Coordination Control Strategies Of Automatic Vehicles At The Intersection

Intersection is not only an important part of urban road traffic which has the function of evacuating traffic flow and pedestrian flow,but also the bottleneck of urban roads for reducing the traffic efficiency and restricting the traffic capacity.With the rapid increase in the number of private cars,urban road intersection operating condition is poor,especially for the intersection with higher traffic flow and complex traffic composition,traffic congestion is common and traffic accidents are occurred frequently.The advent of Intelligent Vehicle Infrastructure Cooperative Systems(IVICS)makes it possible to automatically avoid traffic conflicts and obstacles when automatic driving vehicles pass through the intersection through information interaction between vehicles with the method of centralized control,according to certain rules of passage.By combining automatic driving technology with Intelligent Vehicle Infrastructure Cooperative Systems(IVICS),it can effectively relieve traffic congestion,reduce traffic accidents,improve traffic efficiency and increase traffic capacity.This paper mainly studies the coordinated control algorithm of the automatic driving vehicle at the intersection.The strategies include the construction of automatic driving vehicles priority rules database,automatic driving vehicle section control model and automatic driving vehicle intersection coordination control algorithm.The research object of this paper is only automatic driving vehicle,and the vehicle running to the intersection is controlled centrally by central cooperative controller.Based on the theory of controllable gap,the research area is divided into section control area,coordinated control area and core conflict zone.By setting the target position of the automatic driving vehicle in the core conflict zone,the automatic driving vehicle priority passage rule is constructed.When the automatic vehicles are driving through the coordinated control area,they can realize information exchanging and sharing by the ve hicle-to-vehicle and vehicle-to-infrastructure communication,and transfer information to the central coordination controller for centralized processing.When the automatic driving vehicle is detected to be in conflict at the intersection,according to the vehicle priority rules in this paper,the running speed of the oncoming vehicle will be changed,the traffic order of the automatic driving vehicle would be arranged rationally.Thus,the conflict can be dissolved and the vehicle can safely and efficiently pass through the intersection.Therefore,the rules and models of this paper,at the micro-level,will provide a new way for the intersection control mode and open up a new field for the passage of vehicles at the intersection.At the macroscopic level,it will also provide the theoretical basis for the future development and popularization of the automatic driving vehicles and reference for the future urban traffic management mode.