基于无人驾驶车辆的可变车道优化方法
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摘要
为充分利用道路资源,提高道路网络系统的运行效率,缓解因潮汐现象所导致的交通拥堵和道路资源闲置并存的问题,面向无人驾驶车辆普及的未来对可变车道优化方法开展了研究。根据用户最优和系统最优之间的关系,提出了通过ITS调控所有无人驾驶车辆实现系统最优的方法。在此基础上,进一步考虑可变车道对道路资源的调节作用,构建了基于无人驾驶车辆的系统最优可变车道模型。采用混沌粒子群算法对模型进行求解,并通过算例验证了模型和算法的有效性。研究结果表明:在无人驾驶车辆普及的未来,单纯通过ITS调控所有无人驾驶车辆在道路网络达到系统最优状态,由于不能很好地利用轻交通流方向闲置的道路资源来提高重交通流方向路段的容量从而调节道路网络结构更好地匹配居民出行需求,因此对于缓解因潮汐现象所导致的交通拥堵和道路资源闲置并存的问题效果并不突出,对于提高道路网络的运行效率亦有限。而结合可变车道优化后,可以很好地协调人、车、路之间的关系,调节道路网络结构更好地匹配居民出行需求,均衡各路段的饱和度,优化流量在道路网络上的分布,显著减少道路网络系统总出行时间,在最大程度上发挥道路资源的作用,保障道路网络系统高效运行,有效缓解因潮汐现象所导致的交通拥堵和道路资源闲置并存的问题。
With the aim to make full use of road resources,improve the operation efficiency of the road network system,alleviate the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon,the reversible lane optimization method for future popularization of autonomous vehicles is researched. A method for realizing the system optimal state by using ITS control all of the autonomous vehicles is proposed according to the relationship between the user optimization and the system optimization.Then,considering the regulating effect of reversible lane on road resources,the optimal reversible lane model based on autonomous vehicles is constructed. The model is solved by using chaotic particle swarm algorithm,and the effectiveness of the model and the algorithm are verified by numerical examples. The result shows that(1) With the popularization of autonomous vehicles in the future,although all the autonomous vehicles controlled by ITS to achieve the system optimal state of the road network alone,it is difficult to take full advantage of the idle road resources in light traffic flow direction to improve the capacity in heavy traffic flow direction to adjust the road network structure to better match the residents' travel demand. Therefore,the effect of alleviating the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon is not outstanding,and it is also limited to improve the efficiency of the road network system.(2) By using the reversible lane optimization method,it can well coordinate the relationship among people,cars and roads,adjust the road network structure to match the residents' travel demand better,balance the saturation of each road section,optimize the distribution of traffic on the road network,reduce the total travel time of the road network system remarkably,make full use of road resources,ensure the effective operation of the road network system,effectively alleviate the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon.
With the aim to make full use of road resources,improve the operation efficiency of the road network system,alleviate the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon,the reversible lane optimization method for future popularization of autonomous vehicles is researched. A method for realizing the system optimal state by using ITS control all of the autonomous vehicles is proposed according to the relationship between the user optimization and the system optimization.Then,considering the regulating effect of reversible lane on road resources,the optimal reversible lane model based on autonomous vehicles is constructed. The model is solved by using chaotic particle swarm algorithm,and the effectiveness of the model and the algorithm are verified by numerical examples. The result shows that(1) With the popularization of autonomous vehicles in the future,although all the autonomous vehicles controlled by ITS to achieve the system optimal state of the road network alone,it is difficult to take full advantage of the idle road resources in light traffic flow direction to improve the capacity in heavy traffic flow direction to adjust the road network structure to better match the residents' travel demand. Therefore,the effect of alleviating the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon is not outstanding,and it is also limited to improve the efficiency of the road network system.(2) By using the reversible lane optimization method,it can well coordinate the relationship among people,cars and roads,adjust the road network structure to match the residents' travel demand better,balance the saturation of each road section,optimize the distribution of traffic on the road network,reduce the total travel time of the road network system remarkably,make full use of road resources,ensure the effective operation of the road network system,effectively alleviate the coexistence of traffic congestion and road resources idle problem caused by the tidal phenomenon.
引文
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[13]史峰,苏焕银,王雄.适用于路网潮汐流的可变车道设置方法研究[J].交通运输系统工程与信息,2015,15(4):57-62.SHI Feng,SU Huan-yin,WANG Xiong.Design of Reversible Lanes with Tidal Flow on Road Network[J].Journal of Transportation Systems Engineering and Information Technology,2015,15(4):57-62.
[14]高自友,张好智,孙会君.城市交通网络设计问题中双层规划模型、方法及应用[J].交通运输系统工程与信息,2004,4(1):35-44.GAO Zi-you,ZHANG Hao-zhi,SUN Hui-jun.Bi-level Programming Models,Approaches and Applications in Urban Transportation Network Design Problems[J].Journal of Transportation Systems Engineering and Information Technology,2004,4(1):35-44.
[15]张好智,高自友.可变车道的道路交通网络设计优化方法[J].中国管理科学,2007,15(2):86-91.ZHANG Hao-zhi,GAO Zi-you.Optimization Approach for Traffic Road Network Design Problem[J].Chinese Journal of Management Science,2007,15(2):86-91.
[16]BRAESS D,NAGURNEY A,WAKOLBINGER T.On a Paradox of Traffic Planning[J].Transportation Science,2005,39(4):446-450.
[17]黄中祥.交通分配模型的经济学含义及模型的扩展[J].经济数学,1998(4):25-31.HUANG Zhong-xiang.The Implications and Extentions of Traffic Assignment Models[J].Mathematics in Economics,1998(4):25-31.
[18]余孝军,黄海军.多用户类多准则交通分配的势博弈与拥挤定价[J].系统科学与数学,2010,30(8):1070-1080.YU Xiao-jun,HUANG Hai-jun.Potential Game of Multiclass,Multi-criteria Traffic Assignment and Congestion Pricing[J].Journal of Systems Science and Mathematical Sciences,2010,30(8):1070-1080.
[19]DUELL M,LEVIN M W,BOYLES S D,et al.System Optimal Dynamic Lane Reversal for Autonomous Vehicles[C]//18th IEEE International Conference on Intelligent Transportation Systems.Las Palmas:IEEE,2015:1825-1830.
[20]MENDEL E,KROHLING R A,CAMPOS M.Swarm Algorithms with Chaotic Jumps Applied to Noisy Optimization Problems[J].Information Sciences,2011,181(20):4494-4514.
[21]柴宝仁,谷文成,韩金库.基于混沌粒子群算法的Ad Hoc网络优化研究[J].北京理工大学学报,2017,37(4):381-385.CHAI Bao-ren,GU Wen-cheng,HAN Jin-ku.Research on Ad Hoc Network Optimization Based on Chaotic Particle Swarm Optimization[J].Transactions of Beijing Institute of Technology,2017,37(4):381-385.
[2]SHEU J B,RITCHIE S G.Stochastic Modeling and Realtime Prediction of Vehicular Lane-changing Behavior[J].Transportation Research Part B:Methodological,2001,35(7):695-716.
[3]WONG C K,WONG S C.Lane-based Optimization of Signal Timings for Isolated Junctions[J].Transportation Research Part B:Methodological,2003,37(1):63-84.
[4]张卫华,韩高峰,颜冉,等.城市道路路段可变车道设置效果评价方法[J].重庆交通大学学报:自然科学版,2014,33(4):128-133.ZHANG Wei-hua,HAN Gao-feng,YAN Ran,et al.Evaluation on Effect of Setting Variable Lane in Urban Road Section[J].Journal of Chongqing Jiaotong University,2014,33(4):128-133.
[5]崔妍,刘东.北京市朝阳路可变车道交通组织研究[J].道路交通与安全,2006,6(9):21-24.CUI Yan,LIU Dong.Study on Reversible Lane of Chaoyang Street in Beijing[J].Road Traffic&Safety,2006,6(9):21-24.
[6]JIANG Y H,BAO L X.Study on Setting of Variable Lanes near Intersection between One-way and Two-way Traffic[J].Journal of Shanghai Jiaotong University,2011,45(10):1562-1566.
[7]YU Q,TIAN R.Research on Reversal Lane Application Method of Urban Road Network Based on the Bi-level Programming[M].Berlin:Springer Berlin Heidelberg,2014:983-992.
[8]ZHANG P,LI W,CHANG Y.Reserve Capacity Model for Urban Road Network with Variable Lanes[J].Journal of Southwest Jiaotong University,2010,45(2):255-260.
[9]LI X,CHEN J,WANG H.Study on Flow Direction Changing Method of Reversible Lanes on Urban Arterial Roadways in China[J].Procedia-Social and Behavioral Sciences,2013,96:807-816.
[10]HAUSKNECHT M,AU T C,STONE P,et al.Dynamic Lane Reversal in Traffic Management[C]//14th International IEEE Conference on Intelligent Transportation Systems.Washington,D.C.:IEEE,2011:1929-1934.
[11]WOLSHON B,LAMBERT L.Reversible Lane Systems:Synthesis of Practice[J].Journal of Transportation Engineering,2006,132(12):933-944.
[12]岳雷,徐天东,夏海平,等.上海世博会可变车道设置方案研究[J].城市交通,2010,8(2):25-30.YUE Lei,XU Tian-dong,XIA Hai-ping,et al.Reversible Lane Design for Shanghai World Expo 2010[J].Urban Transport of China,2010,8(2):25-30.
[13]史峰,苏焕银,王雄.适用于路网潮汐流的可变车道设置方法研究[J].交通运输系统工程与信息,2015,15(4):57-62.SHI Feng,SU Huan-yin,WANG Xiong.Design of Reversible Lanes with Tidal Flow on Road Network[J].Journal of Transportation Systems Engineering and Information Technology,2015,15(4):57-62.
[14]高自友,张好智,孙会君.城市交通网络设计问题中双层规划模型、方法及应用[J].交通运输系统工程与信息,2004,4(1):35-44.GAO Zi-you,ZHANG Hao-zhi,SUN Hui-jun.Bi-level Programming Models,Approaches and Applications in Urban Transportation Network Design Problems[J].Journal of Transportation Systems Engineering and Information Technology,2004,4(1):35-44.
[15]张好智,高自友.可变车道的道路交通网络设计优化方法[J].中国管理科学,2007,15(2):86-91.ZHANG Hao-zhi,GAO Zi-you.Optimization Approach for Traffic Road Network Design Problem[J].Chinese Journal of Management Science,2007,15(2):86-91.
[16]BRAESS D,NAGURNEY A,WAKOLBINGER T.On a Paradox of Traffic Planning[J].Transportation Science,2005,39(4):446-450.
[17]黄中祥.交通分配模型的经济学含义及模型的扩展[J].经济数学,1998(4):25-31.HUANG Zhong-xiang.The Implications and Extentions of Traffic Assignment Models[J].Mathematics in Economics,1998(4):25-31.
[18]余孝军,黄海军.多用户类多准则交通分配的势博弈与拥挤定价[J].系统科学与数学,2010,30(8):1070-1080.YU Xiao-jun,HUANG Hai-jun.Potential Game of Multiclass,Multi-criteria Traffic Assignment and Congestion Pricing[J].Journal of Systems Science and Mathematical Sciences,2010,30(8):1070-1080.
[19]DUELL M,LEVIN M W,BOYLES S D,et al.System Optimal Dynamic Lane Reversal for Autonomous Vehicles[C]//18th IEEE International Conference on Intelligent Transportation Systems.Las Palmas:IEEE,2015:1825-1830.
[20]MENDEL E,KROHLING R A,CAMPOS M.Swarm Algorithms with Chaotic Jumps Applied to Noisy Optimization Problems[J].Information Sciences,2011,181(20):4494-4514.
[21]柴宝仁,谷文成,韩金库.基于混沌粒子群算法的Ad Hoc网络优化研究[J].北京理工大学学报,2017,37(4):381-385.CHAI Bao-ren,GU Wen-cheng,HAN Jin-ku.Research on Ad Hoc Network Optimization Based on Chaotic Particle Swarm Optimization[J].Transactions of Beijing Institute of Technology,2017,37(4):381-385.