摘要
为了提高智能网联环境下高速公路匝道合流区域车辆通行效率,提出一种基于博弈论的车辆协同控制模型,用于智能网联汽车合流过程的换道和车速控制.根据主线和匝道车辆实时运行状态以及合流区道路信息,构建基于安全和通行效率因素的车辆收益函数;根据博弈论中的纳什均衡原理求解同一对局中车辆最优控制策略,并对合流区车辆进行动态控制.通过交通仿真软件模拟并控制单车道匝道合流区车辆协同控制过程.结果表明,所提出的博弈控制模型与人工驾驶车辆相比,通行效率提高27.49%,燃油消耗降低38.98%;比智能网联环境下无人驾驶车辆无控制合流过程通行效率提高8.23%,燃油消耗降低6.16%;同时降低了车辆匝道合流过程速度波动、加速度变化范围,提高了车辆行驶的舒适性.
To improve the efficiency of vehicles in the freeway ramp confluence area under the intelligent network environment,a vehicle cooperative control model based on game theory is proposed for lane change and speed control in the intelligent network vehicle confluence process.According to the real-time operation status of the mainline and ramp vehicles and the road information in the confluence area,the vehicle income function based on safety and traffic efficiency factors is constructed.According to the Nash equilibrium principle of game theory,an optimal control strategy of vehicles in the same pair is proposed,and the vehicles in the confluence area are dynamically controlled.The collaborative control process of vehicles in the single-lane ramp confluence area is simulated and controlled by traffic simulation software.The results show that compared with manual driving vehicles,the proposed game control model can well improve the traffic efficiency by 27.49% and reduce the fuel consumption by 38.98%.Compared with the controlless confluence process of unmanned vehicles in the intelligent network environment,the traffic efficiency increases by 8.23% and the fuel consumption decreases by 6.16%.At the same time,the range of velocity fluctuation and acceleration variation during vehicle ramp confluence is reduced,and the comfort of vehicle driving is improved.
作者
蔡科
聂振宇
马庆禄
孔国英
CAI Ke;NIE Zhen-yu;MA Qing-lu;KONG Guo-ying(School of Transportation,Chongqing Jiaotong University,Chongqing 400074,China;Chongqing City Transportation Development&Investment Group Co.,LTD.,Chongqing 401120,China;Chongqing Fengjian Expressway Co.,LTD.,Chongqing 401120,China)
出处
《兰州交通大学学报》
CAS
2022年第1期25-33,共9页
Journal of Lanzhou Jiaotong University
基金
国家社会科学基金(20VYJ023)
重庆市教育委员会教委科学技术研究计划重点项目(KJZD-K202000704)
教育部人文社科一般项目(20YJAZH132)。
关键词
匝道合流
协同控制
博弈论
智能网联汽车
ramp confluence
collaborative control
game theory
intelligent internet vehicle
