考虑应急车辆优先通行的网联汽车-交叉口协同控制方法

doi:10.16097/j.cnki.1009-6744.2025.03.015

交通运输系统工程与信息 ›› 2025, Vol. 25 ›› Issue (3): 163-177.DOI: 10.16097/j.cnki.1009-6744.2025.03.015

• 智能交通系统与信息技术 • 上一篇下一篇

考虑应急车辆优先通行的网联汽车-交叉口协同控制方法

蒋贤才，李梦颖，梁辰

东北林业大学，土木与交通学院，哈尔滨150040

收稿日期:2025-01-09 修回日期:2025-03-12 接受日期:2025-04-02 出版日期:2025-06-25 发布日期:2025-06-20
作者简介:蒋贤才(1974—)，男，重庆梁平人，教授，博士。
基金资助:
黑龙江省自然科学基金(PL2024E012)。

Collaborative Control Method of Connected Vehicles and Intersections Considering Priority Passage for Emergency Vehicles

JIANG Xiancai^*, LI Mengying, LIANG Chen

School of Civil Engineering and Transportation, Northeast Forestry University, Harbin 150040, China

Received:2025-01-09 Revised:2025-03-12 Accepted:2025-04-02 Online:2025-06-25 Published:2025-06-20
Supported by:
Natural Science Foundation of Heilongjiang Province (PL2024E012)。

摘要/Abstract

摘要： 鉴于交通信号控制无法保证应急车辆(EMergency Vehicle,EMV)快速通行交叉口，且抢占式信号控制策略对社会车辆利益侵占严重的状况，本文基于动态公交专用道构建EMV在交叉口的空间优先通行权，提出一种网联交通环境下交叉口EMV借用冲突车流绿灯时间通行的两层优化策略。上层利用网联汽车可诱导/轨迹可控的优势，以交叉口车均延误及预期车速达成度倒数的乘积最小为优化目标，建立网联汽车(Connected Vehicles, CVs)轨迹与信号配时的联合优化模型，优化交叉口的信号配时和CVs运行轨迹；下层基于优化后的信号配时，以EMV速度达成度为约束，决策协同的冲突车流及采取的绿灯借用策略。以相位绿灯时长和CVs加速度为决策变量，考虑交叉口相位间的冲突和车辆轨迹等约束条件，建立动态规划模型求解目标函数。仿真结果表明：相较于仅开展信号优化控制，借用通行策略能显著降低EMV在交叉口的行程时间；与抢占式信号控制策略相比，能极大改善社会车辆的利益侵占。研究显示，公交小时交通量是制约EMV快速通行的关键因素。

关键词: 智能交通, 冲突车流绿时拆借, 动态规划, 网联汽车, 应急车辆优先通行

Abstract: To address the limitations that traffic signal control cannot ensure the smooth passage of emergency vehicles (EMVs), a two-layer optimization strategy is proposed for emergency vehicle (EMV) to enable EMVs to borrow the green time of conflicting traffic flows. The strategy is based on the construction of spatial right-of-way for EMVs at intersections using dynamic bus lanes, in order to address the serious encroachment of social vehicle interests by the preemptive signal control strategy of EMV at intersections. The upper-level optimization takes the advantages of inducible or controllable trajectories of connected vehicles (CVs). With the optimization objective of minimizing the product of vehicles' average delay at intersections and reciprocal of the expected vehicle speed attainment, a joint optimization model for the trajectory of CVs and the signal timing is established. Based on the optimized signal timing, the lower-level optimization makes decisions on collaborative conflicting traffic flow and green time borrowing strategies, constrained by the achievement of EMV travel speed. Taking phase green time and CVs acceleration as decision variables, and considering constraints such as conflicts between intersection phases and vehicle trajectories, a dynamic programming model is established to solve the objective function. Simulation results show that, compared with only implementing signal optimization control, the proposed method can significantly reduce the travel time of EMV at intersections. Compared with preemptive signal control strategies, it can greatly improve the encroachment of social vehicle interests. It indicates that the hourly traffic volume of bus is a key factor restricting the rapid passage of EMV.

Key words: intelligent transportation, borrowing green time of conflict traffic flow, dynamic programming, connected vehicles, priority for emergency vehicles

中图分类号:

U491

蒋贤才, 李梦颖, 梁辰. 考虑应急车辆优先通行的网联汽车-交叉口协同控制方法[J]. 交通运输系统工程与信息, 2025, 25(3): 163-177.

JIANG Xiancai, LI Mengying, LIANG Chen. Collaborative Control Method of Connected Vehicles and Intersections Considering Priority Passage for Emergency Vehicles[J]. Journal of Transportation Systems Engineering and Information Technology, 2025, 25(3): 163-177.

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考虑应急车辆优先通行的网联汽车-交叉口协同控制方法

Collaborative Control Method of Connected Vehicles and Intersections Considering Priority Passage for Emergency Vehicles

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