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Control strategy for the optimization of mixed traffic flow with autonomous vehicles

机译：自动驾驶车辆混合交通流量优化的控制策略

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摘要

The paper proposes an optimization strategy for the coordination of controlled freeway ramps and autonomous vehicle speed profiles. The objective of the optimization problem is to guarantee the maximum traffic flow, which contains both autonomous and human-driven vehicles. A control-oriented modeling of the mixed traffic flow dynamics is presented, which is based on the law of conservation and the fundamental relationship. As a novelty, the formulation of the fundamental relationship includes the ratio of the autonomous vehicles. Then the constrained optimal task of the coordination strategy is developed based on the minimax principle. In the strategy the inflows of the controlled ramps, traffic density and the ratio of the autonomous vehicles are taken into consideration. The efficiency of the coordination strategy is examined through a simulation example using the VisSim traffic simulator. It is illustrated that the proposed coordination strategy is able to guarantee the maximum outflow performance of the freeway at mixed traffic.
机译：本文提出了一种优化策略，用于协调控制的高速公路坡道和自主车辆的速度曲线。优化问题的目的是保证最大的交通流量，其中既包含自动驾驶车辆又包括人力驱动的车辆。提出了一种基于守恒律和基本关系的混合交通流动力学控制模型。作为新颖性，基本关系的表述包括自动驾驶汽车的比例。然后基于最小极大值原理，制定了协调策略的约束最优任务。在该策略中，考虑了受控坡道的流入，交通密度和自动驾驶车辆的比率。通过使用VisSim交通模拟器的模拟示例检查了协调策略的效率。结果表明，所提出的协调策略能够保证高速公路在混合交通时的最大流出性能。

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