摘要
为使车辆高效通过交叉路口,减少启停,安全、快速、经济、舒适地完成长路段行车,采用基于规则、A^(*)和改进A^(*)3种不同算法对给定多红绿灯和多限速路段进行车速规划,并在整车–发动机控制模型上开展车速控制仿真测试,对比车速控制效果、加速度波动和燃油经济性.改进A^(*)算法以位置、时间和加速度为扩展节点状态量,以VT-Micro瞬时燃油消耗量为代价,以红绿灯相位、限速和道路坡度值为约束,优化规划效果.与基于普通A^(*)的车速规划算法相比,改进A^(*)算法车速规划用时减少75.95%,车辆通行时间减少9.60%,加速度变动降低37.90%,燃油消耗量减少2.56%.
In order to ensure vehicles efficiently pass through intersections,reduce start-stops,drive safely,rapidly,economically and comfortably during long distance journeys,driving speed was planned for a given road condition with multiple traffic lights,speed limits and road slopes using rule-based algorithm,the A^(*)algorithm and improved A^(*)algorithm respectively.Speed control simulations were conducted on the vehicle-engine Simulink control model.Speed control effects,acceleration fluctuation and fuel economy were discussed in detail.The improved A^(*)algorithm uses position,time and acceleration as state-space nodes,employs VT-Micro instantaneous fuel consumption as the cost function,and uses the traffic light phase,speed limit and road slope value as the constraints to optimize the planning result.Compared with the A^(*)algorithm,the speed planning time of the improved A^(*)algorithm is reduced by 75.95%,the vehicle travel time is reduced by 9.6%,the acceleration variation is reduced by 37.9%,and the fuel consumption is reduced by 2.56%.
作者
乔奉亮
沈照杰
刘丹阳
QIAO Feng-liang;SHEN Zhao-jie;LIU Dan-yang(Hua Yu Automotive Systems Co.,LTD.,Shanghai First Branch,Shanghai 200433,China;School of Automative Engineering,Harbin Institute of Technology at Weihai,Weihai Shandong 264209,China)
出处
《控制理论与应用》
2025年第8期1496-1504,共9页
Control Theory & Applications
基金
国家自然科学基金项目(51606052)资助.
关键词
改进A^(*)算法
车速规划
智能控制
多红绿灯交叉口
improved A^(*)algorithm
speed planning
intelligent control
multi-traffic-light intersections
作者简介
乔奉亮,硕士,工程师,目前研究方向为自动驾驶决策规划算法,E-mail:qiao_feng_liang@163.com;通信作者:沈照杰,副教授,目前研究方向为研究方向为车路云一体化融合控制技术,E-mail:shenzj@hitwh.edu.cn,Tel.:+86631-5687021;刘丹阳,硕士,目前研究方向为研究方向为车路云一体化融合控制技术,E-mail:793545415@qq.com.
