Volume 23 Issue 5
Oct.  2023
Turn off MathJax
Article Contents
Article Navigation >  Journal of Traffic and Transportation Engineering  > 2023  >  23(5): 242-252
HAO Wei, ZHANG Zhao-lei, WU Qi-yu, YI Ke-fu. Lane-changing decision model of connected and automated vehicles driving off ramp[J]. Journal of Traffic and Transportation Engineering, 2023, 23(5): 242-252. doi: 10.19818/j.cnki.1671-1637.2023.05.017
Citation: HAO Wei, ZHANG Zhao-lei, WU Qi-yu, YI Ke-fu. Lane-changing decision model of connected and automated vehicles driving off ramp[J]. Journal of Traffic and Transportation Engineering, 2023, 23(5): 242-252. doi: 10.19818/j.cnki.1671-1637.2023.05.017
shu

Lane-changing decision model of connected and automated vehicles driving off ramp

doi: 10.19818/j.cnki.1671-1637.2023.05.017

  • Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure Systems, Changsha University of Science and Technology, Changsha 410114, Hunan, China

Funds:

National Key Research and Development Program of China 2022YFC3803700

National Natural Science Foundation of China 52172339

National Natural Science Foundation of China 52002036

Science and Technology Innovation Program of Hunan Province 2023RC1059

Science and Technology Innovation Program of Hunan Province 2023SK2052

Science and Technology Innovation Program of Hunan Province 2022WZ1011

Natural Science Foundation of Hunan Province 2021JJ40577

Postgraduate Scientific Research Innovation Project of Hunan Province CX20220852

Changsha Science and Technology Planning Project kh2202002

Changsha Science and Technology Planning Project kh2301004

Scientific Research Project of Hunan Education Department 20B009

More Information
  • Author Bio:

    HAO Wei(1983-), male, professor, PhD, haowei@csust.edu.cn

  • Received Date: 2023-05-14
    Available Online: 2023-11-17
  • Publish Date: 2023-10-25
    Abstract
  • A safety risk-based lane-changing decision model of connected and automated vehicles (CAVs) driving off the ramp in mixed traffic flow was proposed to macroscopically characterize the behaviors of CAVs driving off the ramp in the CAV lane. The model abstracted the lane-changing gap selection process into Bernoulli experiments of successful or unsuccessful lane-changing, and a lane-changing success rate formula was set up based on the traffic flow theory. A driving off ramp lane-changing decision cost function considering lane-changing safety and efficiency was proposed, in which the weight parameters of safety and efficiency were determined based on different driving modes, so as to determined the optimal lane-changing intention generation point for CAVs and provided instructions for CAV lane-changing. Numerical analysis results show that the success rate of CAV driving off the ramp is determined by the preparation distance of lane-changing, traffic demand, and CAV penetration rate. The cost function has an obvious inflection point with the change of CAV penetration rate. When the traffic volume is 2 400 veh·h-1, the optimal lane-changing intention generation point for CAVs is 1 km away from the entrance of the off-ramp. When the traffic volume increases to 4 000 veh·h-1, the optimal lane-changing intention generation point is 2.5 km away from the entrance of the off-ramp. When the traffic volume is greater than 6 400 veh·h-1, the CAV needs to increase aggressiveness to drive off the highway efficiently. The cost function first decreases and then increases as the CAV penetration rate increases. If the penetration rate is lower than the inflection point penetration rate, the cost function can be reduced by increasing the preparation distance of lane-changing. If the penetration rate is higher than the inflection point penetration rate, reducing the preparation distance of lane-changing is necessary to reduce the cost function. Simulated results show that the traffic safety of driving off the ramp significantly influenced by the traffic demand and CAV penetration rate. The time-to-collision reduces to 76.23%, with the penetration rate increasing from 30% to 60%. 2 tabs, 8 figs, 31 refs.

     

    • FullText(HTML)
  • loading
    • References(31)
  • [1]
    邱小平, 马丽娜, 周小霞, 等. 基于安全距离的手动—自动驾驶混合交通流研究[J]. 交通运输系统工程与信息, 2016, 16(4): 101-108, 124. https://www.cnki.com.cn/Article/CJFDTOTAL-YSXT201604015.htm

    QIU Xiao-ping, MA Li-na, ZHOU Xiao-xia, et al. The mixed traffic flow of manual-automated driving based on safety distance[J]. Journal of Transportation Systems Engineering and Information Technology, 2016, 16(4): 101-108, 124. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-YSXT201604015.htm
    [2]
    MOHAMED A A, WU Y N, MOATZ S. Safety and operational impact of connected vehicles' lane configuration on freeway facilities with managed lanes[J]. Accident Analysis and Prevention, 2020, 144: 105616. doi: 10.1016/j.aap.2020.105616
    [3]
    CHANG Xin, LI Hai-jian, RONG Jian, et al. Analysis on traffic stability and capacity for mixed traffic flow with platoons of intelligent connected vehicles[J]. Physica A: Statistical Mechanics and Its Applications, 2020, 557: 124829. doi: 10.1016/j.physa.2020.124829
    [4]
    吴兵, 王文璇, 李林波, 等. 多前车影响的智能网联车辆纵向控制模型[J]. 交通运输工程学报, 2020, 20(2): 184-194. doi: 10.19818/j.cnki.1671-1637.2020.02.015

    WU Bing, WANG Wen-xuan, LI Lin-bo, et al. Longitudinal control model for connected autonomous vehicles influenced by multiple preceding vehicles[J]. Journal of Traffic and Transportation Engineering, 2020, 20(2): 184-194. (in Chinese) doi: 10.19818/j.cnki.1671-1637.2020.02.015
    [5]
    常鑫, 李海舰, 荣建, 等. 混有网联车队的高速公路通行能力分析[J]. 华南理工大学学报(自然科学版), 2020, 48(4): 142-148. https://www.cnki.com.cn/Article/CJFDTOTAL-HNLG202004019.htm

    CHANG Xin, LI Hai-jian, RONG Jian, et al. Analysis of capacity for mixed traffic flow with connected vehicle platoon on freeway[J]. Journal of South China University of Technology (Natural Science Edition), 2020, 48(4): 142-148. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-HNLG202004019.htm
    [6]
    VANDER L Z, SADABADI K F. Operational performance of a congested corridor with lanes dedicated to autonomous vehicle traffic [J]. International Journal of Transportation Science and Technology, 2017, 6(1): 42-52. doi: 10.1016/j.ijtst.2017.05.006
    [7]
    XIAO L, WANG M, VAN AREM B. Traffic flow impacts of converting an HOV lane into a dedicated CACC lane on a freeway corridor[J]. IEEE Intelligent Transportation Systems Magazine, 2020, 12(1): 60-73. doi: 10.1109/MITS.2019.2953477
    [8]
    LI T, GUO F, KRISHNAN R, et al. Right-of-way reallocation for mixed flow of autonomous vehicles and human driven vehicles[J]. Transportation Research Part C: Emerging Technologies, 2020, 115: 102630. doi: 10.1016/j.trc.2020.102630
    [9]
    ZHONG Z J, LEE J. Dedicated lane for connected and automated vehicle: how much does a homogeneous traffic flow contribute?[J]. arXiv, https://doi.org/10.48550/arXiv.1907.00422.
    [10]
    魏修建, 胡荣鑫, 苏航, 等. 双车道自动-手动驾驶汽车混合交通流博弈模型及其仿真[J]. 系统工程, 2018, 36(11): 97-104. https://www.cnki.com.cn/Article/CJFDTOTAL-GCXT201811010.htm

    WEI Xiu-jian, HU Rong-xin, SU Hang, et al. Mixed traffic flow game model and simulation of automatic and manual driving vehicle in two-lane condition[J]. Systems Engineering, 2018, 36(11): 97-104. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-GCXT201811010.htm
    [11]
    GHIASI A, HUSSAIN O, QIAN Z, et al. A mixed traffic capacity analysis and lane management model for connected automated vehicles: a Markov chain method[J]. Transportation Research Part B: Methodological, 2017, 106: 266-292. doi: 10.1016/j.trb.2017.09.022
    [12]
    GHIASI A, HUSSAIN O, QIAN Z, et al. Lane management with variable lane width and model calibration for connected automated vehicles[J]. Journal of Transportation Engineering, Part A: Systems, 2020, 146(3): 04019075. doi: 10.1061/JTEPBS.0000283
    [13]
    YE L H, YAMAMOTO T. Impact of dedicated lanes for connected and autonomous vehicle on traffic flow throughput[J]. Physica A: Statistical Mechanics and Its Applications, 2018, 512: 588-597. doi: 10.1016/j.physa.2018.08.083
    [14]
    MOHAJERPOOR R, RAMEZANI M. Mixed flow of autonomous and human-driven vehicles: analytical headway modeling and optimal lane management[J]. Transportation Research Part C: Emerging Technologies, 2019, 109: 194-210. doi: 10.1016/j.trc.2019.10.009
    [15]
    MAHMASSANI H S. 50th anniversary invited article—autonomous vehicles and connected vehicle systems: flow and operations considerations[J]. Transportation Science, 2016, 50(4): 1140-1162. doi: 10.1287/trsc.2016.0712
    [16]
    CHEN D J, AHN S, CHITTURI M, et al. Towards vehicle automation: roadway capacity formulation for traffic mixed with regular and automated vehicles[J]. Transportation Research Part B: Methodological, 2017, 100: 196-221. doi: 10.1016/j.trb.2017.01.017
    [17]
    CHEN Z B, HE F, ZHANG L H, et al. Optimal deployment of autonomous vehicle lanes with endogenous market penetration[J]. Transportation Research Part C: Emerging Technologies, 2016, 72: 143-156. doi: 10.1016/j.trc.2016.09.013
    [18]
    ZHANG J, WU K R, CHENG M, et al. Safety evaluation for connected and autonomous vehicles' exclusive lanes considering penetrate ratios and impact of trucks using surrogate safety measures[J]. Journal of Advanced Transportation, 2020, 2020: 1-16.
    [19]
    ZHONG Z J, LEE J. The effectiveness of managed lane strategies for the near-term deployment of cooperative adaptive cruise control[J]. Transportation Research Part A: Policy and Practice, 2019, 129: 257-270. doi: 10.1016/j.tra.2019.08.015
    [20]
    TALEBPOUR A, MAHMASSANI H S, ELFAR A. Investigating the effects of reserved lanes for autonomous vehicles on congestion and travel time reliability[J]. Transportation Research Record, 2017, 2622(1): 1-12.
    [21]
    赵鑫. 基于元胞自动机的联网车辆专用车道设置研究[D]. 哈尔滨: 哈尔滨工业大学, 2020.

    ZHAO Xin. Research on dedicated lane setting of networked vehicles based on cellular automata[D]. Harbin: Harbin Institute of Technology, 2020. (in Chinese)
    [22]
    董长印, 王昊, 王炜, 等. 混入智能车的下匝道瓶颈路段交通流建模与仿真分析[J]. 物理学报, 2018, 67(14): 144501. https://www.cnki.com.cn/Article/CJFDTOTAL-WLXB201814020.htm

    DONG Chang-yin, WANG Hao, WANG Wei, et al. Hybrid traffic flow model for intelligent vehicles exiting to off-ramp[J]. Acta Physica Sinica, 2018, 67(14): 144501. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-WLXB201814020.htm
    [23]
    DONG C Y, WANG H, LI Y, et al. Route control strategies for autonomous vehicles exiting to off-ramps[J]. IEEE Transactions on Intelligent Transportation Systems, 2020, 21(7): 3104-3116.
    [24]
    YANG D, JIA B, DAI L, et al. Optimization model for the freeway-exiting position decision problem of automated vehicles[J]. Transportation Research Part B: Methodological, 2022, 159: 24-48.
    [25]
    MILANÉS V, SHLADOVER S E. Modeling cooperative and autonomous adaptive cruise control dynamic responses using experimental data[J]. Transportation Research Part C: Emerging Technologies, 2014, 48: 285-300.
    [26]
    VANDERWERF J, SHLADOVER S, KOURJANSKAIA N, et al. Modeling effects of driver control assistance systems on traffic[J]. Transportation Research Record, 2001, 1748(1): 167-174.
    [27]
    郑施雨. 自动驾驶车辆换道过程建模与分析[D]. 成都: 西南交通大学, 2018.

    ZHENG Shi-yu. Modeling analysis of lane-changing process of autonomous vehicles[D]. Chengdu: Southwest Jiaotong University, 2018. (in Chinese)
    [28]
    陈娇. 城市快速路车头时距特性分析[D]. 长春: 吉林大学, 2012.

    CHEN Jiao. Analysis of headway characteristics of urban expressway[D]. Changchun: Jilin University, 2012. (in Chinese)
    [29]
    秦严严, 王昊, 王炜, 等. 混有CACC车辆和ACC车辆的异质交通流基本图模型[J]. 中国公路学报, 2017, 30(10): 127-136. https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201710016.htm

    QIN Yan-yan, WANG Hao, WANG Wei, et al. Fundamental diagram model of heterogeneous traffic flow mixed with cooperative adaptive cruise control vehicles and adaptive cruise control vehicles[J]. China Journal of Highway and Transport, 2017, 30(10): 127-136. (in Chinese) https://www.cnki.com.cn/Article/CJFDTOTAL-ZGGL201710016.htm
    [30]
    TREIBER M, HENNECKE A, HELBING D. Congested traffic states in empirical observations and microscopic simulations[J]. Physical Review E, 2000, 62(2): 1805-1824.
    [31]
    ERDMANN J. SUMO's lane-changing model[C]//BEHRISCH M, WEBER M. Modeling Mobility with Open Data. Berlin: Springer, 2015: 105-123.
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views (722) PDF downloads(139) Cited by()
    Proportional views
    Related

    Copyright《Journal of Traffic and Transportation Engineering》编辑部陕ICP备05001904号-1

    Address ：Editorial Department of Journal of Traffic and Transportation Engineering, Chang 'an University, Middle Section of South Second Ring Road, Xi 'an, Shaanxi（710064） Tel：029-82334388 Email：jygc@chd.edu.cn

    All visit:Today's visit:

    Supported by: Beijing Renhe Information Technology Co. Ltd    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return