A platoon based cooperative eco-driving model for mixed automated and human-driven vehicles at a signalised intersection
A platoon based cooperative eco-driving model for mixed automated and human-driven vehicles at a signalised intersection
复制标题
DOI：
10.1016/j.trc.2018.05.025
复制
发表时间：
2018-10
期刊：
影响因子：
--
通讯作者：
Weiming Zhao;D. Ngoduy;S. Shepherd;Ronghui Liu;M. Papageorgiou
中科院分区：
文献类型：
--
作者：
Weiming Zhao;D. Ngoduy;S. Shepherd;Ronghui Liu;M. Papageorgiou
可以利用通信和传感技术的进步来帮助驾驶员做出更好的决策。在本文中，我们考虑了自动驾驶车辆（AVs）和人类驾驶车辆（HVs）混合车辆组的实时协同生态驾驶策略设计。车队中的领头车辆可以通过车对基础设施（V2I）通信接收信号相位和授时信息，通过车对车（V2V）通信接收前车和当前车队的交通状态。提出了一种后退地平线模型预测控制（MPC）方法，以最大限度地降低车队的燃油消耗，并使车队在绿灯阶段通过交叉口。然后，将该方法扩展到针对城市交通流高度变化的自动驾驶汽车与高速公路合作的动态分排和合并规则中。并进行了大量的仿真试验，验证了该模型在混合交通流和不同自动驾驶渗透率条件下的性能。我们的模型表明，自动驾驶汽车和hv的合作可以进一步平滑后者的轨迹，降低整个交通系统的燃油消耗，特别是对于自动驾驶汽车普及率较低的情况。值得注意的是，该模型在实现生态驾驶策略的同时，不影响交通效率和驾驶舒适性。
The advancements in communication and sensing technologies can be exploited to assist the drivers in making better decisions. In this paper, we consider the design of a real-time cooperative eco-driving strategy for a group of vehicles with mixed automated vehicles (AVs) and human-driven vehicles (HVs). The lead vehicles in the platoon can receive the signal phase and timing information via vehicle-to-infrastructure (V2I) communication and the traffic states of both the preceding vehicle and current platoon via vehicle-to-vehicle (V2V) communication. We propose a receding horizon model predictive control (MPC) method to minimise the fuel consumption for platoons and drive the platoons to pass the intersection on a green phase. The method is then extended to dynamic platoon splitting and merging rules for cooperation among AVs and HVs in response to the high variation in urban traffic flow. Extensive simulation tests are also conducted to demonstrate the performance of the model in various conditions in the mixed traffic flow and different penetration rates of AVs. Our model shows that the cooperation between AVs and HVs can further smooth out the trajectory of the latter and reduce the fuel consumption of the entire traffic system, especially for the low penetration of AVs. It is noteworthy that the proposed model does not compromise the traffic efficiency and the driving comfort while achieving the eco-driving strategy.