Collaborative merging strategy for freeway ramp operations in a connected and autonomous vehicles environment

In a connected vehicle environment, vehicles are able to communicate and exchange detailed information such as speed, acceleration, and position in real time. Such information exchange is important for improving traffic safety and mobility. This allows vehicles to collaborate with each other, which can significantly improve traffic operations particularly at intersections and freeway ramps. To assess the potential safety and mobility benefits of collaborative driving enabled by connected vehicle technologies, this study developed an optimization-based ramp control strategy and a simulation evaluation platform using VISSIM, MATLAB, and the Car2X module in VISSIM. The ramp control strategy is formulated as a constrained nonlinear optimization problem and solved by the MATLAB optimization toolbox. The optimization model provides individual vehicles with step-by-step control instructions in the ramp merging area. In addition to the optimization-based ramp control strategy, an empirical gradual speed limit control strategy is also formulated. These strategies are evaluated using the developed simulation platform in terms of average speed, average delay time, and throughput and are compared with a benchmark case with no control. The study results indicate that the proposed optimal control strategy can effectively coordinate merging vehicles at freeway on-ramps and substantially improve safety and mobility, especially when the freeway traffic is not oversaturated. The ramp control strategy can be further extended to improve traffic operations at bottlenecks caused by incidents, which cause approximately 25% of traffic congestion in the United States.     

城市快速路与地面道路交通整合控制分析

阐述了城市快速路与普通城市道路交通整合控制的必要性,叙述了国内外研究者提出的比较成熟的匝道控制方法及匝道与地面交通整合控制方法,提出了以城市快速路主线流量与匝道流量之和应小于合流处通行能力、主线车辆占有率应小于最佳占有率、速度约束以及普通城市道路地面交叉口的最大排队长度应小于路段长度为匝道控制约束条件;提出了以通过城市快速路系统和地面交叉口的总旅行时间最小为优化目标函数,实现城市快速路与普通道路的上、下匝道整合控制,以取得最优的城市综合交通系统效益.     

高速道路入口匝道控制方法及应用探索

入口匝道控制是高速道路交通管理与控制的重要方法.对国外高速道路入口匝道的交通机理和控制方法进行系统分析和总结,重点对国外典型的多匝道动态协调控制算法进行论述,并对今后的研究方向提出展望.最后结合国内的实际情况,从交通量、几何线形、通道控制、协调配合、政策制定、仿真评价等方面对入口匝道控制在国内的相关工程应用做了初步探索.     

城市快速路出入口匝道联动控制策略研究

以北京市快速路为研究对象,对分布密集的出入口匝道实施信号联动控制.为减少驶入与驶出车流间的交织冲突,保证快速路主线交通流处于最佳运行状态,提出出入口匝道信号联动控制方法.采用Vissim对提出的控制方法进行模拟验证,结果表明该方法可以提高主线车辆的运行速度,有效缓解交织区的严重冲突现象.     

城市快速路入口匝道速度控制研究

针对现有城市快速路入口匝道控制方法中驶入匝道的车辆需停车后才能汇入主线的典型问题,提出了对城市快速路入口匝道进行速度控制的方法。以速度为控制参量,在传统的需求-容量控制的基础上,提出了匝道汇入速度控制方法,使匝道上的车辆能够不停车地汇入主线;根据快速路主线上下游的通行能力以及运行特征,得到匝道汇入率,再由交通流基本流密速关系,确定匝道上车辆的控制速度。以上海市典型匝道———内环内侧武宁路上匝道为例,借助Vissim仿真软件,建立微观仿真模型,对该入口匝道进行速度控制的仿真评价。结果表明,与定时控制和无控制相比,对入口匝道进行速度控制可以减少路网平均延误和匝道平均延误,提高主线下游平均车速;减少匝道车辆平均停车次数。该类方法特别适合于上坡汇入高架快速路的匝道控制。     

上海城市快速路匝道处交通分析与控制方案设计

分析了上海市城市快速路交通运行的特点和主要症结,对关键瓶颈位置实施单点匝道控制方案.以洛川路入口匝道为切入点,分析了洛川路主线、匝道的交通状况和相关地面交通状况,针对洛川路入口匝道的具体情况设计匝道控制方案,具体研究了工程控制阈值和匝道调节方案的适用条件.最后对实施的方案效果进行评估,可改变现有拥挤、瘫痪的交通状态,提高快速路的使用效率.     

Development of analytical procedure for selection of control measures to reduce congestions at various freeway bottlenecks

Variable speed limit (VSL) and ramp metering (RM) affect freeway traffic operations in different ways and, accordingly, result in different effects on system travel time. The primary objective of this study is to propose an analytical procedure to help determine which control measure should be selected given different freeway bottlenecks and traffic conditions. The bottlenecks considered included an isolated merge bottleneck, a merge bottleneck with a closely spaced upstream off-ramp, and a diverge bottleneck with a closely spaced upstream on-ramp. Two RM and a VSL control strategies were considered, including the ALINEA, ALINEA/Q and feedback based VSL. The maximum achievable improvements in system efficiency by various control measures were calculated and the results were tested using modified cell transmission models. A coordinated control strategy that combined ALINEA/Q and VSL control was also proposed. The effects of VSL and RM control on system travel time at different freeway bottleneck areas were compared to identify the applicable conditions of different control measures. The analytical procedure was proposed for the selection of control measures at different bottlenecks and the ex-ante estimation of control effects were also discussed.     

城市快速路入口匝道放行策略研究

针对如何把计算得到的匝道调节率值转化成实际的放行车辆问题,总结了国内外常用匝道放行策略,分析各自的优缺点。结合我国城市快速路的特性,提出适宜的匝道放行策略,并初步探讨了相应的匝道调节周期及信号灯配时,以此提高匝道控制的实施效果。     

城市快速道路交通流建模和控制

首先回顾城市快速路宏观流体模型的发展，简析常用模型的推导建立过程，讨论宏观模型的使用。然后，以入口匝道流量调节作为受控快速路系统的控制输入，构造城市快速路交通流动态控制模型及最优控制问题，采用多层分散控制思想，给出一种实用的准最佳控制方法，通过交通仿真说明其有效性。     

A stochastic analysis of highway capacity: Empirical evidence and implications

This paper presents a stochastic characterization of highway capacity and explores its implications on ramp metering control at the corridor level. The stochastic variation of highway capacity is captured through a Space–Time Autoregressive Integrated Moving Average (STARIMA) model. It is identified following a Seasonal STARIMA model (0, 0, 2₃) × (0, 1, 0)₂, which indicates that the capacities of adjacent locations are spatially–temporally correlated. Hourly capacity patterns further verify the stochastic nature of highway capacity. The goal of this paper is to study (1) how to take advantage of the extra information, such as capacity variation, and (2) what benefits can be gained from stochastic capacity modeling. The implication of stochastic capacity is investigated through a ramp metering case study. A mean–standard deviation formulation of capacity is proposed to achieve the trade-off between traffic operation efficiency and robustness. Following that, a modified stochastic capacity-constraint ZONE ramp metering scheme embedded cell transmission model algorithm is introduced. The numerical experiment suggests that considering capacity variation information would alleviate the spillback effect and improve throughput. Monte Carlo simulation further supports this argument. This study helps verify and characterize the stochastic nature of capacity, validates the benefits of using capacity variation information, and thus enhances the necessity of implementing stochastic capacity in traffic operation.     

快速路出口匝道衔接道路控制仿真研究

针对快速路出口匝道区域拥挤问题,建立了出口匝道衔接道路（即辅路）控制仿真模型,并通过Vissim验证,对比分析出口匝道衔接道路（辅路）在不控制、让行控制、定时控制和自适应信号控制下交通流的运行特性以及控制效果。通过对仿真结果的分析研究发现：在辅路让行出口匝道车辆优先驶出时,控制效果最佳;当让行控制失效影响出口匝道车辆驶出时,辅路控制是必要的;自适应信号控制能够取得最好的控制效果,总延误约可减少42％,特别是对主线交通状态的改善更可达46％以上。     

面向新型混合交通流的快速路合流区通行能力建模

面向人类驾驶和具备协同自适应巡航功能的网联自动驾驶组成的新型混合交通流,考虑道路交通特性、道路结构以及匝道汇入前主线交通状态等因素的交互作用机理,基于概率统计理论解析网联自动驾驶渗透率和编队长度间的耦合关系,进一步基于间隙接受理论分析匝道汇入交通对合流区通行能力的折减效应,建立快速路合流区通行能力模型,定量描述不同道路...     

快速路整体性匝道仪控仿真研究

以Payne车流模型和宏观交通流连续方程为基础,将多路段的动态交通流离散方程应用于控制系统的描述,以泰勒展开式及连锁律推导二阶非线性速率方程式,构建一非线性整体匝道仪控模型.算例中以快速路检测的实时资料为前提,matlab 6.5为仿真工具,进行模拟和数值计算,仿真结果表明:非线性控制模型可有效的疏解高峰期交通拥挤的状况.     

车路协同下基于冲突规避的匝道合流优化控制方法

匝道合流区是城市快速路冲突频发区,研究匝道合流控制方法对于提高道路的通行安全具有重要意义。文中基于冲突规避原则提出了CVIS环境下的匝道合流控制方法。考虑车辆特性和行驶的约束,以合流区冲突最小为目标,优化行车过程。经仿真验证,该方法能有效避免冲突并提高车辆行驶的舒适性,为匝道合流区的冲突管理提供控制方法。     

三次样条曲线在互通式立交匝道端部设计中的应用

高速公路互通式立交设计，对于直线上的车道驶出（驶入）道口，匝道是按一定的斜率偏离主线的，这时斜行的变速车道是一条直线，而对于曲线上的驶出（驶入）道口，变速车道不是直线而是按斜率规定的偏离度逐渐偏离主线的一条曲线。本文提出采用三次样条曲线来设计计算匝道端部曲线，并推广到一般的匝道线形设计。     

An exploratory investigation of the impact of ramp metering on driver acceleration behavior

Ramp metering has been proven as an effective freeway management strategy; however, the impact of ramp metering on drivers' acceleration behavior has not been fully investigated. A better understanding of acceleration behavior changes with ramp metering is critical to the adequate design of ramp metering facilities. In this study, drivers' speed and acceleration data were collected at two representative metered ramps in Los Angeles, California. The speed and acceleration profiles under meter-on and meter-off scenarios were compared. Statistical results demonstrated that ramp metering affects drivers' acceleration behavior at ramp acceleration lane. It was found that at the metered ramp with short existing acceleration length, the average acceleration rate from ramp meter stop bar to 500 ft downstream under meter-on scenario (4.72 ft./s²) is approximately 40% higher than when meter-off (3.18 ft./s²). The design of acceleration lane length for metered on-ramps should therefore take into account the potential impacts of ramp metering on driver acceleration behavior.     

全设置连续流交叉口信号配时及延误模型

为了解决连续流交叉口车辆多次停车问题，提出了各流向车辆在所遇第2条停车线处不用停车的优化控制策略。通过协调主预信号配时，调整信号控制相位相序方案，促使车辆直接通过所遇第2条停车线，使得左转车辆停车次数由3次减少到2次或者1次，直行车辆停车次数由2次减少到1次。分析各流向车辆到达-驶离图式，构建左转车流在所遇第3条停车线处的延误计算模型，结合Webster经典模型，给出连续流交叉口整体延误计算模型，其计算结果与VISSIM仿真结果基本一致。推导给出车辆不二次停车、车车不冲突以及连续流交叉口自身交通组织等因素所需满足的约束条件，以交叉口车均延误最小化为优化目标，构建连续流交叉口主预信号协调配时优化控制模型，并设计了4种交通场景以验证不同情况下的效益改善情况。研究结果表明：通过信号协调减少1次停车，能够降低50%以上的车均延误和车均停车次数；根据各转向交通量所占比例选择合适的车道分配方案有助于提升连续流交叉口通行效率；在2种策略下交叉口车均停车次数分别为0.88~1.05、0.59~0.77，与已有控制策略约2次车均停车次数相比，明显降低了连续流交叉口车辆停车次数。研究成果可为连续流交叉口控制提供新的视角，对交叉口通行效率的提升效果也更加显著。     

高速公路入口匝道连接处车辆等待延误研究

高速公路入口匝道延误由车辆等待延误与车辆加减速延误组成,等待延误占据总延误的80％左右,而对于车辆的等待延误研究较少。文中以排队论和可接受间隙理论等为基础,讨论了高速公路入口匝道连接处的等待延误。在入口匝道和高速公路主线不同车辆到达流量的情况下,分别进行了研究,建立起了相应的模型,获得了匝道车辆的等待延误。等待延误的研究,对于评价入口匝道的通行状况,和作为一项改进入口匝道设计的依据,以及对交通管理和控制策略的评价完善是十分有益的。最后,通过选取模型中的参数数据,用matlab编程描述了匝道车辆等待延误与临界间隙及匝道车辆平均到达率等参数的关系,表明模型较符合实际运行状况,具有一定的适用性。     

考虑礼让行人的信号交叉口配时优化方法

为提高机动车礼让行人背景下的人车通行效率,研究了基于叠加相位设计的信号交叉口配时优化方法.以西安市1个典型交叉口为例,分析机动车与过街行人冲突情况;在Webster配时模型的基础上,提出叠加相位设计与人车冲突时空分离策略相结合的信号配时优化方法,并给出行人信号早启时间、人车绿时分离设置阈值的计算方法;运用VISSIM仿...     

快速路入口匝道控制选择标准及基本参数分析

论述了快速路匝道管理与控制的必要性,分析了4种常用的匝道管理策略,重点对入口匝道控制进行剖析,给出了入口匝道控制的分类以及选择标准,并探讨了其中的3个基本设计参数,为我国快速路入口匝道控制的实施提供了参考。