弯曲道路异构车辆队列归并控制的轨迹规划算法

IF 1.3 4区工程技术 Q3 TRANSPORTATION SCIENCE & TECHNOLOGY

Transport Pub Date : 2022-11-22 DOI:10.3846/transport.2022.17896

Chentong Bian, Guo-dong Yin, Liwei Xu, Ning Zhang

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引用次数: 0

摘要

本研究的主要目标是提出一种异构车辆队列合并控制的轨迹规划算法。合并控制是车辆排应用的关键，通过合并控制，车辆可以在车道上协调形成队列。而以往的归并控制研究大多只考虑了在直道和匝道上的运行。对于弯曲道路上的合流操作研究较少，这可能会阻碍队列在一般交通环境中的应用。本文提出了一种用于等半径弯曲道路上异构车辆队列合并控制的轨迹规划算法。该算法的归并操作分为两个阶段:第一阶段是将每条车道上的车辆对齐，形成具有一定间隙的结构;第二阶段是对每辆合并车辆进行变道机动，使其在车道上排成一排。该算法考虑了速度和加速度的动态限制。每辆车之间的距离可以保证避免意外的碰撞。通过对弯曲道路上异构车辆队列合并控制的仿真，验证了该算法的有效性。仿真结果表明，该算法能够实现弯曲道路上的队列合并控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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TRAJECTORY PLANNING ALGORITHM FOR MERGING CONTROL OF HETEROGENEOUS VEHICULAR PLATOON ON CURVE ROAD

The main goal of this study is to propose a trajectory planning algorithm for the merging control of heterogeneous vehicular platoons. Merging control is essential for the application of vehicular platoons, by which vehicles can be coordinated to form a platoon in a lane. While most previous researches on merging control only considered the operation on straight roads and ramps. Few studies have investigated the merging operation on curve roads, which may hinder the application of platoons on general traffic environment. In this study, a trajectory planning algorithm is proposed for the merging control of heterogeneous vehicular platoons on curve roads with constant radius. The proposed algorithm consists of two stages for the operation of merging: the first stage is to align the vehicles in each lane to form a structure with a certain clearance; the second stage is to conduct a lane changing manoeuvre for each merging vehicle to form a platoon in a lane. In the proposed algorithm, the dynamic limits of speed and acceleration are considered. The distance of each vehicle can be guaranteed to avoid undesired collisions. Two simulations are carefully conducted for the merging control of heterogeneous vehicular platoons on a curve road to demonstrate the effectiveness of the proposed algorithm. The results of simulations indicate that the proposed algorithm is capable of the merging control of platoons on a curve road.

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来源期刊

Transport Engineering-Mechanical Engineering

CiteScore

3.40

自引率

5.90%

发文量

审稿时长

4 months

期刊介绍： At present, transport is one of the key branches playing a crucial role in the development of economy. Reliable and properly organized transport services are required for a professional performance of industry, construction and agriculture. The public mood and efficiency of work also largely depend on the valuable functions of a carefully chosen transport system. A steady increase in transportation is accompanied by growing demands for a higher quality of transport services and optimum efficiency of transport performance. Currently, joint efforts taken by the transport experts and governing institutions of the country are required to develop and enhance the performance of the national transport system conducting theoretical and empirical research. TRANSPORT is an international peer-reviewed journal covering main aspects of transport and providing a source of information for the engineer and the applied scientist. The journal TRANSPORT publishes articles in the fields of: transport policy; fundamentals of the transport system; technology for carrying passengers and freight using road, railway, inland waterways, sea and air transport; technology for multimodal transportation and logistics; loading technology; roads, railways; airports, ports, transport terminals; traffic safety and environment protection; design, manufacture and exploitation of motor vehicles; pipeline transport; transport energetics; fuels, lubricants and maintenance materials; teamwork of customs and transport; transport information technologies; transport economics and management; transport standards; transport educology and history, etc.