基于换道轨迹规划模型的车道级行程时间估计方法研究

在车联网环境下，为满足精细化的车辆诱导需求，提出基于换道轨迹规划模型的车道级行程时间估计方法。建立路网基础道路拓扑模型，对所构建的路网模型进行Link划分，并利用改进的5次多项式模型对车辆行驶轨迹进行描述，构建车辆在不同路段Link间行驶的换道轨迹规划模型；整合车辆在路段各个Link单元的行车轨迹与行程时间，实现车道级行程时间估计；选取单向4车道的城市道路为仿真算例，建立VISSIM仿真模型，验证本文模型性能。仿真结果表明，在不同的车辆行驶速度条件下，相比于传统行程时间估计方法，本文提出的改进5次多项式换道轨迹规划模型能够精确地得到车辆最短行程时间下的行车轨迹，实现车道级行程时间的准确估计。

Lane-level Travel Time Estimation Method Based on Lane Change Trajectory Planning Model

In the context of the Internet of vehicles, to satisfy the requirements of precise vehicle guidance, a lane-level travel time estimation method is proposed based on a lane change trajectory planning model. Firstly, the lane- level topology model of road networks is established, and the Link division is carried out. An improved quintic polynomial is used to model the vehicles' travel trajectory, and the lane change trajectory planning model is constructed for the vehicle trajectory between links of different sections. Then, the travel trajectory and travel time of each Link in the road section are integrated to estimate the lane-level travel time. Finally, a four-lane road is selected as an example in the VISSIM simulation to verify the performance of the proposed method. The simulation results show that, compared with the traditional travel time estimation method, the improved quintic polynomial lane change trajectory planning model can accurately obtain the travel trajectory with the shortest travel time and realize the accurate estimation of lane-level travel time under different vehicle speeds.