网联自动驾驶车辆通过信号交叉口的速度轨迹优化

以网联自动驾驶汽车(Connected Autonomous Vehicle,CAV)为研究对象,研究了CAV车队通过城市信号交叉口的速度轨迹优化控制策略.基于最优控制理论,采用CAV的自动驾驶模型描述车间相互作用,以所有CAV车辆在行驶过程中的总油耗为优化目标,根据信号灯的配时信息建立模型约束,通过优化CAV头车的速...

Speed Trajectory Optimization of Connected Autonomous Vehicles at Signalized Intersections

The work studies the optimal control strategy of the speed trajectory for the connected autonomous vehicle(CAV)platoon at urban signalized intersections. Based on the optimal control theory, the automatic driving model is utilized to describe the interaction among vehicles. With the total fuel consumption for the CAV platoon considered as the optimization objective, the constraints of the model are established according to the timing phase of the traffic signal. All the CAVs in the platoon can pass through the intersection with the minimized total fuel consumption by optimizing the speed trajectory for the leading CAV. The necessary conditions for the optimal solution are obtained based on Pontryagin's minimum principle to solve the proposed optimal controller. Then, the numerical solving algorithm is developed utilizing the resilient backpropagation(RPROP)solution algorithm. The simulation results for multiple representative scenarios show that the whole CAV platoon can pass through the signalized intersection without any stop and avoid stopping and starting caused by reaching the stop line at the red time window. Moreover, the total amount of fuel consumption can be decreased by 69.74% at most. The proposed method which takes advantage of CAV technology can improve the traffic efficiency and fuel economy for urban transportation.