Centralized ramp confluence cooperative control method with special connected and automated vehicle priority
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摘要: 为保障无人驾驶环境下特种车辆在典型Y型匝道合流区快速平稳通过，研究了全网联自动驾驶车辆(CAV)集中控制场景中考虑特种车辆优先通行的协同控制方法；通过博弈确定了控制区内合流序列排布，考虑特种CAV任务优先属性与车型特征，分别设计了与加速度关联的特种CAV车道优先属性、与时间关联的车种优先属性和与加速度变化率关联的车型稳定优先属性，并在成本函数中进行联合表征；将特种CAV参与的合流序列排布转化为最优序列集求解，应用二人合作博弈收益矩阵法确定了最优合流序列；依据排序结果，应用庞特里亚金最大值原理求解了车辆轨迹控制，在最小策略成本下求得纵向轨迹最优解析解，实现了考虑特种CAV优先通行的协同控制；应用Python开发语言在实施算例中仿真验证了考虑特种CAV优先通行的协同控制方法，并与无控制策略和先进先出策略进行油耗与通行时间对比。研究结果表明：应用协同控制方法在有效保障特种CAV优先通行的基础上，有86%的车辆在合流期间可以保证以最大速度平稳通过合流区域；相比于无控制策略和先进先出策略，在累计油耗方面分别降低了11.8%与16.1%，车队通过合流区域的总时长领先2类传统合流策略各3 s；最大限速、初始速度和控制区长度均对应存在使特种CAV快速通行的阈值，可为合流区域设计提供参考。Abstract: To ensure that the special vehicles pass quickly and smoothly in the confluence area of typical Y-type ramps in unmanned driving environment, a cooperative control method was studied by considering the priority to special vehicles for the centralized control scenario of fully connected and automated vehicle (CAV). The confluence sequence arrangement in the controlled area was determined using games. By considering the task priority attribute of special CAV and characteristics of vehicles, attributes related to the acceleration-associated lane priority of special CAV, the time-associated vehicle type priority, and the acceleration change rate-associated vehicle stability priority were designed separately, and a joint characterization of these attributes was performed using the cost function. The confluence sequence arrangement with the special CAV was transformed into an optimal sequence set solution, and the optimal confluence sequence was determined using the income matrix method of two-person cooperative game. Based on the sequencing results, the Pontryagin's maximum principle was applied to determine the vehicle trajectory control, and the optimal analytical solution for the longitudinal trajectory was obtained when the cost was at the minimum, to achieve the cooperative control while prioritizing the special CAV. Through the case calculation, Python was used to simulate and verify the cooperative control method giving priority to the special CAV, and the respective fuel consumptions and transit times with no control strategy and using the first-in-first-out strategy were compared. Research results show that 86% of vehicles can travel at the maximum speed to smoothly pass through the confluence area, and the cooperative control method can effectively guarantee the priority of special CAV. Compared with cases without control strategy and under the first-in-first-out strategy, the cumulative fuel consumptions under the cooperative control decrease by 11.8% and 16.1%, respectively, and the overall fleet passing time is shorter than those obtained with the two traditional confluence strategies. There are corresponding thresholds for the maximum speed limit, initial speed, and controlled area length to enable the special CAV to pass quickly. These values can serve as references in the confluence area design. 3 tabs, 7 figs, 31 refs.
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表 1 考虑特种CAV的博弈收益矩阵
Table 1. Game income matrix considering special CAV
i1和i2 车辆i2的策略 前车 后车 车辆i1的策略 前车 +∞ U(si1f, si2r) 后车 U(si1r, si2f) +∞ 
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表 2 仿真试验参数
Table 2. Simulation experimental parameters
参数 数值 主匝道运行车道数 1 主道车辆数 9 匝道车辆数 6 主道车辆起始速度vm/(m·s-1) 20 匝道车辆起始速度vs/(m·s-1) 15 车辆最大速度vmax/(m·s-1) 33 车辆最大加速度amax/(m·s-2) 2 车辆最大减速度amin/(m·s-2) 2 控制范围R/m 350 极限紧随时距l1/s 2
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表 3 初始车辆位置分布
Table 3. Initial vehicle position distribution
主道车辆 a1 a2 a3 a4 a5 a6 a7 a8 a9 车头时距/s 0 3.1 2.7 2.3 2.4 2.5 2.2 3.5 3.2 匝道车辆 b1 b2 b3 b4 b5 b6 车头时距/s 2.5 3.3 4.4 4.0 2.2 3.9
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