Research On Speed Guidance Control Model Of Heavy Truck At Signalized Intersections Under Vehicle Infrastructure Cooperative System

With the development and maturity of vehicle-road cooperation technology,the research on vehicle driving behavior based on vehicle-road cooperation technology has become a research hotspot of modern intelligent transportation system.And with the rapid development of the logistics industry,truck has gradually become a non-negligible force to support the development of logistics industry,and it continues to develop toward the direction of large-scale and heavy load.Compared with cars and buses,heavy trucks often need to spend more time and travel longer distances to accelerate and decelerate when faced with the change of intersection signals,which will bring more traffic delays and air pollution,and also bring negative effects on the service life of heavy trucks and the stability of road structure.By establishing the speed guidance control model of heavy truck at signalized intersections under vehicle-road cooperation environment,this paper aims to reduce the stopping times and make heavy truck directly pass the signalized intersections.The main contents are as follows:The key system and functional requirements of the control model of heavy truck at signalized intersections under vehicle-road cooperation environment were analyzed.On this basis,the control system architecture of heavy truck under vehicle-road cooperation environment was proposed.Meanwhile,the acceleration limit of heavy truck was set through the dynamic shift strategy,which provided a theoretical basis for subsequent research.By obtaining the signal timing at the intersection,the driving trajectory of heavy trucks at the intersection was analyzed,and the constraint function was established,the vehicle speed guidance control model based on the driving trajectory of heavy trucks was constructed with the minimum total travel time as the objective function.And through the calculation example analysis,compared with the non-speed guidance control model,it is verified that the speed guidance control model can reduce the stopping times and the total travel time of heavy trucks at the intersection.The strategy of shortening the red light and lengthening the green light is used to adjust the signal timing,and the speed guidance of the heavy truck itself is carried out at the same time.The calculation formula of the arrival time window and the passage time window under the cooperative control strategy of combining the signal timing and speed guidance is given.Based on this,taking the minimum total travel time as the objective function,the cooperative control model of signal timing and speed guidance based on time window theory was established to optimize the driving trajectory of heavy trucks that can pass the signalized intersection without stopping.Through comparative tests of examples,the superiority of cooperative control model of signal timing and speed guidance compared with induction control model is analyzed.In most cases,the cooperative control model of signal timing and speed guidance can further reduce the stopping times and the total travel time of heavy trucks at intersections.Intersection queuing model which is based on traffic wave theory,calculate the intersection queue dissipation time,on this basis,the speed guidance control model based on the driving track of heavy truck and the cooperative control model of signal timing and speed guidance based on the time window theory are improved respectively,further set up considering the intersection queuing of heavy truck speed control model.Finally,data were collected for the straight lane at the north entrance of the intersection of G312-Hengshun Avenue in Zhenjiang City,and carry out case analysis.The total travel time and stopping times under considering the intersection queuing of heavy truck speed control model better than the actual observed values.Moreover,compared with the control model which only relies on the speed guidance strategy,the cooperative control model of signal timing and speed guidance can further reduce the stopping times of heavy trucks at the intersection in the actual driving situation.