Hierarchical distributed coordination strategy of connected and automated vehicles at multiple intersections

In this paper, we present a hierarchical distributed coordination strategy for connected and automated vehicles (CAVs) that are travelling through multiple unsignalized intersections. The control strategy focuses on the improvement of vehicle fuel efficiency and system mobility. In presence of wireless communication among the involved CAVs and the intersection controllers, our coordination strategy focuses on leading the CAVs travel through a road network without conventional traffic light control and ensuring collision avoidance at the intersection areas. We propose a three-layered coordination strategy in this paper. First, we evaluate the road desired average velocity considering both upstream and downstream traffic to speed up the traffic density balance. Second, the intersection controllers optimally assign reference velocity to each vehicle based on the minimization of velocity deviation from its current velocity and collision avoidance at the intersections. Finally, fast model predictive control (F-MPC) is applied for each vehicle to track their reference velocity in a computationally efficient manner. Two simulation scenarios with different difficulty levels have been implemented on a two-interconnected intersection network. Simulation results indicate the feasibility and scalability of the proposed method, as well as vehicle fuel efficiency and system mobility improvement.     

基于均衡交通压力及VISSIM仿真的信号灯配时及应用研究

交通供需矛盾的激化突出表现在城市路网的节点（交叉口）上,对于大城市的干道来说饱和交叉口成为制约信号协调效果的瓶颈。从分析饱和车流的特性入手,基于排队长度消散或有侧重均衡交通压力的思想提出了在传统信号配时失效的情况下一种利用VISSIM反馈评价参数调整绿信比优化的方法,并针对这种方法进行信号协调控制的应用研究。     

信号控制交叉口自行车流运行特征模型

为科学合理地解决城市道路信号控制交叉口自行车交通流通行能力的计算问题,在分析大量实测数据的基础上,对信号控制交叉口自行车交通流的运行特征进行了分析,得出自行车停车排队密度随交叉口自行车道宽度增加而线性递减的关系。根据自行车在启动后匀加速到匀速行驶的特征,建立了自行车交通流启动时间-速度、时间-距离模型;根据实测数据,标定了自行车流排队膨胀模型;根据绿灯时间自行车流量与车道宽度之间明显存在的线性关系,建立了交叉口自行车饱和流量和通行能力计算模型,为形成交叉口自行车通行空间设计、混合交通流信号控制理论奠定了基础。     

移动荷载作用下沥青路面动态响应三维有限元分析

我国新建道路沥青路面是以双轮组单轴载100 kN(BZZ-100)为标准轴载,采用双圆均布荷载作用下的多层弹性理论进行设计的,而汽车实际施加给路面的是移动荷载。通过建立半刚性基层路面的三维有限元分析模型,对汽车匀速行驶及制动情况下路面的动态响应进行了有限元分析,得出了荷载正下方不同深度处节点竖向位移、竖向压应力、水平应力、竖向剪应力及水平剪应力的时间历程曲线,并与静载作用下的计算结果进行了对比分析。     

Hybrid simulated annealing and genetic algorithm for optimizing arterial signal timings under oversaturated traffic conditions

The implementation of system‐wide signal optimization models requires efficient solution algorithms that can quickly generate optimal or near‐optimal signal timings. This paper presents a hybrid algorithm based on simulated annealing (SA) and a genetic algorithm (GA) for arterial signal timing optimization. A decoding scheme is proposed that exploits our prior expectations about efficient solutions, namely, that the optimal green time distribution should reflect the proportion of the critical lane volumes of each phase. An SA algorithm, a GA algorithm and a hybrid SA‐GA algorithm are developed here using the proposed decoding scheme. These algorithms can be adapted to a wide range of signal optimization models and are especially suitable for those optimizing phase sequences with oversaturated intersections. To comparatively evaluate the performance of the proposed algorithms, we apply them to a signal optimization model for oversaturated arterial intersections based on an enhanced cell transmission model. The numerical results indicate that the SA‐GA algorithm outperforms both SA and GA in terms of solution quality and convergence rate. Copyright © 2014 John Wiley & Sons, Ltd.     

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在北美交通早高峰与晚高峰期间,大量信号灯控制的交叉路口会处于过饱和状态.对于非饱和路口的信号设计,已经有许多行之有效的理论方法和信号控制策略可以使用;对于过饱和路口,当前却没有被广泛接受的信号控制模型可以直接采用.对于孤立的信号路口,实时有效的配时通常被认为是优化交通流的一个非常重要手段.基于这一原则,多种过饱和路口交通信号设计方案出现在以往的研究中。但是由于没有对这些方法进行过有效的综合评测,所以一直没有对各种设计方法优缺点的清晰描述.本文对两组经典饱和路口信号设计模型进行了详细的评测与比较,进而深入分析这些模型的特点与可用性.在研究中这两组模型的控制结果还与最新的信号设计软件TRANSYT 7F和Synchro给出的优化信号进行了比较.基于比较结果,最终得到用于过饱和路口信号设计的方法选择指南.     

Unconventional USC intersection corridors: evaluation of potential implementation in Doha,Qatar

Unconventional intersection designs have been recently proposed as a new approach to deal with heavy left turns at signalized intersections. One of these unconventional schemes, the Upstream Signalized Crossover (USC) intersection, was shown to significantly reduce average vehicle delays; particularly when the volumes entering the intersection are relatively high. The Ministry of Public Works of Qatar is considering the implementation of the USC intersection on three signalized intersections along a major urban corridor in Doha. This paper investigates the potential improvements associated with the USC implementation. VISSIM was used to analyze the proposed USC intersections and the existing conventional intersections. Analyses were carried out for AM , Midday, and PM peak hours. The results showed that most of the travel time measurement sections experienced lower delays in the USC configuration for the three peak periods. As well, the total system delay, in hours, for the USC configuration was less than that of the conventional configuration by 19.4, 14.8, and 13.6% for the AM , Midday, and PM peaks, respectively. The average control delay for each single USC intersection was lower than its conventional counterpart by between 7.6 and 22.9%. Copyright © 2010 John Wiley & Sons, Ltd.     

Quasi-optimal feedback control for a system of oversaturated intersections

Oversaturated intersection control is a long-standing problem in traffic science and engineering. The problem becomes even harder when we consider a system of oversaturated intersections. Most of the research works in this area are off-line studies that require fully knowledge of origin–destination demand, which would be difficult to obtain in reality. Although several on-line feedback control methods are proposed, they only aim at preventing queue spillover, not able to minimize vehicular delay time. Moreover, these on-line control strategies are not theoretically evaluated how optimal (or sub-optimal) they are. We propose in this paper a quasi-optimal decentralized QUEUE-based feedback (abbreviated as QUEUE) control strategy for a system of oversaturated intersections. The QUEUE strategy is applied cycle-by-cycle based on measurement of current queue sizes, but its overall result is able to approximate the optimal one derived from off-line studies. Details of the feedback control laws for upstream and downstream intersections, in the queueing period and the queue dissipation period, are discussed. Superior to the existing feedback control strategies, the upper bounds of sub-optimality of the QUEUE strategy generating from demand fluctuation and coupling of intersections are specified quantitatively. It is also theoretically proved that the queue measurement error or demand estimation error would not be amplified by the QUEUE strategy. Numerical examples show that the QUEUE strategy performs very well and is robust to errors.     

Review on Theoretical Delay Estimation Model for Signalized Intersections

Traffic delay is an effective index for estimating the performance of a signalized intersection. In this study, we provide a comprehensive review of the theoretical delay estimation model over the last ca. 90 years. For fixed-time signalized intersections, we classified the estimation development process into three stages. Stage 1 covered 1920s–1970s, when approaches based on steady-state theory were derived. These methods obtain accurate predictions with low degrees of saturation, but overestimate the delay with higher saturation and cannot provide reasonable results for oversaturated conditions. To accommodate high saturation, time-dependent models were proposed and improved in Stage 2, 1970s–2000s, using coordination transformation techniques. Progression factors to account for the filtering impact from upstream intersections were also introduced during this period. Due to inaccurate approximation of certain specific traffic conditions, some modified approaches and supplementary terms were derived from 2000 onwards (Stage 3), which facilitate the evolution of the delay estimation method and improved approximation results. Some new techniques, including artificial intelligence algorithms, were also introduced into delay estimation in this era. We also describe theoretical delay measurement methods for actuated control intersections with a similar time line. From our summary of the evolution of theoretical delay models, we highlight some deficiencies and future research directions.     

信号交叉口车辆到达规律分析

信号交叉口是中断车流的重要结点,其车流到达规律的准确描述是交叉口信号控制设计的重要影响因素。信号交叉口车流的到达规律是随机且多样的,并服从一定的统计规律。本文对信号交叉口到达车流的到达时间间隔的统计分析进行拟合,发现信号交叉口车流的到达规律与其变异系数的平方存在耦合关联,并得出结论如下:对数正态分布的拟合范围为0.8874~0.9904,平均拟合度高达0.9489,拟合效果最佳;伽马分布的拟合度范围为0.5352~0.9449,平均的拟合度为0.8056,拟合效果次之;威布尔分布拟合度在0.1997~0.8991之间,总体波动较大,平均的拟合度为0.616;正态分布拟合范围为0.2585~0.6671,平均拟合度为0.6252;指数分布拟合度范围是0.0365~0.4077,平均拟合度是0.2317,拟合效果最差。