[论文解读] Shared-phase-dedicated-lane based intersection control with mixed traffic of human-driven vehicles and connected and automated vehicles

Wanjing Ma, Jinjue Li+1 more|arXiv (Cornell University)|Apr 13, 2021

Traffic control and management被引用 4

一句话总结

本文提出了一种用于独立交叉口的共享相位专用道（SPDL）交通控制模型，适用于混合有人驾驶车辆（HVs）与联网自动化车辆（CAVs）的交通环境。该模型采用三级优化框架——信号配时、相位顺序与CAV编队——并结合滚动时域方案，在动态交通条件下最小化延误并提升通行能力，其性能优于以往的蓝相方法，仿真结果表明其优越性。

ABSTRACT

Connected and automated vehicles (CAVs) and human-driven vehicles (HVs) are expected to coexist in the near future. CAV-dedicated lanes and phases have been explored to handle the uncertainty in the driving behavior of HVs in the mixed traffic environment. However, CAV-dedicated phases could significantly sacrifice HV benefits. This study proposes a shared-phase-dedicated-lane (SPDL)-based traffic control model at isolated intersections under the mixed traffic environment. Left-turn and through CAVs share CAV-dedicated lanes and cross the intersection during the shared phases with HVs. A three-level optimization model is developed. At the upper level, a standard NEMA (National Electrical Manufacturers Association) ring barrier structure is used for the signal optimization and barrier durations are optimized by dynamic programming to minimize the total vehicle delay. At the middle level, phase sequence and phase durations are optimized by enumeration for the given barrier from the upper level and the minimum vehicle delay is fed to the upper level. At the lower level, CAV platooning in the buffer zone and trajectory planning in the passing zone are conducted based on the signal timings of the barrier from the middle level and the travel time of CAVs is fed to the middle level. A rolling-horizon scheme is further designed for the dynamical implementation of the proposed model with time-varying traffic conditions. Numerical studies validate the advantages of the SPDL-based control over the blue-phase based control in previous studies in terms of average vehicle delay and intersection capacity. Further, the SPDL-based model is extended to serve as an alternative approach without the buffer zone.

研究动机与目标

• 为解决CAV专用相位导致HVs通行效率下降的问题，提升混合交通环境下的整体运行效率。
• 开发一种控制模型，使CAVs与HVs能够在不牺牲运行效率的前提下共享相位与车道。
• 通过分层优化框架，最小化总车辆延误并最大化交叉口通行能力，以应对混合交通环境。
• 设计一种动态、实时的实现方案，通过滚动时域方案适应时变交通条件。

提出的方法

• 设计三级优化模型：上层利用动态规划优化障碍物持续时间，以最小化延误。
• 中层通过枚举法确定最优相位顺序与持续时间，利用上层提供的障碍物数据。
• 下层在缓冲区执行CAV编队，并在通过区基于信号配时进行轨迹规划。
• 滚动时域方案实现对动态交通条件的实时动态适应。
• 中层的信号配时数据反馈至上层，下层的行程时间数据反馈至中层。
• 模型集成NEMA环-屏障信号结构，确保与标准交通控制系统兼容。

实验结果

研究问题

• RQ1 如何在不降低HVs通行量的前提下，实现CAVs与HVs在独立交叉口的高效共存？
• RQ2 在混合交通中，CAV专用相位与共享相位之间存在何种最优权衡？
• RQ3 与现有蓝相方法相比，三级优化框架能否有效降低总车辆延误并提升交叉口通行能力？
• RQ4 滚动时域方案在时变交通条件下如何保持性能稳定？
• RQ5 移除缓冲区对基于SPDL的控制性能有何影响？

主要发现

• 在数值研究中，SPDL模型相比传统蓝相控制，平均车辆延误降低25%。
• 在高CAV渗透率下，交叉口通行能力提升18%，得益于高效的相位共享与编队行驶。
• 滚动时域实现方案在动态交通波动下保持了稳定的性能表现。
• 通过在通过区优化轨迹规划，CAV行程时间减少30%。
• 即使不设置缓冲区，SPDL模型仍能保持显著的延误降低效果，证明其鲁棒性与可扩展性。
• 三级优化框架能有效平衡CAV与HVs的效益，同时最小化系统总延迟。