Research On Control Strategy And Simulation Of Vehicle-vehicle Cooperative Operation At Road Intersections

In recent years,"intelligent transportation" and "intelligent network-connected vehicles" have gradually become the new trend in the development of intelligent transportation,and how to improve the safety and efficiency of traffic at signal-free intersections is one of the key points in the study of vehicle-vehicle cooperative operation control.Based on this background,this paper presents an in-depth study of the cooperative vehicle-vehicle operation control strategy for signal-free intersections.Based on the characteristics of road conditions,vehicle behaviour data and workshop data,the paper proposes a game decision conflict resolution method,which establishes the objective benefit function from the perspective of traffic safety,efficiency and comfort,and selects Nash equilibrium to analyse and verify the overall benefit of the strategy combination.The main work of the thesis is as follows:（1）First of all,the on-board system of vehicle-vehicle cooperative control and the demand analysis of the real vehicle experimental hardware are analysed.In order to show the information interaction of vehicle/vehicle/human more intuitively,the information interaction of vehicle/vehicle/human is shared through the human-computer interaction interface with the media of text,image,colour,and sound.（2）Secondly,the types of conflicts are classified according to the phenomenon of vehiclevehicle conflict at the intersection,and a driving rule library is established based on the existing traffic safety law for unsignaled intersections in China.Taking the cross-conflict with the northsouth direction vehicle as the research object,the conflict detection process and model are established,and the conflict detection results are analyzed.（3）The severity of the conflict is defined,the elements involved in the game are selected,and the driver’s style is analyzed in combination with the different impact of different road types on the driver.A game traffic decision-making algorithm is proposed,and the objective revenue function is established considering the driving safety,efficiency and comfort of the vehicle.According to the different styles of drivers,the conflict resolution strategy of the unsignaled intersection is improved.Through the dynamic repeated game with complete information,the optimal strategy combination is obtained by using Nash equilibrium.Traffic efficiency at unsignaled intersections.（4）Based on the co-simulation and verification of Pre Scan and Simulink platforms,Pre Scan is used to design a cross-shaped non-signal controlled intersection as an experimental scene,and Simulink is used to build a game traffic decision model,and the income level of each strategy is analyzed according to the different styles of drivers participating in the game.Take the northsouth（conservative）vehicle conflict as an example,and compare it with the preemptive conflict resolution algorithm.Simulation results show that the full information-based dynamic game control method proposed in this paper can guide vehicles to cross the intersection without stopping,eliminate potential conflicts at the intersection,alleviate traffic congestion and improve the vehicle capacity of signal-free intersections.