Cooperative control method for intelligent networked vehicles in ramp confluence area
In order to solve the efficiency and safety problems of vehicle passage during ramp confluence in an intelligent network environment,a cooperative control method for intelligent vehicles based on game theory was proposed.In this method,a three-way game with vehicles on the outside of the ramp as the main body was constructed,and the vehicle revenue function was established from three aspects of safety,lane change and vehicle efficiency.Based on Shapley's value,the optimal control strategy of the vehicle in a three-way game was obtained.In the experiment,the merging area of Chongqing Yuma Road and Baotou direction of Chongqing Inner Ring Expressway was selected as the prototype of the road network,and the vehicle running scene in the merging area was co-simulated by SUMO/TraCI and Python.The results show that compared with the evolutionary game control method,the overall average travel time ratio is reduced by 3.22%,and the average delay time is reduced by 14.47%,the time-to-collision(TTC)less than 3 s decreased by 26.56%.It effectively reduces the traffic conflict time and improves the traffic operation efficiency in the confluence area.
traffic engineeringNash equilibriumcooperative game controlramp confluence areaintelligent networked
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