| 车路协同下车队避让紧急车辆的换道引导方法 |
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| 引用本文： | 焦朋朋,杨紫煜,洪玮琪,王泽昊.车路协同下车队避让紧急车辆的换道引导方法[J].中国公路学报,2021,34(7):95-104. |
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| 作者姓名： | 焦朋朋 杨紫煜 洪玮琪 王泽昊 |
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| 作者单位： | 1. 北京建筑大学 通用航空技术北京实验室, 北京 100044 |
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| 基金项目： | 国家自然科学基金项目（51578040）；北京市属高校高水平教师队伍建设支持计划项目（CIT&TCD20180324） |
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| 摘 要： | 为保证紧急车辆更安全、高效地到达紧急事故现场，基于车路协同系统，提出车队避让紧急车辆的换道引导策略。针对目标车道无车辆、有车辆和有车队3种不同场景，分别提出确保紧急车辆快速通过的协同换道策略。通过协同换道策略引导紧急车辆前方行驶的车队和目标车道的车辆改变速度以调整车辆间距，使其满足换道安全距离，依据换道轨迹规划使车队完成换道，并提出紧急车辆发送紧急避让信号的位置方法，计算当不影响紧急车辆的速度情况下，其发送紧急避让信号时与车队尾车的最短距离。利用SUMO交通仿真软件，实现车路协同环境下3种不同场景车队避让紧急车辆的换道引导，并比较目标车道为车队的场景下，车队换道至目标车队的每个空档中（方式A）和车队换道至目标车队的同一个空档中（方式B）2种不同的换道引导策略。研究结果表明：目标车道有车队的场景下，方式B的协同换道时间更短，发送紧急信号的位置距车队尾车82 m，较方式A的87 m更近，对周围车辆影响更小，因此此场景采用方式B的协同换道策略；在目标车道无车辆、有车辆和有车队3种场景下，紧急车辆分别距车队尾车71，71，82 m时发送紧急避让信号，其可以维持期望速度，验证了最短距离与车辆速度的关系式；与未使用换道引导策略的情况相比，紧急车辆的速度提高，延误减少。
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| 关 键 词： | 交通工程 换道引导策略 协同换道 紧急避让 车队编组 车路协同 |
| 收稿时间： | 2021-03-29 |
Lane Changing Guidance Method for Vehicle Platoon to Avoid Emergency Vehicles of CVIS |
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| JIAO Peng-peng,YANG Zi-yu,HONG Wei-qi,WANG Ze-hao.Lane Changing Guidance Method for Vehicle Platoon to Avoid Emergency Vehicles of CVIS[J].China Journal of Highway and Transport,2021,34(7):95-104. |
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| Authors: | JIAO Peng-peng YANG Zi-yu HONG Wei-qi WANG Ze-hao |
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| Affiliation: | 1. Beijing Key Laboratory of General Aviation Technology, Beijing University of Civil Engineering and Architecture, Beijing 100044, China |
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| Abstract: | To ensure that emergency vehicles can reach accident fields more safely and efficiently, this paper proposes a lane-changing guidance method for a vehicle platoon to avoid emergency vehicles based on a cooperative vehicle infrastructure system (CVIS). Three cooperative lane-changing strategies were presented to guarantee that emergency vehicles approaching from the rear pass through quickly for three corresponding scenarios in the target lane: no vehicle, few vehicles, and vehicle platoon. The cooperative lane-changing strategies guided the vehicle platoon in front of the emergency vehicle and other vehicles in the target lane to change their speed, adjust the distance between vehicles, and finish lane changing according to the trajectory planning. Furthermore, the shortest distance between the emergency vehicle and the last vehicle in the platoon was formulated to confirm the location where the emergency vehicle began emergency avoidance signalling. The SUMO simulation platform was used to realize the lane-changing guidance of the vehicle platoon to avoid emergency vehicles in three different scenarios based on CVIS. Moreover, for the scenario in which a vehicle platoon exists in the target lane, two lane-changing strategies were compared: the vehicle platoon changed lanes into each gap of the target platoon (Method A), and the vehicle platoon changed lanes into the same gap as the target platoon (Method B). Simulation results show three conclusions: ① the collaborative lane-changing time of Method B is shorter than that of Method A, and the location of beginning emergency signalling for Method B is 82 m away from the last vehicle of the platoon, which is shorter than the 87 m of Method A. Therefore, Method B is recommended because of its lesser influence on the surrounding vehicles. ② In three different scenarios, the emergency vehicle begins avoidance signalling when the last vehicle of the front platoon is 71, 71, and 82 m away, respectively. The emergency vehicle can travel at the desired speed under these conditions, which validates the relationship formulation between the shortest distance and vehicle speed. ③ Compared with the situation in which no lane-changing guidance strategy was used, the speed of emergency vehicles is increased, and the delay is reduced. |
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| Keywords: | traffic engineering lane changing guidance strategy cooperative lane change emergency avoidance vehicle platoon CVIS |
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