| At present,autonomous driving technology is a research hotspot in the scientific and engineering.With the development of autonomous vehicle technology,there will be scenarios in which connected manual vehicles and connected autonomous vehicles coexist on the road in the foreseeable future.Therefore,this paper will study the coordinated traffic control method based on the mixed traffic of manned/unmanned vehicles at the intersection under the Internet of Vehicles.The main work of the paper is as follows:(1)First,analyze the reasons and causes of vehicle conflicts at intersections.The results show that the conflict points in time and space formed by the intersection of traffic routes are the fundamental factors,and based on this,the conflict points are regarded as resources.Then puts forward the collision avoidance conditions of vehicles at the intersection: the time of two vehicles with potential conflict points to the conflict point should be staggered,and the minimum safe headway should be guaranteed.(2)Then,model the mixed driving of manned/unmanned vehicles and analyze the difference between the two types of vehicles in the presence of manned vehicles with communication capabilities.In order to quantify this travel uncertainty and ensure that human vehicles can be predicted when they will arrive at the point of conflict to assign clearances to human-driven vehicles,a large amount of data on real human vehicles at intersections is analyzed,and obtain the probability function of the parameter that can describe the uncertainty of the artificial vehicle.Then,calculate the time interval for the manned vehicle to reach the conflict point.(3)And then,two coordinated control methods for non-signal-controlled intersections in the mixed traffic scenarios of manned/unmanned traffic are proposed:the vehicle driving method based on resource reservation and the vehicle driving method based on scheduling optimization.Combining the two indicators of complexity and traffic efficiency,a coordinated control method for non-signal-controlled intersections considering traffic density is proposed,which is called the resource reservation-scheduling optimization hybrid method.(4)Finally,a simulation platform is built using SUMO and PYTHON traffic simulators.The performance of the two methods under different densities and the number of dispatched vehicles is simulated first to determine the combined critical value of the hybrid method combining the two methods.Then compared with other simulation methods,the simulation results show that the hybrid method ensures the safety of vehicles passing through the intersection and has a good performance in indicators such as vehicle delay,calculation time,stability and throughput.Compared with the method based on resource reservation,the vehicle delay of the hybrid method can be reduced by up to 83.27%.Compared with the method based on scheduling optimization,the hybrid method has a great improvement,and the calculation time is reduced in the range of(25.1%～95.2%).Finally,the mixed driving scenario simulation of manned/unmanned driving is carried out,and the indicators such as vehicle delay,vehicle interference rate,and vehicle delay ratio under different penetration rates are analyzed. |
