Management and control method of dedicated lanes for mixed traffic flows with connected and automated vehicles
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摘要: 分析了网联自动驾驶车辆(CAV)混合交通流中各车辆类型及其跟驰模式下的车头间距，从通用性混合交通流特征层面理论推导了各车头间距模式的概率表达式，从而对混合交通流进行了数学描述；以混合交通流整体通行流率最大为目标，计算了多车道混合交通流中一个CAV专用道的设置条件以及专用道设置后CAV交通流在专用道和混合道上的最优交通流分配比例，将一个CAV专用道情形推广至多个CAV专用道动态管控的一般性情形，构建了混合交通流专用道动态管控的分析方法；应用案例分析论证了CAV专用道管控方法的有效性。研究结果表明：在交通需求为2 000 veh·h-1时，各CAV渗透率阶段均无需设置CAV专用道；在交通需求为3 000 veh·h-1时，需在CAV渗透率为0.2~0.4的阶段下考虑设置CAV专用道；在交通需求为5 000 veh·h-1时，需考虑在各CAV渗透率阶段下设置CAV专用道；提出的CAV专用道管控方法可根据交通需求和车道总数等条件定量化计算不同CAV渗透率阶段下的最优CAV专用道数量以及CAV交通流最优分配比例，且交通需求能够影响反映CAV专用道设置条件的临界CAV渗透率范围，交通需求和车道总数量可分别从交通需求属性和道路空间属性方面促进最优CAV专用道数量的提升，符合多车道场景混合交通流CAV专用道管控的特性。Abstract: The vehicle types in the mixed traffic flow with connected and automated vehicles (CAV) and the headways under the car-following mode were analyzed, and the probability expressions of each headway mode were theoretically deduced according to the features of general mixed traffic flows, so as to mathematically describe the mixed traffic flow. In order to maximize the overall passing rate of mixed traffic flows, the setting conditions of a CAV dedicated lane in multi-lane mixed traffic flows and the optimal traffic flow distribution ratios of CAV traffic flows on the dedicated lane and the mixed lane after setting the dedicated lane were calculated. By extending the case of one CAV dedicated lane to the general case of dynamic management and control of multiple CAV dedicated lanes, an analysis method for dynamic management and control of dedicated lanes for the mixed traffic flows was constructed. Case analysis was used to demonstrate the effectiveness of the proposed management and control method of CAV dedicated lanes. Research results show that when traffic demand is 2 000 veh·h-1, there is no need to set up CAV dedicated lanes in each CAV permeability stage. When the traffic demand is 3 000 veh·h-1, CAV dedicated lanes should be set up at the CAV permeability stage of 0.2-0.4. When the traffic demand is 5 000 veh·h-1, it is necessary to consider setting up CAV dedicated lanes in each CAV permeability stage. The optimal numbers of CAV dedicated lanes and the optimal distribution ratios of CAV traffic flows at different CAV permeability stages can be quantitatively calculated by the proposed CAV dedicated lane management and control method according to the conditions of traffic demand and the total number of lanes, and the critical CAV permeability range reflecting the setting conditions of CAV dedicated lanes can be affected by the traffic demand. The increase in the optimal number of dedicated lanes from the traffic demand attribute and the road space attribute can be promoted by the traffic demand and the total number of lanes, respectively, which is in line with the characteristics of dedicated lane management and control in multi-lane scenarios for mixed traffic flows.
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图 1 p和LA影响下的混合交通流整体通行流率
Figure 1. Overall passing rates of mixed traffic flow under influences of p and LA
表 1 混合交通流中车头间距
Table 1. Headways in mixed traffic flow
编号 车头间距 后车类型 前车类型 1 SII CAV→CACC CAV 2 SIC CAV→CACC CV 3 SIR CAV→ACC RV 4 SCI CV CAV 5 SCC CV CV 6 SCR CV→RV RV 7 SRI RV CAV 8 SRC RV CV 9 SRR RV RV 
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表 2 CAV专用道管控案例分析结果(L=6)
Table 2. Case analysis results of CAV dedicated lane management and control (L=6)
p D=2 000 veh·h-1 D=3 000 veh·h-1 D=4 000 veh·h-1 D=5 000 veh·h-1 LA* p1* p2* LA* p1* p2* LA* p1* p2* LA* p1* p2* 0.1 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 1 0.10 0.00 0.2 0 0.00 0.20 1 0.20 0.00 1 0.18 0.02 2 0.20 0.00 0.3 0 0.00 0.30 1 0.25 0.05 2 0.30 0.00 2 0.29 0.01 0.4 0 0.00 0.40 2 0.40 0.00 2 0.37 0.03 3 0.40 0.00 0.5 0 0.00 0.50 0 0.00 0.50 3 0.50 0.00 4 0.50 0.00 0.6 0 0.00 0.60 0 0.00 0.60 4 0.60 0.00 5 0.60 0.00 0.7 0 0.00 0.70 0 0.00 0.70 4 0.70 0.00 6→5 0.70 0.00 0.8 0 0.00 0.80 0 0.00 0.80 5 0.80 0.00 6→5 0.74 0.06 0.9 0 0.00 0.90 0 0.00 0.90 6→5 0.90 0.00 6→5 0.74 0.16
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表 3 CAV专用道管控案例分析结果(L=5)
Table 3. Case analysis results of CAV dedicated lane management and control (L=5)
p D=2 000 veh·h-1 D=3 000 veh·h-1 D=4 000 veh·h-1 D=5 000 veh·h-1 LA* p1* p2* LA* p1* p2* LA* p1* p2* LA* p1* p2* 0.1 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0.2 0 0.00 0.20 0 0.00 0.20 1 0.20 0.00 1 0.18 0.02 0.3 0 0.00 0.30 1 0.29 0.01 1 0.22 0.08 2 0.30 0.00 0.4 0 0.00 0.40 1 0.29 0.11 2 0.40 0.00 3 0.40 0.00 0.5 0 0.00 0.50 0 0.00 0.50 3 0.50 0.00 3 0.50 0.00 0.6 0 0.00 0.60 0 0.00 0.60 3 0.60 0.00 4 0.60 0.00 0.7 0 0.00 0.70 0 0.00 0.70 3 0.66 0.04 5→4 0.70 0.00 0.8 0 0.00 0.80 0 0.00 0.80 4 0.80 0.00 5→4 0.71 0.09 0.9 0 0.00 0.90 0 0.00 0.90 4 0.88 0.02 5→4 0.71 0.19
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表 4 CAV专用道管控案例分析结果(L=4)
Table 4. Case analysis results of CAV dedicated lane management and control (L=4)
p D=2 000 veh·h-1 D=3 000 veh·h-1 D=4 000 veh·h-1 D=5 000 veh·h-1 LA* p1* p2* LA* p1* p2* LA* p1* p2* LA* p1* p2* 0.1 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0.2 0 0.00 0.20 0 0.00 0.20 1 0.20 0.00 1 0.20 0.00 0.3 0 0.00 0.30 1 0.30 0.00 1 0.28 0.02 1 0.22 0.08 0.4 0 0.00 0.40 1 0.37 0.03 1 0.28 0.12 2 0.40 0.00 0.5 0 0.00 0.50 0 0.00 0.50 2 0.50 0.00 3 0.50 0.00 0.6 0 0.00 0.60 0 0.00 0.60 2 0.55 0.05 3 0.60 0.00 0.7 0 0.00 0.70 0 0.00 0.70 3 0.70 0.00 4→3 0.66 0.04 0.8 0 0.00 0.80 0 0.00 0.80 3 0.80 0.00 4→3 0.66 0.14 0.9 0 0.00 0.90 0 0.00 0.90 4→3 0.83 0.07 4→3 0.66 0.24
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表 5 CAV专用道管控案例分析结果(L=3)
Table 5. Case analysis results of CAV dedicated lane management and control (L=3)
p D=2 000 veh·h-1 D=3 000 veh·h-1 D=4 000 veh·h-1 D=5 000 veh·h-1 LA* p1* p2* LA* p1* p2* LA* p1* p2* LA* p1* p2* 0.1 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0 0.00 0.10 0.2 0 0.00 0.20 0 0.00 0.20 0 0.00 0.20 1 0.20 0.00 0.3 0 0.00 0.30 0 0.00 0.30 1 0.30 0.00 1 0.29 0.01 0.4 0 0.00 0.40 1 0.40 0.00 1 0.37 0.03 1 0.29 0.11 0.5 0 0.00 0.50 0 0.00 0.50 1 0.37 0.13 2 0.50 0.00 0.6 0 0.00 0.60 0 0.00 0.60 2 0.60 0.00 2 0.59 0.01 0.7 0 0.00 0.70 0 0.00 0.70 2 0.70 0.00 3→2 0.59 0.11 0.8 0 0.00 0.80 0 0.00 0.80 2 0.74 0.06 3→2 0.59 0.21 0.9 0 0.00 0.90 0 0.00 0.90 2 0.74 0.16 3→2 0.59 0.31
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