CN117523847A - Multi-vehicle cooperative control method and system for signal control intersection under mixed traffic environment - Google Patents
Multi-vehicle cooperative control method and system for signal control intersection under mixed traffic environment Download PDFInfo
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- G—PHYSICS
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Abstract
The invention discloses a method and a system for controlling multiple vehicles of a signal control intersection under a mixed traffic environment, which relate to the technical field of intersection road multiple vehicle cooperation and comprise the steps of collecting vehicle data and constructing a vehicle constraint model when an intelligent network vehicle arrives at a control area; carrying out vehicle grouping in the signalized intersection; and constructing a multi-vehicle cooperative grouping intersection of a signal intersection in a mixed traffic environment and calculating oil consumption. The method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment guides the following HDV by improving the CAV speed, and can pass through the number of vehicles as much as possible in a certain signal period. If the vehicle accelerates to the maximum speed in the current signal period and can not pass through the signal intersection, the CAV is guided in speed, and the vehicle can pass through the signal intersection without stopping when the green light just starts in the next signal period, so that the fuel consumption of the vehicle can be reduced, and the comfort and ecology are improved.
Description
Technical Field
The invention relates to the technical field of multi-vehicle cooperation at intersections, in particular to a method and a system for controlling multi-vehicle cooperation at a signal control intersection in a mixed traffic environment.
Background
In recent years, with the rapid increase of the amount of vehicles to be kept, a series of problems such as traffic jams, traffic accidents, etc. in cities are becoming serious. The intersections are used as important nodes of urban traffic, are influenced by various factors such as traffic composition, position, environment and the like, the traffic efficiency and the traffic capacity of the intersections are far lower than those of common road sections, and the traffic accident rate is far higher than that of other road sections, so that scientific and reasonable traffic control measures are very important. The rapid development of intelligent networking and automatic driving technologies provides a new solution for solving the intersection problem. By carrying advanced sensors and other devices, intelligent information interaction among people, vehicles, roads and clouds is realized by using a V2X novel technology, and cooperative optimization of tracks and information is realized for vehicles at intersections.
Although the vehicle-road cooperation technology in China is in the leading position in the world, a long period of time is required to realize that intelligent internet-connected vehicles (CAVs) completely replace manual driving vehicles (HDVs), and a novel mixed traffic environment in which intelligent driving vehicles and manual driving vehicles are mixed is also necessarily existed for a long time before the intelligent internet-connected vehicles (CAVs) completely replace manual driving vehicles.
De Nunzio G et al design a speed guiding model of the multi-signalized intersection through a pruning algorithm, and analyze the optimal speed recommended by the driver with minimum energy consumption of the vehicle as a target. The method is characterized in that the Zhou F et al can maintain the minimum headway of the terminal state of the vehicle at the stop line of the signalized intersection under the pure network environment through guiding and controlling the vehicle at the upstream of the signalized intersection, so that the safety efficiency of the vehicle at the signalized intersection is improved. Qiu considers the signal state of the signalized intersection and the running state of the upstream vehicle, establishes an ecological driving track optimization algorithm for each scene, and selects an optimal ecological driving model strategy model based on the specific power VSP model of the motor vehicle. Guo Yitao based on the study of the time distance of the vehicle passing through the speed guiding area, the real-time road information and the space-time track of the vehicle passing are obtained through the vehicle-road cooperation technology to make pre-judgment, and the speed guiding method under different pre-judgment strategies is analyzed. Remi T et al propose to use a crossing management system based on time slot control, and experimental results show that the system further improves the crossing traffic capacity and reduces vehicle delay compared with a traffic signal system. Liu W et al propose a collaborative reinforcement learning control method integrating V2X dynamic clustering through the elucidation of self-adaptive traffic signal control, and verify the effectiveness of the method from the aspects of traffic capacity, throughput and the like through numerical simulation. The Orki O developed a hybrid fleet control system based on consideration of the problem of hybrid vehicle fleet formation and verified the stability and feasibility of the system-controlled downmixed fleet. The Park C provides an automatic driving vehicle behavior driving decision algorithm according to the information such as the vehicle speed, the space-time position and the traffic signal, and experimental results show that the algorithm can reduce the vehicle delay under heterogeneous traffic and improve the traffic efficiency of intersections. Zhang Yulin aiming at the mixed traffic problem, a digital twin analysis model is built to analyze the safety and stability of traffic flow. In summary, the existing research object is mainly under the pure internet environment, and because the manual driving vehicle is uncontrollable, the research difficulty is high, so that most students can carry out simplified research under the final ideal condition. However, there must be a long period of mixing before this, and thus research at this stage is necessary. The signal lamp active communication importance degree is low, and the data volume loaded in the communication process is reduced through signal lamp information acquisition and frequency setting. Because CAV has high intelligent degree, in many researches, the direct acquisition of information can be realized by the program setting of a computer to control a certain vehicle more simply, but the effectiveness of the whole system in the road network cannot be explained
Therefore, there is a need for a method for controlling multiple vehicles at a signal control intersection in a mixed traffic environment, which can acquire information of vehicles, signal lamps and the like in real time through the technology of V2V, V2X, V P, integrate the information, calculate whether the vehicles can pass through the intersection, and guide the speed of the vehicles which cannot pass through the intersection in the current signal period, so that the vehicles can be connected to the next green light period without stopping.
Disclosure of Invention
The present invention has been made in view of the above-described problems.
Therefore, the technical problems solved by the invention are as follows: the existing intersection multi-vehicle cooperative control method has the problems of poor effect in a mixed traffic state, large data quantity in a processing process, lack of control over oil consumption and how to effectively control the whole system in a road network.
In order to solve the technical problems, the invention provides the following technical scheme: a multi-vehicle cooperative control method for a signal control intersection under a mixed traffic environment comprises the steps of collecting vehicle data when an intelligent network-connected vehicle reaches a control area, and constructing a vehicle constraint model; carrying out vehicle grouping in the signalized intersection; and constructing a multi-vehicle cooperative grouping intersection of a signal intersection in a mixed traffic environment and calculating oil consumption.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: when the intelligent network-connected vehicle reaches the control area, the vehicle data acquisition comprises the steps of acquiring the position, the speed, the acceleration information and the intersection signal lamp information of the vehicle, wherein the state information corresponding to each vehicle is as followsThe method comprises the steps of carrying out a first treatment on the surface of the Wherein,number for vehicle->Is->Personal car group->Is->First->Distance of vehicle from stop line, +.>Is the firstFirst->Speed of vehicle,/->Is->First->Acceleration of vehicle,/->Is->First->The moment of the signal lamp of the vehicle.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: the building of the vehicle constraint model is expressed as:
；
wherein,、/>is->Respectively are provided withIndicating vehicle->At->Distance from the stop line at the moment, speed, and acceleration.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: when vehicles in the signal intersection enter the road network, vehicle information in an arrival control area is acquired, the type of the vehicles is judged, if the vehicles are CAV, the vehicles are regarded as controllable, as a marshalling head vehicle, if the vehicles are HDV, the vehicles are regarded as uncontrollable and run along with the CAV, whether the HDV is followed after the CAV is judged, if the vehicles are followed, the number of the vehicles in the vehicle group is increased until the number of the vehicles passing through the allowable cycle of the signal lamp is reached.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: the construction of the multi-vehicle cooperative grouping intersection of the signalized intersection in the mixed traffic environment comprises the steps of calculating the guiding speed of the vehicle, and when the vehicle runs at a uniform speed to reach a stop line, the firstThe time to reach the stop line when CAV in the train set travels at constant speed is expressed as:
；
wherein,is->Initial speed of CAV entering control area in the car group; when the vehicle accelerates before reaching the stop line at constant speed, +.>When CAV in the train set accelerates and then runs at constant speed to reach stop lineThe interval is expressed as:
；
wherein,maximum speed for a vehicle in a road network, +.>Maximum acceleration for a vehicle in the road network; judging whether the signal lamp state is green when the head car CAV reaches a stop line, wherein the signal lamp state is expressed as:
；
wherein,for the time in the period in which the signal lamp is located, +.>Is the traffic signal lamp period; when the head car CAV of the train set runs at a constant speed, the moment when the head car reaches a stop line is in a green light period, and no vehicle in front of the vehicle interferes with the running state, the head car can safely drive across an intersection, when the head car CAV of the train set runs at a constant speed, and the moment when the head car reaches the stop line is in a red light period, the speed guide can smoothly pass through the current signal light period and cannot pass through the current signal light period, the speed guide is carried out on the vehicle, and the time spent by the CAV from the starting point of a control area to the stop line is expressed as:
；
wherein G represents the green light end time in the signal lamp period whenWhen the car passes through the intersection, the CAV can accelerate to give the guiding speed of the car as +.>When->When the CAV cannot pass through the intersection, the guiding speed of the vehicle reaching the stop line when the green light of the next link is lighted is calculated, and the time interval from the start of entering the control area to the start of the green light of the next cycle is expressed as:
；
wherein,for controlling the distance from the start point to the stop line, < > of the area>Time required for uniform deceleration of vehicle, +.>For the time required for the vehicle to travel at a guiding speed, the guiding speed is expressed as:
；
after control of the CAV is completed, the number of vehicles passing through the HDV in the train set is calculated.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: the number of vehicles that can pass through the HDV in the consist is calculated as:
；
wherein,time remaining for the signal lamp cycle, +.>For the length of the vehicle->Is a safe distance between adjacent vehicles.
As a preferable scheme of the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment, the invention comprises the following steps: the fuel consumption calculation includes calculating vehicle emissions by analyzing a specific power VSP of the vehicle, expressed as:
；
wherein,for vehicle speed +.>Is the vehicle acceleration.
It is another object of the present invention to provide a controlled intersection multiple vehicle cooperative control system in a mixed traffic environment that can guide a following HDV by improving CAV speed so as to pass as many vehicles as possible in a certain signal period. The method solves the problems that the existing intersection multi-vehicle cooperative control can only simply control a certain vehicle and cannot carry out complex multi-vehicle control.
As a preferable scheme of the multi-vehicle cooperative control system of the signal control intersection under the mixed traffic environment, the invention comprises the following steps: the system comprises a vehicle information acquisition module, a vehicle marshalling module, an intersection control module and a fuel consumption calculation module; the vehicle information acquisition module acquires vehicle data and builds a vehicle constraint model when the intelligent network vehicle reaches a control area; the vehicle grouping module is used for grouping according to the type of the vehicle, and designating a head vehicle and a following vehicle; the intersection control module is used for constructing a multi-vehicle collaborative grouping intersection of a signal intersection in a mixed traffic environment; the fuel consumption calculation module calculates vehicle emissions by analyzing a specific power VSP of the vehicle.
The computer equipment comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the steps of the method for controlling the multiple vehicles of the signal controlled intersection under the mixed traffic environment.
A computer readable storage medium having stored thereon a computer program which when executed by a processor realizes the steps of a method for controlling multiple vehicles in a controlled intersection under a mixed traffic environment.
The invention has the beneficial effects that: the method for controlling the multiple vehicles at the signal control intersection under the mixed traffic environment guides the following HDV by improving the CAV speed, and can pass through the number of vehicles as much as possible in a certain signal period. If the vehicle accelerates to the maximum speed in the current signal period and can not pass through the signal intersection, the CAV is guided at the moment, the vehicle is in a uniform deceleration state in the front state, the HDV which follows the vehicle at the rear is decelerated at the moment, and the vehicle can pass through the signal intersection without stopping when the green light just lights in the next signal period, so that the fuel consumption of the vehicle can be reduced, and the comfort and the ecology are improved. The invention has better effects in controlling the number of vehicles, guiding the effect and reducing the oil consumption.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is an overall flowchart of a method for controlling multiple vehicles cooperatively at a signal controlled intersection in a mixed traffic environment according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram of a CAV as a cooperative following of a head car of a vehicle set in a method for cooperatively controlling multiple cars at a signal control intersection in a mixed traffic environment according to a first embodiment of the present invention.
Fig. 3 is a running track diagram of a multi-vehicle cooperative control method for a signal control intersection in a mixed traffic environment during CAV and HDV speed guidance according to a second embodiment of the present invention.
Fig. 4 is an overall flowchart of a system for controlling multiple vehicles at a signal controlled intersection in a mixed traffic environment according to a third embodiment of the present invention.
Detailed Description
So that the manner in which the above recited objects, features and advantages of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Example 1
1-2, for one embodiment of the present invention, a method for controlling multiple vehicles at a signal controlled intersection in a mixed traffic environment is provided, including:
s1: and when the intelligent network-connected vehicle reaches the control area, vehicle data acquisition is carried out, and a vehicle constraint model is constructed.
Further, when the intelligent network-connected vehicle reaches the control area, the vehicle data acquisition comprises the steps of acquiring the position, the speed, the acceleration information and the intersection signal lamp information of the vehicle, wherein the state information corresponding to each vehicle is as followsThe method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Numbering the vehicles; />Is->Personal car group->Is->First->Distance of vehicle from stop line, +.>Is->First->Speed of vehicle,/->Is->First->Acceleration of vehicle,/->Is->First->The moment of the signal lamp of the vehicle.
It should be noted that constructing the vehicle constraint model is expressed as:
；
wherein,numbering the vehicles; />Is->A plurality of groups; />、/>Is->Respectively represent +.>Vehicle +.>At->Distance from the stop line at the moment, speed and acceleration.
S2: and (5) carrying out vehicle grouping in the signalized intersection.
Further, when the vehicle grouping in the signalized intersection comprises the intersection vehicle entering the road network, the vehicle information in the control area is acquired, the vehicle type is judged, if the vehicle is CAV, the vehicle is regarded as controllable, and as a marshalling head vehicle, if the vehicle is HDV, the vehicle is regarded as uncontrollable, the vehicle runs along with the CAV, whether the HDV runs along with the CAV is judged, if the vehicle runs along with the CAV, the number of the vehicles in the vehicle group is increased until the number of the vehicles passing through the allowable cycle of the signal lamp is reached.
It should be noted that if the head car is HDV, it is uncontrollable and runs following CAV. It should be noted that this method works better when the CAV permeability is high. CAVs within the intersection control area are numbered, one CAV representing each consist.
S3: and constructing a multi-vehicle cooperative grouping intersection of a signal intersection in a mixed traffic environment and calculating oil consumption.
Further, constructing a signalized intersection multi-vehicle cooperative consist junction in a mixed traffic environment includes calculating a vehicle guiding speed when the vehicle arrives at a constant speedStop line, the firstThe time to reach the stop line when CAV in the train set travels at constant speed is expressed as:
；
wherein,is->Initial speed of CAV entering control area in the car group; when the vehicle accelerates before reaching the stop line at constant speed, +.>The time for CAV to accelerate and then travel at constant speed to reach a stop line in the train set is expressed as:
；
wherein,maximum speed for a vehicle in a road network, +.>Maximum acceleration for a vehicle in the road network; judging whether the signal lamp state is green when the head car CAV reaches a stop line, wherein the signal lamp state is expressed as:
；
wherein,for the time in the period in which the signal lamp is located, +.>Is the traffic signal lamp period; when the head car CAV of the car group runs at a constant speed,the time when the stop line is reached is in a green light period, no vehicle in front of the vehicle interferes with the running state, the head vehicle can safely drive across the intersection, when the head vehicle CAV of the vehicle group runs at a constant speed, the time when the stop line is reached is in a red light period, the speed of the vehicle can be guided smoothly under the condition that the current signal light period exists and the current signal light period cannot be passed, and the time spent from the starting point of a control area to the stop line of the CAV is expressed as:
；
wherein G represents the green light end time in the signal lamp period whenWhen the car passes through the intersection, the CAV can accelerate to give the guiding speed of the car as +.>When->When the CAV cannot pass through the intersection, the guiding speed of the vehicle reaching the stop line when the green light of the next link is lighted is calculated, and the time interval from the start of entering the control area to the start of the green light of the next cycle is expressed as:
；
wherein,for controlling the distance from the start point to the stop line, < > of the area>Time required for uniform deceleration of vehicle, +.>For the time required for the vehicle to travel at the guiding speedThe degree is expressed as:
；
after control of the CAV is completed, the number of vehicles passing through the HDV in the train set is calculated.
It should be noted that the calculation of the number of vehicles that can pass through the HDV in the consist is expressed as:
；
wherein,time remaining for the signal lamp cycle, +.>For the length of the vehicle->Is a safe distance between adjacent vehicles.
It should also be noted that, from Q, the maximum number of CAVs that can be controlled in a certain signal period can be determined, and the guiding speed of the CAV vehicle is obtained by the correlation equations in step 41 and step 42. Although the HDV is uncontrollable, a driver generally changes the state of the HDV according to the maneuvering state of a front vehicle and accelerates the HDV when the front vehicle accelerates, so that the number of vehicles passing through a signalized intersection in a period is increased; the vehicle is decelerated when the preceding vehicle is decelerated, thereby reducing fuel consumption.
Further, fuel consumption calculation includes calculating vehicle emissions by analyzing the specific power VSP of the vehicle, expressed as:
；
wherein,for vehicle speed +.>Is the vehicle acceleration.
Example 2
Referring to fig. 3, for an embodiment of the present invention, a method for controlling multiple vehicles at a signal controlled intersection in a mixed traffic environment is provided, and in order to verify the beneficial effects of the present invention, scientific demonstration is performed through economic benefit calculation and simulation experiments.
Firstly, a straight lane is established, the length of the straight lane is 500m, the length of the control area starting point distance signal intersection is 400m, a CAV and an HDV are arranged on a road, and the vehicle length is 5m. Taking the difference between CAV and HDV performance into consideration, setting the maximum speed of CAV as 25, the maximum acceleration as 3 and the maximum deceleration as-3; the maximum speed of the HDV is 20, the maximum acceleration is 2, and the maximum deceleration is-2. When the CAV vehicle enters the starting point of the control area, the information of the signal intersection at the moment is obtained through the vehicle-road cooperation technology, and the remaining seconds are 37s, and the information is changed into green light after 37 s. Since HDV cannot be controlled, speed guidance is not possible. Let us now assume that the CAV enters the control zone at a velocity of 20 and the HDV at a velocity of 15. The running track diagram of the vehicle after guiding is shown in fig. 3.
Referring to fig. 3, it can be seen that, except for the non-guided intelligent internet-connected vehicle stopping in advance before the stop line, all three vehicles are not completely stopped, that is, the driving behavior similar to that of a skilled driver can be achieved by guiding the CAV and indirectly guiding the HDV, the vehicle is not completely stopped, the vehicle is slowly moved forward through inertia, and the fuel consumption is reduced.
Example 3
Referring to fig. 4, for an embodiment of the present invention, a system for controlling multiple vehicles at a signal controlled intersection in a mixed traffic environment is provided, which includes a vehicle information acquisition module, a vehicle grouping module, a junction control module, and a fuel consumption calculation module.
When the intelligent network vehicle reaches a control area, the vehicle information acquisition module acquires vehicle data and builds a vehicle constraint model; the vehicle grouping module performs grouping according to the type of the vehicle, and designates a head vehicle and a following vehicle; the intersection control module is used for constructing a multi-vehicle cooperative grouping intersection of the signalized intersection in a mixed traffic environment; the fuel consumption calculation module calculates vehicle emissions by analyzing a specific power VSP of the vehicle.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, randomAccess Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like. It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (10)
1. A method for controlling multiple vehicles at a signal control intersection under a mixed traffic environment is characterized by comprising the following steps:
when the intelligent network-connected vehicle reaches a control area, vehicle data acquisition is carried out, and a vehicle constraint model is constructed;
carrying out vehicle grouping in the signalized intersection;
and constructing a multi-vehicle cooperative grouping intersection of a signal intersection in a mixed traffic environment and calculating oil consumption.
2. The method for controlling multiple vehicles at a signal control intersection under a mixed traffic environment according to claim 1, wherein the method comprises the following steps: when the intelligent network-connected vehicle reaches the control area, the vehicle data acquisition comprises the steps of acquiring the position, the speed, the acceleration information and the intersection signal lamp information of the vehicle, wherein the state information corresponding to each vehicle is as follows；
Wherein,number for vehicle->Is->Personal car group->Is->First->Distance of vehicle from stop line, +.>Is->First->Speed of vehicle,/->Is->First->Acceleration of vehicle,/->Is->First->The moment of the signal lamp of the vehicle.
3. The method for controlling multiple vehicles at a signal control intersection under a mixed traffic environment according to claim 2, wherein the method comprises the following steps: the building of the vehicle constraint model is expressed as:
；
wherein,、/>is->Respectively represent +.>Vehicle +.>At->Distance from the stop line at the moment, speed and acceleration.
4. The method for controlling multiple vehicles at a signal control intersection under a mixed traffic environment according to claim 3, wherein the method comprises the following steps: when vehicles in the signal intersection enter the road network, vehicle information in an arrival control area is acquired, the type of the vehicles is judged, if the vehicles are CAV, the vehicles are regarded as controllable, as a marshalling head vehicle, if the vehicles are HDV, the vehicles are regarded as uncontrollable and run along with the CAV, whether the HDV is followed after the CAV is judged, if the vehicles are followed, the number of the vehicles in the vehicle group is increased until the number of the vehicles passing through the allowable cycle of the signal lamp is reached.
5. The method for controlling multiple vehicles at a signal control intersection in a mixed traffic environment according to claim 4, wherein the method comprises the following steps: the construction of the multi-vehicle cooperative grouping intersection of the signalized intersection in the mixed traffic environment comprises the steps of calculating the guiding speed of the vehicle, and when the vehicle runs at a uniform speed to reach a stop line, the firstThe time to reach the stop line when CAV in the train set travels at constant speed is expressed as:
；
wherein,is->An initial speed of a first CAV in the consist entering the control region;
when the vehicle accelerates before reaching the stop line at constant speedFirst, theThe time for CAV to accelerate and then travel at constant speed to reach a stop line in the train set is expressed as:
；
wherein,maximum speed for a vehicle in a road network, +.>Maximum acceleration for a vehicle in the road network;
judging whether the signal lamp state is green when the head car CAV reaches a stop line, wherein the signal lamp state is expressed as:
；
wherein,for the time in the period in which the signal lamp is located, +.>Is the traffic signal lamp period;
when the head car CAV of the train set runs at a constant speed, the moment when the head car reaches a stop line is in a green light period, and no vehicle in front of the vehicle interferes with the running state, the head car can safely drive across an intersection, when the head car CAV of the train set runs at a constant speed, and the moment when the head car reaches the stop line is in a red light period, the speed guide can smoothly pass through the current signal light period and cannot pass through the current signal light period, the speed guide is carried out on the vehicle, and the time spent by the CAV from the starting point of a control area to the stop line is expressed as:
；
wherein G represents the green light end time in the signal lamp period whenWhen the car passes through the intersection, the CAV can accelerate to give the guiding speed of the car as +.>When->When the CAV cannot pass through the intersection, the guiding speed of the vehicle reaching the stop line when the green light of the next link is lighted is calculated, and the time interval from the start of entering the control area to the start of the green light of the next cycle is expressed as:
；
wherein,for controlling the distance from the start point to the stop line, < > of the area>Time required for uniform deceleration of vehicle, +.>For the time required for the vehicle to travel at a guiding speed, the guiding speed is expressed as:
；
after control of the CAV is completed, the number of vehicles passing through the HDV in the train set is calculated.
6. The method for controlling multiple vehicles at a signal control intersection in a mixed traffic environment according to claim 5, wherein the method comprises the following steps: the number of vehicles that can pass through the HDV in the consist is calculated as:
；
wherein,time remaining for the signal lamp cycle, +.>For the length of the vehicle->Is a safe distance between adjacent vehicles.
7. The method for controlling multiple vehicles at a signal control intersection in a mixed traffic environment according to claim 6, wherein the method comprises the following steps: the fuel consumption calculation includes calculating vehicle emissions by analyzing a specific power VSP of the vehicle, expressed as:
；
wherein,for vehicle speed +.>Is the vehicle acceleration.
8. A system adopting the method for controlling multiple vehicles at a signal control intersection under the mixed traffic environment according to any one of claims 1-7, which is characterized in that: the system comprises a vehicle information acquisition module, a vehicle marshalling module, an intersection control module and a fuel consumption calculation module;
the vehicle information acquisition module acquires vehicle data and builds a vehicle constraint model when the intelligent network vehicle reaches a control area;
the vehicle grouping module is used for grouping according to the type of the vehicle, and designating a head vehicle and a following vehicle;
the intersection control module is used for constructing a multi-vehicle collaborative grouping intersection of a signal intersection in a mixed traffic environment;
the fuel consumption calculation module calculates vehicle emissions by analyzing a specific power VSP of the vehicle.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method for controlling multiple vehicles co-operating at a signal controlled intersection in a mixed traffic environment according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor realizes the steps of the method for controlling multiple vehicles at a signal controlled intersection in a mixed traffic environment according to any one of claims 1 to 7.
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