基于多控制模式的网联车辆信号交叉口通行策略研究

doi:10.3976/j.issn.1002-4026.2025008

Abstract

Abstract:

To address the efficiency loss caused by traffic congestion and frequent vehicle stops at signalized intersections, in this study we propose an intersection passing strategy based on multiple control modes. The interactions between vehicles and traffic signals as well as vehicle-to-vehicle interactions are analyzed, and six control modes are developed based on variations in traffic flow, signal cycles, and vehicle behavior. The strategy is dynamically adjusted to real-time traffic conditions. To minimize the impact of abrupt acceleration changes, the concept of vehicle jerk is introduced, and a straight-line trajectory model is developed accordingly. In addition, considering the collision-avoidance constraints of preceding vehicles, a polynomial method is used to construct an optimized lane-changing trajectory model to enhance the lane-changing efficiency. A comparative analysis of four control strategies demonstrates that the proposed multi-mode control strategy reduces delay times by 18.93% and 25.79% under low- and high-traffic flow conditions, respectively, compared to traditional strategies. Furthermore, by analyzing the displacement, speed, and acceleration curves of vehicles during travel, vehicle passing time is reduced by 2.60 to 23.52 s under different control modes, confirming the effectiveness of the proposed strategy in improving intersection traffic efficiency.

Key words: intelligent transportation system, connected and automated vehicles, signalized intersection, trajectory planning, multiple control modes

CLC Number:

U495

ZHANG Huixin, TANG Shaozhi, GU Ming, ZHOU Wenshuai, LIU Bin. Intersection crossing strategy for connected and automated vehicles based on multiple control modes[J].Shandong Science, 2026, 39(1): 100-110.

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多控制模式		交叉口通行策略
模式	描述	策略	描述
1	如图2(a)所示,车辆保持当前速度可在绿灯相位期间通行	直行加速		如图3(a)所示,车辆加速行驶,以缩短在绿灯期间的通行时间
2	如图2(b)所示,车辆保持当前速度不可在绿灯相位期间通行	直行加速		如图3(b)所示,车辆加速行驶,以保证顺利在绿灯期间通行
3	如图2(c)所示,车辆保持当前速度可在下一周期绿灯相位期间通行	直行匀速		如图3(c)所示,车辆匀速行驶,以避开在红灯期间的等待时间
4	如图2(d)所示,车辆保持当前速度可在绿灯相位期间通行,但由于车辆受前方车辆干扰,导致无法实施直行加速策略	变道加速		如图3(d)所示,计算与周围车辆的交互信息,若满足变道要求,则变道后加速行驶,以保证顺利在绿灯期间通行
5	如图2(e)所示,车辆保持当前速度不可在绿灯相位期间通行,车辆受到前方车辆干扰,导致变道加速策略无法实施或实施也无法通行	直行减速		如图3(e)所示,车辆减速行驶,以避开在红灯期间的等待时间
6	如图2(f)所示,车辆保持当前速度不可在绿灯相位期间通行,车辆受到前方车辆干扰,导致策略失效	排队等待		车辆停车排队,以等待下一周期绿灯相位

参数	描述	取值	参数	描述	取值
d/m	车道宽度	4	a_max/(m·s^-2)	期望加速度	2
v_max/(m·s^-1)	最大限速	13.89	a_min/(m·s^-2)	舒适减速度	-2
v_min/(m·s^-1)	最小限速	4.17	j/(m·s^-3)	急动度	2
v₀/(m·s^-1)	初始速度	8.33	δ	变道安全系数	0.4
v(t_T)/(m·s^-1)	变道结束速度	8.33	L/m	变道纵向位移	40

交通量	平均延误时间/s
交通量	策略1	策略2	策略3	本文策略
低流量	26.4	23.1	22.7	21.4
高流量	44.2	40.6	34.2	32.8

控制模式	1	2	3	4	5
车辆到交叉口的距离/m	70	120	300	100	120
信号灯状态T_g	绿灯剩余9 s	绿灯剩余13 s	红灯剩余15 s	绿灯剩余10 s	绿灯剩余3 s

Intersection crossing strategy for connected and automated vehicles based on multiple control modes

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[1]	LI Lei, SHAN Ya-nan, LI Shu-bin, KONG Xiang-ke. Optimization of signalized intersection in an environment of connected autonomous vehicles [J]. Shandong Science, 2020, 33(5): 92-98.
[2]	XIA Zhengya，HONG Liang. Polynomial fitting interpolation function based trajectory planning for a palletizing robot [J]. SHANDONG SCIENCE, 2016, 29(5): 117-123.