多红绿灯路段改进A*车速规划算法及其仿真验证

Improved A* algorithm speed planning of multi-traffic-light section and simulation validation

中文关键词  改进A*算法  车速规划  智能控制  多红绿灯交叉口

英文关键词  improved A* algorithm  speed planning  intelligent control  multi-traffic-light intersections

中文摘要

      为使车辆高效通过交叉路口,减少启停,安全、快速、经济、舒适地完成长路段行车,采用基于规则、A*和 改进A*3种不同算法对给定多红绿灯和多限速路段进行车速规划,并在整车–发动机控制模型上开展车速控制仿真 测试,对比车速控制效果、加速度波动和燃油经济性.改进A*算法以位置、时间和加速度为扩展节点状态量,以 VT-Micro瞬时燃油消耗量为代价,以红绿灯相位、限速和道路坡度值为约束,优化规划效果.与基于普通A*的车速 规划算法相比,改进A*算法车速规划用时减少75.95%,车辆通行时间减少9.60%,加速度变动降低37.90%,燃油消耗 量减少2.56%.

英文摘要

      In order to ensure vehicles efficiently pass through intersections, reduce start-stops, drive safely, rapidly, economically and comfortably during long distance journeys, driving speed was planned for a given road condition with multiple traffic lights, speed limits and road slopes using rule-based algorithm, the A* algorithm and improved A* algorithm respectively. Speed control simulations were conducted on the vehicle-engine Simulink control model. Speed control effects, acceleration fluctuation and fuel economy were discussed in detail. The improved A* algorithm uses position, time and acceleration as state-space nodes, employs VT-Micro instantaneous fuel consumption as the cost function, and uses the traffic light phase, speed limit and road slope value as the constraints to optimize the planning result. Compared with the A* algorithm, the speed planning time of the improved A* algorithm is reduced by 75.95%, the vehicle travel time is reduced by 9.6%, the acceleration variation is reduced by 37.9%, and the fuel consumption is reduced by 2.56%.