基于车路协同的应急车辆与公交“路径跟踪”优先控制理论与方法研究

Most of the existing priority control theories for emergency vehicles and buses are based on fixed-point detection equipment, which can only get "point information" when vehicles passing the detection section. Hence "continuous tracking" type of priority control is incapable. However，on the basis of Connected Vehicle(CV) technology, the two-way and real-time information exchange between emergency vehicles, buses and traffic control system can be realized. In this situation, identity identification is capable and "line information" of the vehicle on the travel route can be obtained, hence the "path tracking" type of priority control becomes possible. This project will: ①build the path tracking priority control mechanism based on Connected Vehicle(CV) technology, and design the prototype system ②According to the real-time information of emergency vehicles and buses in the travel route, such as the cumulative delay, whether the vehicle behind the schedule or not and so on, a signal priority control model will be proposed that can deal with multiple requests from emergency vehicles and buses at the same time at one intersection level. At the multi-intersection level, a coordination priority model will be present by adopting travel path as the signal coordination path. ③propose a dynamic right-of-way priority method based on dynamically clear other traffics for emergency vehicles and buses to reduce the impact of traffic congestion during peak hour. ④conduct field experiment and build simulation platform to evaluate the benefits of the proposed model. The project will promote the priority control mechanism from cross-section-based to path-tracking-based, thus has important theoretical and practical significance.

已有应急车辆与公交优先控制理论大多基于定点检测设备，只能获取车辆在检测断面的“点信息”，无法对车辆进行“持续跟踪”式的优先控制。而基于车路协同技术，实现应急车辆、公交与交通控制系统的双向、实时信息交互，能对车辆进行“身份识别”并获取车辆在出行路径上的“线信息”，使 “路径跟踪”式的优先控制成为可能。本项目将：①构建基于车路协同的路径跟踪优先控制机制，设计原型系统；②基于应急车辆与公交在出行路径上的实时状态信息，如累积延误，晚点情况等，在单交叉口层面，提出面向多台应急车辆与公交同时到达的多级别多申请信号优先控制模型；在多交叉口层面，以出行路径为协调路径，提出协调优先模型；③在出行路径上提出基于动态清空车道的动态专用道路权优先方法，应对信号优先在交通拥堵时效果有限的难题。④构建实地实验场景及仿真平台，验证模型的有效性。本项目将推动优先控制从断面优先向路径优先方向发展，具有重要的理论和现实意义。

已有应急车辆与公交优先控制理论大多基于定点检测设备，只能获取车辆在检测断面的“点信息”，较难对车辆进行“持续跟踪”式的优先控制。而基于车路协同技术，实现应急车辆、公交与交通控制系统的双向、实时信息交互，使“路径跟踪”式的优先控制成为可能。本项目的主要研究内容包括：①车路协同公交优先方法研究。基于公交优先的基本控制理论，对公交优先进行实时优化，在所建立的公交车头时距预测模型、公交优先申请模型、公交优先策略生成模型的基础上，进一步提出了基于车头时距的多线路公交冲突请求优先控制方法，构建了基于时刻表的公交信号优先混合整数模型，并对模型进行求解。②车路协同公交调度方法研究。基于公交车头时距和公交到站时刻表，建立了公交到站时刻预测模型，提出了公交调度策略，针对交叉口群之间的公交运行时间偏差，通过红灯延长和绿灯缩短以及驻站控制等调度策略，与公交优先方法合力达到协调控制的效果。③车路协同环境下考虑公交优先的公交站点布设研究。面向干线绿波协调控制场景，基于最大绿波理论和组合优化思想，对干线双向公交站点布设和多交叉口相位差进行集成优化，使公交在干线上的车均延误最小化。④车路协同应急车辆时间优先方法研究。首先，考虑应急车辆对公交车辆的影响，保证整体通行效率，建立了应急车辆和公交的优先级确定方法。其次，通过对应急车辆到达时刻进行预测，提出了应急车辆通过交叉口时刻计算模型。最后，以应急车辆延误最小化为目标，结合滚动时间窗优化方法，使用粒子群算法求解。⑤车路协同应急车辆空间优先方法研究。考虑应急车道对普通车辆产生的影响，研究应急车道触发点模型，构建了考虑排队长度的应急车道清空模型。⑥车路协同应急车辆与公交优先仿真构建。使用C++对VISSIM软件进行二次开发，实现了应急车辆和公交专用道动态优先。本项目有利于推动优先控制从断面优先向路径优先方向发展，具有较好的理论和现实意义。