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智能网联汽车协同生态驾驶策略综述

杨澜 赵祥模 吴国垣 徐志刚 MATTHEWBarth 惠飞 郝鹏 韩梦杰 赵周桥 房山 景首才

杨澜, 赵祥模, 吴国垣, 徐志刚, MATTHEWBarth, 惠飞, 郝鹏, 韩梦杰, 赵周桥, 房山, 景首才. 智能网联汽车协同生态驾驶策略综述[J]. 交通运输工程学报, 2020, 20(5): 58-72. doi: 10.19818/j.cnki.1671-1637.2020.05.004
引用本文: 杨澜, 赵祥模, 吴国垣, 徐志刚, MATTHEWBarth, 惠飞, 郝鹏, 韩梦杰, 赵周桥, 房山, 景首才. 智能网联汽车协同生态驾驶策略综述[J]. 交通运输工程学报, 2020, 20(5): 58-72. doi: 10.19818/j.cnki.1671-1637.2020.05.004
YANG Lan, ZHAO Xiang-mo, WU Guo-yuan, XU Zhi-gang, MATTHEW Barth, HUI Fei, HAO Peng, HAN Meng-jie, ZHAO Zhou-qiao, FANG Shan, JING Shou-cai. Review on connected and automated vehicles based cooperative eco-driving strategies[J]. Journal of Traffic and Transportation Engineering, 2020, 20(5): 58-72. doi: 10.19818/j.cnki.1671-1637.2020.05.004
Citation: YANG Lan, ZHAO Xiang-mo, WU Guo-yuan, XU Zhi-gang, MATTHEW Barth, HUI Fei, HAO Peng, HAN Meng-jie, ZHAO Zhou-qiao, FANG Shan, JING Shou-cai. Review on connected and automated vehicles based cooperative eco-driving strategies[J]. Journal of Traffic and Transportation Engineering, 2020, 20(5): 58-72. doi: 10.19818/j.cnki.1671-1637.2020.05.004

智能网联汽车协同生态驾驶策略综述

doi: 10.19818/j.cnki.1671-1637.2020.05.004
基金项目: 

国家重点研发计划项目 2018YFB1600604

国家自然科学基金项目 61703053

国家自然科学基金项目 61973045

中国博士后科学基金项目 2017M623091

陕西省重点研发计划项目 2018ZDCXLGY-05-01

陕西省博士后科研项目 2018BSHYDZZ64

陕西省自然科学基础研究计划项目 2018JQ6035

中央高校基本科研业务费专项资金项目 300102240203

详细信息
    作者简介:

    杨澜(1985-), 女, 陕西咸阳人, 长安大学高级工程师, 工学博士, 从事车联网及其应用技术研究

    通讯作者:

    吴国垣(1979-), 男, 河南南阳人, 加利福尼亚大学河滨分校副研究员, 工学博士

  • 中图分类号: U491

Review on connected and automated vehicles based cooperative eco-driving strategies

Funds: 

National Key Research and Development Program of China 2018YFB1600604

National Natural Science Foundation of China 61703053

National Natural Science Foundation of China 61973045

China Postdoctoral Science Foundation 2017M623091

Shaanxi Province Key Research and Development Program 2018ZDCXLGY-05-01

Shaanxi Province Postdoctoral Science Foundation 2018BSHYDZZ64

Natural Science Foundation of Shaanxi Province 2018JQ6035

Fundamental Research Funds for the Central Universities 300102240203

More Information
  • 摘要: 为了跟踪近年来智能网联汽车(CAV)协同生态驾驶策略的研究进展, 分析了车辆、驾驶行为、交通网络和社会这4类因素对CAV能耗的影响程度, 以车辆、基础设施和旅行者为对象对目前CAV生态研究进行分类, 重点分析了信号交叉口生态驶入与离开、生态协同自适应巡航控制、匝道合流区生态协同驾驶、生态协同换道轨迹规划和生态路由5种典型车辆协同生态驾驶应用场景的研究现状。分析结果表明: 相比人类驾驶方式, 在任何交通流量CAV 100%渗透率的条件下和低交通流量CAV部分渗透率的条件下, CAV油耗节省效果显著, 最高可达63%, 而具有部分智能化和网联化等级的CAV油耗可至少节省7%;现有研究较少考虑人机共驾情况下, 驾驶人反应延迟和自动控制器传输延迟导致的轨迹跟踪偏离; 现有研究将车车通信/车路通信假定为理想数据交互过程, 未考虑通信拓扑、传输时延、通信失效与基站切换等因素对CAV生态协同驾驶策略的影响; 现有研究较少探讨多车道、交叉口转向-直行共用车道和U型车道等交通场景, 以及不同智能网联等级CAV与人类驾驶汽车、行人、自行车等共存的混合交通条件下的生态驾驶策略; 受限于自动驾驶技术和基础设施尚未成熟和完善, 真实交通场景下的测试验证工作尚未开展; 车辆控制、车车通信、多车协同、混合交通流场景、半实物仿真测试和真实交通场景测试等方面将是CAV协同生态驾驶策略的进一步发展方向。

     

  • 图  1  CAV能源消耗的影响因素

    Figure  1.  Factors influencing energy consumption of CAV

    图  2  CAV感知与通信设备配置

    Figure  2.  CAV configuration equipment for sensing and communication

    图  3  不同CAV机制的节能程度[32]

    Figure  3.  Energy savings of different CAV mechanisms

    图  4  CAV生态研究分类

    Figure  4.  Classification of CAV ecological research

    图  5  单信号交叉口EAD策略

    Figure  5.  EAD method at single signalized intersection

    图  6  重型卡车Eco-CACC

    Figure  6.  Eco-CACC for heavy trucks

    图  7  单匝道合流区CAV合流

    Figure  7.  Eco-ramp merging in single ramp

    图  8  CAV车辆生态协同换道轨迹规划

    Figure  8.  Eco-cooperative lane-changing trajectory planning

    表  1  道路类别

    Table  1.   Road categories

    道路类别 公路 城市道路
    1 平原、微丘地形的高速公路与一、二级公路
    2 平原、微丘地形的三、四级公路, 山岭、重丘地形的高速公路 平原、微丘地形的一~四级道路
    3 山岭、重丘地形的一~三级公路 重丘地形的一~四级道路
    4 平原、微丘地形的级外公路 级外道路
    5 山岭、重丘地形的四级公路
    6 山岭、重丘地形的级外公路
    下载: 导出CSV

    表  2  生态路由研究的部分案例

    Table  2.   Some cases of eco-routing research

    研究者 模型聚合级别 模型应用规模 一次优化目标
    交通模型 油耗/排放模型
    Rakha等[92] 微观交通模型 微观排放模型 2个小型案例 油耗或排放
    Sun等[93] 微观交通模型 微观排放模型 20个信号交叉口小案例 时间或效率
    Bandeira等[94] 微观交通模型 微观排放模型 葡萄牙某77 700人口城市 排放
    Tzeng等[95] 宏观交通模型 宏观交通模型 台北市城市道路 油耗和排放
    Luo等[96] 宏观交通模型 微观排放模型 8条链路的交通网络 时间或者油耗和排放
    Long等[97] 中观交通模型 宏观排放模型 24条链路的大型案例 时间和排放
    Azizh等[98] 中观交通模型 宏观平均速度排放模型 2个小型案例 时间和排放
    Guo等[99] 微观模型、宏观模型 宏观排放模型 尼亚加拉地区 油耗和排放
    下载: 导出CSV
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  • 收稿日期:  2020-04-23
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