[1]刘明剑,朱云鹤,张思佳,等.基于最大团理论的自治交叉路口控制方法[J].郑州大学学报(工学版),2024,45(02):114-120.[doi:10.13705/j.issn.1671-6833.2023.05.004]
 LIU Mingjian,ZHU Yunhe,ZHANG Sijia,et al.Autonomous Intersection Control Method Based on Maximum Clique Theory[J].Journal of Zhengzhou University (Engineering Science),2024,45(02):114-120.[doi:10.13705/j.issn.1671-6833.2023.05.004]
点击复制

基于最大团理论的自治交叉路口控制方法()
分享到:

《郑州大学学报(工学版)》[ISSN:1671-6833/CN:41-1339/T]

卷:
45
期数:
2024年02期
页码:
114-120
栏目:
出版日期:
2024-03-06

文章信息/Info

Title:
Autonomous Intersection Control Method Based on Maximum Clique Theory
作者:
刘明剑 朱云鹤 张思佳 孙 华
大连海洋大学 信息工程学院, 辽宁 大连 116023
Author(s):
LIU Mingjian ZHU Yunhe ZHANG Sijia SUN Hua
College of Information Engineering, Dalian Ocean University, Dalian 116023, China
关键词:
交通工程 无信号控制交叉口 车路协作 最大团 轨迹预测
Keywords:
traffic engineering unsignalized intersection vehicle-infrastructure cooperative maximum clique trajectory prediction
DOI:
10.13705/j.issn.1671-6833.2023.05.004
文献标志码:
A
摘要:
现有自治交叉路口控制策略缺乏前瞻性、容易发生死锁导致控制系统执行效率过低,针对这一问题,设计 了一种基于最大团理论的车路协作自治交叉路口控制策略。 首先,对车辆行驶的时空轨迹进行建模,构建可以描 述车辆间行驶冲突关系的冲突矩阵;其次,将冲突矩阵转换成冲突关系图,通过设立 3 个求解阶段,求解冲突关系 图中最大团的补集,将其作为接受车辆预约请求集合,使得每个批处理周期内更多车辆成功预约通过交叉路口的 请求,在保证车辆在交叉路口行驶安全的基础上,提高了交叉路口的通行效率。 仿真实验结果表明:相比于先来先 服务控制策略、交通信号控制策略及基于禁忌搜索的控制策略,车辆的平均等待时间分别减少 40%、17%及 8%,单 位时间内交叉路口的通过车辆数分别提升 30%、18%及 9%,证明了该策略的有效性,不仅能够提高交叉路口的吞 吐量,还能有效降低车辆平均等待时间。
Abstract:
The existing autonomous intersection control strategies lack foresight and are prone to deadlock, resulting in low execution efficiency of the control system. To address this issue, a vehicle road collaborative autonomous intersection control strategy based on maximum clique theory is designed. Firstly, the spatiotemporal trajectory of vehicles was modeled, and the conflict matrix describing the driving conflict relationship between vehicles was constructed. Secondly, the conflict matrix was transformed into a conflict relation graph. Through three established solution stages, the complement of the maximum clique in the conflict relation graph was solved as the set of accepted vehicle reservation requests, which could ensure more successful vehicle reservation requests passing through the intersection within each batch processing cycle and could improve the efficiency of intersection passage while ensuring the safety of vehicle driving at the intersection. Simulation results showed that compared with the first come first served control strategy, traffic signal control strategy, and Tabu-based control strategy, the average waiting time was reduced by 40%, 17%, and 8%, and the number of vehicles passing through the intersection per unit time was increased by 30%, 18%, and 9%, respectively. This proved the effectiveness of the strategy, which not only could improved the throughput of the intersection but also could effectively reduce the average waiting time of vehicles.

参考文献/References:

[1] 高德软件有限公司. 2021年度中国主要城市交通分析报告[R]. 北京:高德地图交通大数据,2022.

AMAP. 2021 China′s major urban traffic analysis report[R]. Beijing: Gaode Transportation Big Data, 2022.
[2] 张雪妍, 贺锋. 基于累积前景理论的组合出行交通分配模型[J]. 郑州大学学报(工学版), 2020, 41(3): 91-96.
ZHANG X Y, HE F. Traffic assignment model with combined modes based on cumulative prospect theory[J]. Journal of Zhengzhou University (Engineering Science), 2020, 41(3): 91-96.
[3] 龙雪琴, 王瑞璇, 王晗. 考虑出行者不同理性程度的拥堵交通流分配方法[J]. 交通运输系统工程与信息, 2023, 23(1): 216-223.
LONG X Q, WANG R X, WANG H. Traffic flow assignment method considering travelers′ different rational degree under congestions[J]. Journal of Transportation Systems Engineering and Information Technology, 2023, 23(1): 216-223.
[4] 岳昊, 刘晓玲, 孟晓雨, 等. 拥堵道路网的静态交通流非均衡分配方法[J]. 北京交通大学学报, 2017, 41(3): 1-6.
YUE H, LIU X L, MENG X Y, et al. A non-equilibrium method to solve static traffic assignment problem at the congested road network[J]. Journal of Beijing Jiaotong University, 2017, 41(3): 1-6.
[5] 张新洁, 关宏志, 赵磊, 等. 有限理性视野下出行者出行方式选择分层Logit模型研究[J]. 交通运输系统工程与信息, 2018, 18(6): 110-116.
ZHANG X J, GUAN H Z, ZHAO L, et al. Nested logit model on travel mode choice under boundebly rational view[J]. Journal of Transportation Systems Engineering and Information Technology, 2018, 18(6): 110-116.
[6] HOU Y F, SELIMAN S M S, WANG E S, et al. Cooperative and integrated vehicle and intersection control for energy efficiency (CIVIC-E2)[J]. IEEE Transactions on Intelligent Transportation Systems, 2018, 19(7): 2325-2337.
[7] LI L, WEN D, YAO D Y. A survey of traffic control with vehicular communications[J]. IEEE Transactions on Intelligent Transportation Systems, 2014, 15(1): 425-432.
[8] GUO Q Q, LI L, BAN X G. Urban traffic signal control with connected and automated vehicles: a survey[J]. Transportation Research Part C: Emerging Technologies, 2019, 101: 313-334.
[9] DRESNER K, STONE P. A multiagent approach to autonomous intersection management[J]. Journal of Artificial Intelligence Research, 2008, 31: 591-656.
[10] CARLINO D, BOYLES S D, STONE P. Auction-based autonomous intersection management[C]∥16th International IEEE Conference on Intelligent Transportation Systems (ITSC 2013). Piscataway:IEEE, 2014: 529-534.
[11] VASIRANI M, OSSOWSKI S. A market-inspired approach for intersection management in urban road traffic networks[J]. Journal of Artificial Intelligence Research, 2012, 43: 621-659.
[12] MAHBUB A M I, MALIKOPOULOS A A. Conditions for state and control constraint activation in coordination of connected and automated vehicles[C]∥2020 American Control Conference (ACC). Piscataway:IEEE, 2020: 436-441.
[13] XU H L, ZHANG Y, LI L, et al. Cooperative driving at unsignalized intersections using tree search[J]. IEEE Transactions on Intelligent Transportation Systems, 2020, 21(11): 4563-4571.
[14] ZHU M J, LI X, HUANG H Y, et al. LICP: a look-ahead intersection control policy with intelligent vehicles[C]∥2009 IEEE 6th International Conference on Mobile Adhoc and Sensor Systems. Piscataway:IEEE, 2009: 633-638.
[15] 刘明剑, 谭国真, 魏欣, 等. 基于禁忌搜索的交叉路口自治车辆调度方法[J]. 中国公路学报, 2016, 29(2): 123-129.
LIU M J, TAN G Z, WEI X, et al. Autonomous vehicle scheduling method based on tabu search at intersections[J]. China Journal of Highway and Transport, 2016, 29(2): 123-129.
[16] 常玉林, 汪小渟, 张鹏. 改进蚁群算法在交通分配模型中的应用[J]. 郑州大学学报(工学版), 2017, 38(2): 41-44, 49.
CHANG Y L, WANG X T, ZHANG P. Modified ant colony algorithm and its application on traffic assignment model[J]. Journal of Zhengzhou University (Engineering Science), 2017, 38(2): 41-44, 49.
[17] PEI H X, FENG S, ZHANG Y, et al. A cooperative driving strategy for merging at on-ramps based on dynamic programming[J]. IEEE Transactions on Vehicular Technology, 2019, 68(12): 11646-11656.
[18] 吴伟, 刘洋, 马万经. 自动驾驶环境下面向交叉口自由转向车道的交通控制模型[J]. 中国公路学报, 2019, 32(12): 25-35.
WU W, LIU Y, MA W J. Intersection traffic control model for free-turning lane in connected and autonomous vehicle environment[J]. China Journal of Highway and Transport, 2019, 32(12): 25-35.
[19] 蒋阳升, 蒋浩然, 姚志洪, 等. 基于虚拟车队的自动交叉路口车辆时序优化模型[J]. 中国公路学报, 2022, 35(8): 291-303.
JIANG Y S, JIANG H R, YAO Z H, et al. Vehicle schedule optimization model for autonomous intersection based on virtual platoon[J]. China Journal of Highway and Transport, 2022, 35(8): 291-303.
[20] GONZwidth=8,height=11,dpi=110LEZ C L, ZAPOTECATL J L, GERSHENSON C, et al. A robustness approach to the distributed management of traffic intersections[J]. Journal of Ambient Intelligence and Humanized Computing, 2020, 11(11): 4501-4512.
[21] YESILYURT A Y, TUNC I, SOYLEMEZ M T. A reservation method for multi-agent system intersection management with energy consumption considerations[J]. IFAC-PapersOnLine, 2021, 54(2): 246-251.
[22] ZHANG J, JIANG X, LIU Z Y, et al. A study on autonomous intersection management: planning-based strategy improved by convolutional neural network[J]. KSCE Journal of Civil Engineering, 2021, 25(10): 3995-4004.
[23] PULLAN W. Approximating the maximum vertex/edge weighted clique using local search[J]. Journal of Heuristics, 2008, 14(2): 117-134.
[24] PULLAN W. Approximating the maximum vertex/edge weighted clique using local search[J]. Journal of Heuristics, 2008, 14(2): 117-134.

相似文献/References:

[1]张惠玲,杨林玉,敖谷昌.信号交叉口第一辆车到达分布及影响因素分析[J].郑州大学学报(工学版),2019,40(03):73.[doi:10.13705/j.issn.1671-6833.2018.03.009]
 Zhang Huiling,Yang Linyu,Ao Guchang.Analysis on the Arrival Distribution and Influencing Factors of the First Car Arrival at the Signalized Intersection[J].Journal of Zhengzhou University (Engineering Science),2019,40(02):73.[doi:10.13705/j.issn.1671-6833.2018.03.009]
[2]吴小萍,储诚诚,李月光,等.博弈论在高速公路施工期环境影响评价中的应用[J].郑州大学学报(工学版),2012,33(06):36.[doi:10.3969/j.issn.1671-6833.2012.06.009]

更新日期/Last Update: 2024-03-08