Vehicle Passing-through Time Window Regulation And Trajectory Planning In Intersection

With the increasing number of private cars in recent years,urban road traffic is facing great pressure,especially at intersections.The traditional intersection uses signal lights to control vehicle traffic.When the traffic flow is large,a long waiting queue will be formed in the lane where the signal light is in the red phase,resulting in traffic congestion.In addit ion,when an emergency vehicle reaches the traditional intersection,it will be delayed by the signal lights,thus missing the best time for rescue.With the development of vehicle-to-everything and automatic driving technology,real-time communication between vehicles can be realized.This information sharing can enable vehicles to cooperate with each other through the intersection,thus replacing the signal lights at the intersection and improving the traffic conditions at the intersection.The specific research contents of this paper are as follows :(1)The intersection scene is analyzed: including the potential collision analysis of vehicles at the intersection and the complex scene analysis when emergency vehicles exist,and the intersection scene is divided into the control area and collision area.Based on the vehicle edge computing architecture,the intersection regulation strategy of two-layer architecture is proposed,including the vehicle layer and the intersection controller layers.The two layers coordinate each other to complete the control of vehicles at the intersection.(2)Based on the scene analysis,the intersection controller layer’s passing-through time window regulation method is proposed.The research process is as follows: The intersection passing-through time window model is established,and the collision of vehicles in different lanes at the intersection is expressed as passing-through time window conflict.Based on the passing-through time window model,a passing-through time window conflict elimination method is proposed to solve the arrival time of vehicle collision area.At present,the research literature on intersection control rarely considers the control strategy of emergency vehicles,which cannot ensure that emergency vehicles pass through the intersection area preferentially.Therefore,this paper studies the regulation method in the case of emergency vehicles and ensures the priority of emergency vehicles through vehicle priority information.At the same time,this paper adopts the tabu search algorithm to optimize the sequence of vehicles to maximize the traffic capacity of the intersection.(3)Based on the results of passing-through time window regulation,the vehicle trajectory planning is studied,mainly including the following research contents: taking the vehicle energy consumption as the optimization objective,the vehicle trajectory planning model is established,and the analytical solution of the original vehicle trajectory is solved according to the optimal control theory;taking into account the constraints(such as road speed limit,vehicle acceleration limit,etc.)in the process of vehicle driving,a trajectory reprogramming method is proposed to eliminate the conflict between the original trajectory and the constraints.In addition,the method of eliminating collisions between vehicles in the same lane is proposed to avoid rear-end collisions between vehicles in the same lane.(4)To verify the effectiveness of the proposed passing-through time window regulation and vehicle trajectory planning method,the intersection simulation environment based on Python and SUMO is built.Several different simulation experiments are carried out in the intersection simulation environment.The experimental results verify the effectiveness of the passing-through time window regulation method and the vehicle trajectory planning method.