at signalized intersections in a connected and autonomous driving environment
摘要
Abstract
[Purposes]To address the issue of additional fuel consumption and exhaust emissions caused by vehicle stops at signalized intersections,this study proposed a collaborative optimization method for vehicle trajectories and signal timing in a connected driving environment.[Methods]For vehicles approaching an intersection from upstream,a vehicle trajectory optimization model was established based on a piecewise quadratic function,with constraints on speed,acceleration,and safety,aiming to minimize the total fuel consumption of all vehicles.Within the intersection control area,a signal timing optimization model based on dynamic programming was constructed,aiming to minimize the average travel time of vehicles.Moreover,a collaborative mechanism between the two optimization models was proposed to achieve the collaborative optimization of vehicle trajectories and signal timing.[Findings]By taking a four-phase intersection as an example,the model proposed in this paper is tested and validated.The trajectory optimization model is solved in two ways:Scheme 1 uses the extreme acceleration(EA)method,where acceleration is set to a fixed maximum value as a baseline for comparison.Scheme 2 uses the optimal trajectory(OT)derived from the trajectory optimization model.In the experiments,both fixed signal timing and dynamic programming-based signal timing are applied for comparison of the two schemes.Under high saturation conditions,the dynamic programming method with the OT scheme reduces the average vehicle delay by 7.51％and fuel consumption by 18.75％,and it improves driving comfort by 96.55％compared to the fixed signal timing with the EA scheme.[Conclusions]The findings of this study provide valuable reference for ecological driving at signalized intersections in connected and autonomous driving environments.关键词
智能交通/网联自动驾驶汽车/生态驾驶/协同优化/信号交叉口Key words
intelligent transportation/connected and autonomous vehicle/ecological driving/collaborative optimization/signalized intersection分类
交通工程引用本文复制引用
龙科军,陈炳函,高志波,尹砚铎,文艳蓉..网联自动驾驶环境下信号交叉口生态驾驶方法[J].长沙理工大学学报（自然科学版）,2025,22(5):130-142,13.基金项目
国家自然科学基金项目(52172313) （52172313）
湖南省自然科学基金项目(2024JJ6037、2023JJ30033) （2024JJ6037、2023JJ30033）
新疆维吾尔自治区重点研发计划项目(2023B03004-3) Project(52172313)supported by the National Natural Science Foundation of China （2023B03004-3）
Projects(2024JJ6037,2023JJ30033)supported by Hunan Provincial Natural Science Foundation （2024JJ6037,2023JJ30033）
Project(2023B03004-3)supported by Key Research and Development Program of Xinjiang Uygur Autonomous Region （2023B03004-3）
