在包含自动驾驶车辆和人工驾驶车辆的混合路口中,传统通行策略下的车辆平均速度慢,停车等待时间长,通行效率低。为解决这一问题,根据车辆间距建立编队,为不同类型领导者的编队制定不同的通行逻辑与通行优先级计算方法,有效地防止了自动驾驶车辆为形成编队而减速,保证了路口通行的公平性。实验结果表明,随着自动驾驶车辆渗透率的提高,所提策略在交通承载能力、平均速度、平均等待时间、平均油耗等方面均优于对比传统策略。
In a mixed intersection composed of autonomous and manual vehicles, the traditional traffic strategy leads to slow traffic, long waiting time, and low efficiency. To solve the problem, in this paper, platoons of vehicles are formed based on the distance between vehicles. The platoons with autonomous and manual vehicles are controlled by different traffic strategies and priorities, which effectively prevents the traffic efficiency reduction of autonomous vehicles and ensures the fairness of traffic at intersections. Simulations show that with the increase of penetration rate, the proposed strategy is superior to the traditional strategies in terms of the average speed, the average waiting time, and the average fuel consumption.
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