技术领域technical field
本发明涉及一种网联车多信号交叉口绿灯相位车速动态引导方法及系统。The invention relates to a method and system for dynamically guiding the speed of a vehicle at a green light phase at a networked vehicle multi-signal intersection.
背景技术Background technique
道路信号交叉口是城市道路的重要组成部分，其通行能力直接影响着城市道路的通达，如果交叉口的交通流密度过大，会造成交叉路口的拥堵，严重影响人们的出行。因此，减少信号交叉口的停车和延误，提高交叉口的道路通行能力，是提高城市干道交通服务水平的主要目标。驾驶员在快要到达信号交叉口时，往往由于视线模糊，视野受阻等问题而无法准确获取当前信号交叉口的信号相位倒计时信息，从而采取不合理的油门和刹车操作，增加车辆在交叉口附近的空转时间，造成道路交通拥堵，另一方面不合理的驾驶行为也会导致产生额外的燃油消耗和排放。因此，对信号交叉口附近的车辆进行车速优化并合理引导是必要的。Road signalized intersections are an important part of urban roads, and their traffic capacity directly affects the accessibility of urban roads. If the traffic flow density at intersections is too high, it will cause congestion at intersections and seriously affect people's travel. Therefore, reducing parking and delays at signalized intersections and increasing road capacity at intersections are the main goals of improving the traffic service level of urban arterial roads. When the driver is about to arrive at the signalized intersection, he often cannot accurately obtain the countdown information of the signal phase of the current signalized intersection due to problems such as blurred vision and obstructed vision, so he takes unreasonable accelerator and brake operations and increases the speed of the vehicle near the intersection. Idle time will cause road traffic congestion, and on the other hand, unreasonable driving behavior will also lead to additional fuel consumption and emissions. Therefore, it is necessary to optimize the speed of vehicles near signalized intersections and guide them reasonably.
针对信号交叉口车速引导的研究，最初主要是通过调整信号交叉口的交通信号状态，利用可变信息牌的提示对驶入交叉口的车辆进行引导，避免车辆在红灯相位期间到达信号交叉口；后来，通过动态速度引导方法给驾驶员提供最优的速度建议，但这些研究或者通过考虑速度和加速度间接优化燃油消耗和排放，或者使用燃油消耗和污染排放模型评估各种可行的速度值，但主要集中于单个交叉口的车速引导，尚未考虑两个信号交叉口的协同动态车速引导。The research on the speed guidance of signalized intersections is mainly to adjust the traffic signal status of signalized intersections at first, and use the prompts of variable information boards to guide vehicles entering the intersections, so as to avoid vehicles arriving at signalized intersections during the red light phase ; Later, the optimal speed advice was given to the driver by dynamic speed guidance methods, but these studies either optimized fuel consumption and emissions indirectly by considering speed and acceleration, or used fuel consumption and pollution emission models to evaluate various feasible speed values, However, it mainly focuses on the speed guidance of a single intersection, and the coordinated dynamic speed guidance of two signalized intersections has not been considered.
发明内容Contents of the invention
针对上述现有方法中存在的问题，本发明的目的在于，提供一种网联车多信号交叉口绿灯相位车速动态引导方法，该引导方法通过获取交叉口信息，并以燃油消耗和排放最优为优化目标给驶入交叉口的驾驶员动态提供车速引导。In view of the problems existing in the above-mentioned existing methods, the purpose of the present invention is to provide a dynamic guidance method for green light phase vehicle speed at multi-signal intersections of networked vehicles. Provide speed guidance for the dynamics of the driver entering the intersection for the purpose of optimization.
为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种网联车多信号交叉口绿灯相位车速动态引导方法，包括以下步骤：A method for dynamically guiding vehicle speeds at green light phases at multi-signal intersections for networked vehicles, comprising the following steps:
采用非线性多元函数最小值求解函数求解动态经济驾驶优化模型，得到车辆在不同时刻下的速度，根据车辆在不同时刻下的速度对网联车的车速进行动态引导；The dynamic economical driving optimization model is solved by using the nonlinear multivariate function minimum value solving function to obtain the speed of the vehicle at different times, and dynamically guide the speed of the networked vehicle according to the speed of the vehicle at different times;
其中，动态经济驾驶优化模型为：Among them, the dynamic economical driving optimization model is:
其中，tf表示车辆通过第一个信号交叉口的时间，ts表示车辆通过第二个信号交叉口的时间；Among them,tf represents the time when the vehicle passes through the first signalized intersection, andts represents the time when the vehicle passes through the second signalized intersection;
上式中，FC(t)表示油耗模型：In the above formula, FC(t) represents the fuel consumption model:
其中，α0，α1和α2是模型常数；P(t)表示车辆在时刻t的瞬时功率：Among them, α0 , α1 and α2 are model constants; P(t) represents the instantaneous power of the vehicle at time t:
其中，R(t)表示车辆在时刻t的阻力；m为车辆的质量；a(t)表示车辆在时刻t的加速度；ηd为车辆的动力传动系统效率；v(t)表示车辆在时刻t的瞬时速度；Among them, R(t) represents the resistance of the vehicle at time t; m is the mass of the vehicle; a(t) represents the acceleration of the vehicle at time t; ηd represents the efficiency of the vehicle's power transmission system; the instantaneous speed of t;
车辆在时刻t的阻力R(t)采用以下公式表示：The resistance R(t) of the vehicle at time t is expressed by the following formula:
其中，ρ表示温度为15℃下，海平面的空气密度；Cd表示车辆阻力系数；Ch表示高度校正因子；Af表示车辆横截面积；Cr，c1和c2表示滚动阻力常数；G(t)为时刻t的道路坡度等级；g为重力加速度；Among them, ρ represents the air density at sea level at a temperature of 15°C; Cd represents the vehicle drag coefficient; Ch represents the height correction factor; Af represents the cross-sectional area of the vehicle; Cr , c1 and c2 represent rolling resistance constants ; G(t) is the grade of road gradient at time t; g is the acceleration of gravity;
车辆在时刻t的瞬时速度v(t)，采用如下公式表示：The instantaneous velocity v(t) of the vehicle at time t is expressed by the following formula:
其中，s1和s2表示线性解的两个参数，vf表示通过第一个信号交叉口的速度，vs表示通过第二个信号交叉口的速度，v0表示车辆的当前速度；Among them,s1 ands2 represent the two parameters of the linear solution, vf represents the speed through the first signalized intersection, vs represents the speed through the second signalized intersection, andv0 represents the current speed of the vehicle;
车辆在时刻t的加速度a(t)，采用如下公式表示：The acceleration a(t) of the vehicle at time t is expressed by the following formula:
其中，tf、ts、vf和vs满足以下公式：Among them, tf , ts , vf and vs satisfy the following formula:
tf∈[0,tr1]tf ∈[0,tr1 ]
amin≤s1·(vf-v0)≤amax且amin≤s2·(vs-vf)≤amaxamin ≤s1 ·(vf -v0 )≤amax and amin ≤s2 ·(vs -vf )≤amax
vf≤vmax且vs≤vmaxvf ≤ vmax and vs ≤ vmax
其中，tr1表示第一个信号交叉口的绿灯倒计时，tg2表示第二个信号交叉口的红灯倒计时，tr2表示第二个信号交叉口的绿灯倒计时，T表示信号交叉口的信号周期；TG表示信号周期中的绿灯时间；TR表示信号周期中的红灯时间；amin表示驾驶员能承受的最小加速度；amax表示驾驶员能承受的最大加速度amax；xf表示车辆到第一个信号交叉口的距离，xs表示车辆到第二个信号交叉口的距离；vmax表示道路允许的最大速度。where tr1 is the countdown to the green light at the first signalized intersection, tg2 is the countdown to the red light at the second signalized intersection, tr2 is the countdown to the green light at the second signalized intersection, and T is the signal period at the signalized intersection ; TG represents the green light time in the signal cycle; TR represents the red light time in the signal cycle; amin represents the minimum acceleration that the driver can bear; amax represents the maximum acceleration amax that the driver can withstand; xf represents the vehicle The distance to the first signalized intersection, xs represents the distance of the vehicle to the second signalized intersection; vmax represents the maximum speed allowed by the road.
本发明还提供一种网联车多信号交叉口绿灯相位车速动态引导系统，包括求解动态经济驾驶优化模型模块，该模块用于实现以下功能：The present invention also provides a dynamic guidance system for green light phase vehicle speed at multi-signal intersections of networked vehicles, including a module for solving dynamic economical driving optimization models, which is used to realize the following functions:
采用非线性多元函数最小值求解函数求解动态经济驾驶优化模型，得到车辆在不同时刻下的速度，根据车辆在不同时刻下的速度对网联车的车速进行动态引导；The dynamic economical driving optimization model is solved by using the nonlinear multivariate function minimum value solving function to obtain the speed of the vehicle at different times, and dynamically guide the speed of the networked vehicle according to the speed of the vehicle at different times;
其中，动态经济驾驶优化模型为：Among them, the dynamic economical driving optimization model is:
其中，tf表示车辆通过第一个信号交叉口的时间，ts表示车辆通过第二个信号交叉口的时间；Among them,tf represents the time when the vehicle passes through the first signalized intersection, andts represents the time when the vehicle passes through the second signalized intersection;
上式中，FC(t)表示油耗模型：In the above formula, FC(t) represents the fuel consumption model:
其中，α0，α1和α2是模型常数；P(t)表示车辆在时刻t的瞬时功率：Among them, α0 , α1 and α2 are model constants; P(t) represents the instantaneous power of the vehicle at time t:
其中，R(t)表示车辆在时刻t的阻力；m为车辆的质量；a(t)表示车辆在时刻t的加速度；ηd为车辆的动力传动系统效率；v(t)表示车辆在时刻t的瞬时速度；Among them, R(t) represents the resistance of the vehicle at time t; m is the mass of the vehicle; a(t) represents the acceleration of the vehicle at time t; ηd represents the efficiency of the vehicle's power transmission system; the instantaneous speed of t;
车辆在时刻t的阻力R(t)采用以下公式表示：The resistance R(t) of the vehicle at time t is expressed by the following formula:
其中，ρ表示温度为15℃下，海平面的空气密度；Cd表示车辆阻力系数；Ch表示高度校正因子；Af表示车辆横截面积；Cr，c1和c2表示滚动阻力常数；G(t)为时刻t的道路坡度等级；g为重力加速度；Among them, ρ represents the air density at sea level at a temperature of 15°C; Cd represents the vehicle drag coefficient; Ch represents the height correction factor; Af represents the cross-sectional area of the vehicle; Cr , c1 and c2 represent rolling resistance constants ; G(t) is the grade of road gradient at time t; g is the acceleration of gravity;
车辆在时刻t的瞬时速度v(t)，采用如下公式表示：The instantaneous velocity v(t) of the vehicle at time t is expressed by the following formula:
其中，s1和s2表示线性解的两个参数，vf表示通过第一个信号交叉口的速度，vs表示通过第二个信号交叉口的速度，v0表示车辆的当前速度；Among them,s1 ands2 represent the two parameters of the linear solution, vf represents the speed through the first signalized intersection, vs represents the speed through the second signalized intersection, andv0 represents the current speed of the vehicle;
车辆在时刻t的加速度a(t)，采用如下公式表示：The acceleration a(t) of the vehicle at time t is expressed by the following formula:
其中，tf、ts、vf和vs满足以下公式：Among them, tf , ts , vf and vs satisfy the following formula:
tf∈[0,tr1]tf ∈[0,tr1 ]
amin≤s1·(vf-v0)≤amax且amin≤s2·(vs-vf)≤amaxamin ≤s1 ·(vf -v0 )≤amax and amin ≤s2 ·(vs -vf )≤amax
vf≤vmax且vs≤vmaxvf ≤ vmax and vs ≤ vmax
其中，tr1表示第一个信号交叉口的绿灯倒计时，tg2表示第二个信号交叉口的红灯倒计时，tr2表示第二个信号交叉口的绿灯倒计时，T表示信号交叉口的信号周期；TG表示信号周期中的绿灯时间；TR表示信号周期中的红灯时间；amin表示驾驶员能承受的最小加速度；amax表示驾驶员能承受的最大加速度amax；xf表示车辆到第一个信号交叉口的距离，xs表示车辆到第二个信号交叉口的距离；vmax表示道路允许的最大速度。where tr1 is the countdown to the green light at the first signalized intersection, tg2 is the countdown to the red light at the second signalized intersection, tr2 is the countdown to the green light at the second signalized intersection, and T is the signal period at the signalized intersection ; TG represents the green light time in the signal cycle; TR represents the red light time in the signal cycle; amin represents the minimum acceleration that the driver can bear; amax represents the maximum acceleration amax that the driver can withstand; xf represents the vehicle The distance to the first signalized intersection, xs represents the distance of the vehicle to the second signalized intersection; vmax represents the maximum speed allowed by the road.
本发明具有如下优点：本发明能够以消耗最少燃油为目标引导车辆通过两个连续的交叉口，并将速度优化轨迹以可视化方式实时提供给驾驶员，避免了车辆在交叉口的空转时间以及一些不必要的急加速和急减速操作，造成额外的燃油消耗和尾气排放，同时也提高了道路通行能力，满足人们的出行需求的同时，提高人们的出行效率。The present invention has the following advantages: the present invention can guide the vehicle through two consecutive intersections with the goal of consuming the least fuel, and provide the driver with the speed optimization trajectory in a visualized manner in real time, avoiding the idling time of the vehicle at the intersection and some Unnecessary rapid acceleration and rapid deceleration operations cause additional fuel consumption and exhaust emissions, and also improve road traffic capacity, meet people's travel needs, and improve people's travel efficiency.
下面结合附图和具体实施方式对本发明的方案作进一步详细地解释和说明。The solution of the present invention will be further explained and described in detail in conjunction with the accompanying drawings and specific embodiments.
附图说明Description of drawings
图1为采用本发明的方法进行车速引导的结果图；其中，(a)表示对车辆进行车速引导和不对车辆进行车速引导的速度对比图，(b)表示对车辆进行车速引导和不对车辆进行车速引导的加速度对比图，(c)表示对车辆进行车速引导和不对车辆进行车速引导的距离对比图。Fig. 1 is the result figure that adopts the method of the present invention to carry out vehicle speed guidance; Wherein, (a) represents the speed contrast chart that carries out vehicle speed guidance to vehicle and does not carry out vehicle speed guidance to vehicle, (b) shows that vehicle speed guidance is carried out to vehicle and does not carry out vehicle speed guidance Acceleration comparison diagram of vehicle speed guidance, (c) shows the distance comparison diagram of vehicle speed guidance and no vehicle speed guidance.
图2为采用本发明方法进行车速引导和不对车辆进行车速引导所产生的油耗对比图。Fig. 2 is a comparison chart of fuel consumption produced by adopting the method of the present invention for vehicle speed guidance and not performing vehicle speed guidance for the vehicle.
具体实施方式Detailed ways
本发明的网联车多信号交叉口绿灯相位车速动态引导方法，用于车辆前方的第一个信号交叉口为绿灯情况下的车速引导，包括如下步骤：The method for dynamically guiding vehicle speed at a green light phase at a networked vehicle multi-signalized intersection of the present invention is used for vehicle speed guidance when the first signalized intersection in front of the vehicle is a green light, and includes the following steps:
采用MATLAB软件平台中的非线性多元函数最小值求解函数求解动态经济驾驶优化模型，得到车辆在不同时刻下的速度，根据车辆在不同时刻下的速度对网联车的车速进行动态引导；Using the nonlinear multivariate function minimum solution function in the MATLAB software platform to solve the dynamic economical driving optimization model, obtain the speed of the vehicle at different times, and dynamically guide the speed of the networked vehicle according to the speed of the vehicle at different times;
其中，动态经济驾驶优化模型为：Among them, the dynamic economical driving optimization model is:
其中，tf表示车辆通过第一个信号交叉口的时间，ts表示车辆通过第二个信号交叉口的时间；Among them,tf represents the time when the vehicle passes through the first signalized intersection, andts represents the time when the vehicle passes through the second signalized intersection;
上式中，FC(t)表示油耗模型：In the above formula, FC(t) represents the fuel consumption model:
其中，α0，α1和α2是模型常数；P(t)表示车辆在时刻t的瞬时功率：Among them, α0 , α1 and α2 are model constants; P(t) represents the instantaneous power of the vehicle at time t:
其中，R(t)表示车辆在时刻t的阻力；m为车辆的质量；a(t)表示车辆在时刻t的加速度；ηd为车辆的动力传动系统效率；v(t)表示车辆在时刻t的瞬时速度；Among them, R(t) represents the resistance of the vehicle at time t; m is the mass of the vehicle; a(t) represents the acceleration of the vehicle at time t; ηd represents the efficiency of the vehicle's power transmission system; the instantaneous speed of t;
车辆在时刻t的阻力R(t)采用以下公式表示：The resistance R(t) of the vehicle at time t is expressed by the following formula:
其中，ρ表示温度为15℃下，海平面的空气密度；Cd表示车辆阻力系数；Ch表示高度校正因子；Af表示车辆横截面积；Cr，c1和c2表示滚动阻力常数；G(t)为时刻t的道路坡度等级；g为重力加速度；Among them, ρ represents the air density at sea level at a temperature of 15°C; Cd represents the vehicle drag coefficient; Ch represents the height correction factor; Af represents the cross-sectional area of the vehicle; Cr , c1 and c2 represent rolling resistance constants ; G(t) is the grade of road gradient at time t; g is the acceleration of gravity;
车辆在时刻t的瞬时速度v(t)，采用如下公式表示：The instantaneous velocity v(t) of the vehicle at time t is expressed by the following formula:
其中，s1和s2表示线性解的两个参数，vf表示通过第一个信号交叉口的速度，vs表示通过第二个信号交叉口的速度，v0表示车辆的当前速度；Among them,s1 ands2 represent the two parameters of the linear solution, vf represents the speed through the first signalized intersection, vs represents the speed through the second signalized intersection, andv0 represents the current speed of the vehicle;
车辆在时刻t的加速度a(t)，采用如下公式表示：The acceleration a(t) of the vehicle at time t is expressed by the following formula:
其中，tf、ts、vf和vs满足以下公式：Among them, tf , ts , vf and vs satisfy the following formula:
tf∈[0,tr1]tf ∈[0,tr1 ]
amin≤s1·(vf-v0)≤amax且amin≤s2·(vs-vf)≤amaxamin ≤s1 ·(vf -v0 )≤amax and amin ≤s2 ·(vs -vf )≤amax
vf≤vmax且vs≤vmaxvf ≤ vmax and vs ≤ vmax
其中，tr1表示第一个信号交叉口的绿灯倒计时，tg2表示第二个信号交叉口的红灯倒计时，tr2表示第二个信号交叉口的绿灯倒计时，T表示信号交叉口的信号周期；TG表示信号周期中的绿灯时间；TR表示信号周期中的红灯时间；amin表示驾驶员能承受的最小加速度；amax表示驾驶员能承受的最大加速度amax；xf表示车辆到第一个信号交叉口的距离，xs表示车辆到第二个信号交叉口的距离；vmax表示道路允许的最大速度。where tr1 is the countdown to the green light at the first signalized intersection, tg2 is the countdown to the red light at the second signalized intersection, tr2 is the countdown to the green light at the second signalized intersection, and T is the signal period at the signalized intersection ; TG represents the green light time in the signal cycle; TR represents the red light time in the signal cycle; amin represents the minimum acceleration that the driver can bear; amax represents the maximum acceleration amax that the driver can withstand; xf represents the vehicle The distance to the first signalized intersection, xs represents the distance of the vehicle to the second signalized intersection; vmax represents the maximum speed allowed by the road.
本发明的另一个方面还提供一种网联车多信号交叉口绿灯相位车速动态引导系统，包括求解动态经济驾驶优化模型模块，该模块用于实现以下功能：Another aspect of the present invention also provides a dynamic guidance system for vehicle speed at green light phases at multi-signal intersections for networked vehicles, including a module for solving dynamic economical driving optimization models, which is used to realize the following functions:
采用MATLAB软件平台中的非线性多元函数最小值求解函数求解动态经济驾驶优化模型，得到车辆在不同时刻下的速度，根据车辆在不同时刻下的速度对网联车的车速进行动态引导；Using the nonlinear multivariate function minimum solution function in the MATLAB software platform to solve the dynamic economical driving optimization model, obtain the speed of the vehicle at different times, and dynamically guide the speed of the networked vehicle according to the speed of the vehicle at different times;
其中，动态经济驾驶优化模型为：Among them, the dynamic economical driving optimization model is:
其中，tf表示车辆通过第一个信号交叉口的时间，ts表示车辆通过第二个信号交叉口的时间；Among them,tf represents the time when the vehicle passes through the first signalized intersection, andts represents the time when the vehicle passes through the second signalized intersection;
上式中，FC(t)表示油耗模型：In the above formula, FC(t) represents the fuel consumption model:
其中，α0，α1和α2是模型常数；P(t)表示车辆在时刻t的瞬时功率：Among them, α0 , α1 and α2 are model constants; P(t) represents the instantaneous power of the vehicle at time t:
其中，R(t)表示车辆在时刻t的阻力；m为车辆的质量；a(t)表示车辆在时刻t的加速度；ηd为车辆的动力传动系统效率；v(t)表示车辆在时刻t的瞬时速度；Among them, R(t) represents the resistance of the vehicle at time t; m is the mass of the vehicle; a(t) represents the acceleration of the vehicle at time t; ηd represents the efficiency of the vehicle's power transmission system; the instantaneous speed of t;
车辆在时刻t的阻力R(t)采用以下公式表示：The resistance R(t) of the vehicle at time t is expressed by the following formula:
其中，ρ表示温度为15℃下，海平面的空气密度；Cd表示车辆阻力系数；Ch表示高度校正因子；Af表示车辆横截面积；Cr，c1和c2表示滚动阻力常数；G(t)为时刻t的道路坡度等级；g为重力加速度；Among them, ρ represents the air density at sea level at a temperature of 15°C; Cd represents the vehicle drag coefficient; Ch represents the height correction factor; Af represents the cross-sectional area of the vehicle; Cr , c1 and c2 represent rolling resistance constants ; G(t) is the grade of road gradient at time t; g is the acceleration of gravity;
车辆在时刻t的瞬时速度v(t)，采用如下公式表示：The instantaneous velocity v(t) of the vehicle at time t is expressed by the following formula:
其中，s1和s2表示线性解的两个参数，vf表示通过第一个信号交叉口的速度，vs表示通过第二个信号交叉口的速度，v0表示车辆的当前速度；Among them,s1 ands2 represent the two parameters of the linear solution, vf represents the speed through the first signalized intersection, vs represents the speed through the second signalized intersection, andv0 represents the current speed of the vehicle;
车辆在时刻t的加速度a(t)，采用如下公式表示：The acceleration a(t) of the vehicle at time t is expressed by the following formula:
其中，tf、ts、vf和vs满足以下公式：Among them, tf , ts , vf and vs satisfy the following formula:
tf∈[0,tr1]tf ∈[0,tr1 ]
amin≤s1·(vf-v0)≤amax且amin≤s2·(vs-vf)≤amaxamin ≤s1 ·(vf -v0 )≤amax and amin ≤s2 ·(vs -vf )≤amax
vf≤vmax且vs≤vmaxvf ≤ vmax and vs ≤ vmax
其中，tr1表示第一个信号交叉口的绿灯倒计时，tg2表示第二个信号交叉口的红灯倒计时，tr2表示第二个信号交叉口的绿灯倒计时，T表示信号交叉口的信号周期；TG表示信号周期中的绿灯时间；TR表示信号周期中的红灯时间；amin表示驾驶员能承受的最小加速度；amax表示驾驶员能承受的最大加速度amax；xf表示车辆到第一个信号交叉口的距离，xs表示车辆到第二个信号交叉口的距离；vmax表示道路允许的最大速度。where tr1 is the countdown to the green light at the first signalized intersection, tg2 is the countdown to the red light at the second signalized intersection, tr2 is the countdown to the green light at the second signalized intersection, and T is the signal period at the signalized intersection ; TG represents the green light time in the signal cycle; TR represents the red light time in the signal cycle; amin represents the minimum acceleration that the driver can bear; amax represents the maximum acceleration amax that the driver can withstand; xf represents the vehicle The distance to the first signalized intersection, xs represents the distance of the vehicle to the second signalized intersection; vmax represents the maximum speed allowed by the road.
实施例Example
采用本发明的方法对具有2011HondaAccord车型的车辆进行车速引导，在本实施例中，xf＝200m，xs＝615m，amin＝-3m/s2，amax＝5m/s2，ρ＝1.2256kg/m3，α0＝4.89E-04，α1＝4.29E-05，α2＝1.00E-06，m＝1487kg，ηd＝0.75，Cd＝0.30，Ch＝0.95，Af＝2.12m2，Cr＝1.25，c1＝0.0438，c2＝6.10，T＝85s，TG＝40s，TR＝45s，tr1＝20s，tr2＝5s，v0＝55km/h。基于matlab环境对实施例所给出的交通环境进行仿真，获得如图1所示的结果，其中(a)表示对车辆进行车速引导和不对车辆进行车速引导的速度对比图，该图中的虚线表示不对车辆进行速度引导时，车辆速度随时间的变化情况，图中的实线表示采用本实施例中的方法对车辆进行速度引导时，车辆速度随时间的变化情况。其中(b)表示对车辆进行车速引导和不对车辆进行车速引导的加速度对比图，该图中的虚线表示不对车辆进行速度引导时，车辆加速度随时间的变化情况，图中的实线表示采用本实施例中的方法对车辆进行速度引导时，车辆加速度随时间的变化情况。其中(c)表示对车辆进行车速引导和不对车辆进行车速引导的距离对比图，该图中的虚线表示不对车辆进行速度引导时，车辆的距离随时间的变化情况，图中的实线表示采用本实施例中的方法对车辆进行速度引导时，车辆的距离随时间的变化情况。图(c)中在纵坐标为200处的横线表示第一个信号交叉口，在纵坐标为615处的横线表示第二个信号交叉口；The method of the present invention is used to guide the speed of vehicles with 2011 HondaAccord models. In this embodiment, xf =200m, xs =615m, amin =-3m/s2 , amax =5m/s2 , ρ= 1.2256kg/m3 , α0 =4.89E-04, α1 =4.29E-05, α2 =1.00E-06, m=1487kg, ηd =0.75, Cd =0.30, Ch =0.95, Af =2.12m2 , Cr =1.25, c1 =0.0438, c2 =6.10, T=85s, TG =40s, TR =45s, tr1 =20s, tr2 =5s, v0 =55km/ h. The traffic environment provided by the embodiment is simulated based on the matlab environment, and the results as shown in Figure 1 are obtained, wherein (a) represents a speed comparison diagram for the vehicle speed guidance and not for the vehicle speed guidance, the dotted line in the figure Indicates the variation of vehicle speed over time when no speed guidance is performed on the vehicle, and the solid line in the figure indicates the variation of vehicle speed over time when the method in this embodiment is used to perform speed guidance on the vehicle. Among them, (b) represents the acceleration comparison diagram of vehicle speed guidance and no vehicle speed guidance. The dotted line in the figure indicates the change of vehicle acceleration with time when the vehicle speed is not guided. When the method in the embodiment guides the speed of the vehicle, the vehicle acceleration changes with time. (c) shows the comparison diagram of the distance between the vehicle speed guidance and the vehicle speed guidance. The dotted line in the figure indicates the change of the vehicle distance with time when the vehicle speed guidance is not performed. The solid line in the figure indicates the vehicle speed. When the method in this embodiment guides the speed of the vehicle, the change of the distance of the vehicle over time. In figure (c), the horizontal line at 200 on the ordinate represents the first signalized intersection, and the horizontal line at 615 on the ordinate represents the second signalized intersection;
由图1中的(a)中实线可知，本发明的方法引导车辆匀速通过第一个交叉口之后，车辆减速通过第二个信号交叉口，该方法下车辆产生的油耗为0.0313L。若车辆按初始速度继续行驶，则停在第二个交叉路口，并等待绿灯指示到达，如图1(c)虚线所示，该条件下车辆行驶相同距离产生的油耗为0.0438L。由此可见，不进行引导的车辆行驶轨迹由于高速行驶和在信号交叉口处不必要的空转，造成额外的燃油消耗。本发明提出的优化引导方法节省了高达29％的燃油，如图2所示，同时也减少了尾气排放，提高了道路通行能力。It can be seen from the solid line in (a) in Fig. 1 that after the method of the present invention guides the vehicle to pass through the first intersection at a constant speed, the vehicle decelerates and passes through the second signalized intersection. The fuel consumption of the vehicle under this method is 0.0313L. If the vehicle continues to drive at the initial speed, it will stop at the second intersection and wait for the green light to arrive, as shown by the dotted line in Figure 1(c). Under this condition, the fuel consumption of the vehicle traveling the same distance is 0.0438L. It can be seen that the vehicle trajectory without guidance causes additional fuel consumption due to high speed driving and unnecessary idling at signalized intersections. The optimized guidance method proposed by the present invention saves up to 29% of fuel oil, as shown in Figure 2, and also reduces tail gas emissions and improves road traffic capacity.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027549.8ACN108335506B (en) | 2018-01-11 | 2018-01-11 | Method and system for dynamic guidance of vehicle speed of green light phase at multi-signal intersection of networked vehicles |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027549.8ACN108335506B (en) | 2018-01-11 | 2018-01-11 | Method and system for dynamic guidance of vehicle speed of green light phase at multi-signal intersection of networked vehicles |
| Publication Number | Publication Date |
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| CN108335506Atrue CN108335506A (en) | 2018-07-27 |
| CN108335506B CN108335506B (en) | 2020-12-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810027549.8AActiveCN108335506B (en) | 2018-01-11 | 2018-01-11 | Method and system for dynamic guidance of vehicle speed of green light phase at multi-signal intersection of networked vehicles |
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