智能网联无车道线城市道路内边界与交通信号协同控制

doi:10.16097/j.cnki.1009-6744.2026.02.008

交通运输系统工程与信息 ›› 2026, Vol. 26 ›› Issue (2): 81-90.DOI: 10.16097/j.cnki.1009-6744.2026.02.008

• 智能交通系统与信息技术 • 上一篇下一篇

智能网联无车道线城市道路内边界与交通信号协同控制

王亦兵^*1 ，陈安妮¹ ，PAPAGEORGIOU Markos^2,3，余宏鑫¹，郭静秋⁴，章立辉¹

1. 浙江大学，建筑工程学院，杭州310058；2.克里特理工大学，动态系统与仿真实验室，干尼亚73100，希腊； 3. 宁波大学，海运学院，浙江宁波315832；4.同济大学，交通运输工程学院，上海201804

收稿日期:2026-01-12 修回日期:2026-02-06 接受日期:2026-02-10 出版日期:2026-04-25 发布日期:2026-04-20
作者简介:王亦兵（1968—），男，辽宁沈阳人，教授。
基金资助:
国家自然科学基金(52272315)；欧洲研究理事会ERC高级研究项目TrafficFluid(833915)。

Integrated Control of Road Internal Boundaries and Signal Timing for Lane free Traffic of Connected Autonomous Vehicles in Urban Networks

WANG Yibing^*1, CHEN Anni¹, PAPAGEORGIOU Markos^2,3,YU Hongxin¹, GUO Jingqiu⁴, ZHANG Lihui¹

1. College of Civil Engineering and Architecture, Zhejiang University, Hangzhou 310058, China; 2. Dynamic Systems and Simulation Laboratory, Technical University of Crete, Chania 73100, Greece; 3. Faculty of Martime and Transportation, Ningbo University, Ningbo 315832, Zhejiang, China; 4. College of Transportation Engineering, Tongji University, Shanghai 201804, China

Received:2026-01-12 Revised:2026-02-06 Accepted:2026-02-10 Online:2026-04-25 Published:2026-04-20
Supported by:
National Natural Science Foundation of China (52272315)；European Research Council ERC Project TrafficFluid (833915)。

摘要/Abstract

摘要： 针对智能网联无车道交通模式下的城市路网道路资源配置和交通效率优化问题，本文提出道路内边界控制（Internal Boundary Control, IBC）的概念，研究IBC以及IBC与交通信号配时的协同优化，实现路网双向道路空间资源和双向交通需求的动态适配。基于交通流存储转发模型，考虑路段双向交通流的IBC以及交叉口直行与左转交通流的IBC，结合路权延时转化约束，探索内边界和交通信号的协同控制，并将其表征为二次约束二次规划问题予以求解。对比分析信号配时优化、IBC、IBC与信号控制协同优化这3种控制策略。仿真研究表明，IBC能够动态调控道路空间资源分配，有效应对双向交通需求的失衡；信号配时优化更长于处理路口冲突交通流的需求失衡问题；IBC与信号控制的协同优化可以充分发挥两种控制手段的优势，进一步提升道路资源利用率，显著改善交通效率。针对考察路网，相较于信号配时优化，IBC、IBC和信号控制协同优化可将路网总延误分别减少42%和95%。

关键词: 智能交通, 内边界与交通信号协同控制, 二次约束二次规划, 城市路网, 网联自动驾驶, 无车道交通

Abstract: The problem of road resource allocation and traffic efficiency optimization was addressed for lane- free traffic of connected autonomous vehicles (CAVs) in urban networks. Aiming to solve this problem, the concept of internal boundary control (IBC) was introduced. Both IBC and its integrated control with signal timing was investigated to achieve dynamic adaption between bidirectional road space resources and traffic demands. IBC for bidirectional traffic streams in each road link as well as IBC for through and left-turning traffic streams at each intersection were both considered in this paper, along with the time-delay issue. Based on the store-and-forward model of traffic flow, an integrated control task of IBC and signal timing was investigated to be formulated as a quadratic programming problem. A comparative analysis was conducted to evaluate the performance of three control strategies: signal timing optimization (SGO), IBC, and the integrated control of IBC and signal timing. The simulation investigations demonstrate that IBC can dynamically regulate the resources of road space to effectively accommodate the imbalanced bidirectional traffic demand. Furthermore, the integrated optimization of IBC and signal timing fully leverages the advantages of both strategies, substantially enhancing the utilization of road resource and significantly improving the traffic efficiency. Compared to SGO, IBC and the integrated control of road internal boundaries and signal timing can reduce the total delay of a considered urban network by 42% and 95%, respectively.

Key words: intelligent transportation, integrated control of road internal boundaries and signal timing, quadratic constrained quadratic programming, urban networks, connected autonomous vehicles, lane-free traffic

中图分类号:

U491

王亦兵, 陈安妮, PAPAGEORGIOU Markos, 余宏鑫, 郭静秋, 章立辉. 智能网联无车道线城市道路内边界与交通信号协同控制[J]. 交通运输系统工程与信息, 2026, 26(2): 81-90.

WANG Yibing, CHEN Anni, PAPAGEORGIOU Markos, YU Hongxin, GUO Jingqiu, ZHANG Lihui. Integrated Control of Road Internal Boundaries and Signal Timing for Lane free Traffic of Connected Autonomous Vehicles in Urban Networks[J]. Journal of Transportation Systems Engineering and Information Technology, 2026, 26(2): 81-90.

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http://www.tseit.org.cn/CN/Y2026/V26/I2/81

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智能网联无车道线城市道路内边界与交通信号协同控制

Integrated Control of Road Internal Boundaries and Signal Timing for Lane free Traffic of Connected Autonomous Vehicles in Urban Networks

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