【异构交通流和交叉口协同控制研究的国内外文献综述4100字】

异构交通流和交叉口协同控制研究的国内外文献综述异构交通流研究现状国内外研究学者对异构交通流的研究多集中于CAV车辆对道路通行能力的提升和对交通流稳定性和安全性的改善等多个方向。对道路通行能力的提升方面VanderWerfADDINZOTERO_ITEMCSL_CITATION{"citationID":"OztMgYHF","properties":{"formattedCitation":"\\super[9]\\nosupersub{}","plainCitation":"[9]","noteIndex":0},"citationItems":[{"id":146,"uris":["/users/local/qy0YDVAZ/items/EFRP9MCQ"],"uri":["/users/local/qy0YDVAZ/items/EFRP9MCQ"],"itemData":{"id":146,"type":"article-journal","container-title":"TransportationResearchRecord","issue":"1","note":"publisher:SAGEPublicationsSageCA:LosAngeles,CA","page":"78–84","source":"GoogleScholar","title":"Effectsofadaptivecruisecontrolsystemsonhighwaytrafficflowcapacity","volume":"1800","author":[{"family":"VanderWerf","given":"Joel"},{"family":"Shladover","given":"StevenE."},{"family":"Miller","given":"MarkA."},{"family":"Kourjanskaia","given":"Natalia"}],"issued":{"date-parts":[["2002"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[9]研究了异构交通流下不同CAV车辆比例对道路通行能力的影响，并基于蒙特卡罗仿真，从参数敏感性的角度讨论了异构交通流下CAV车辆的车间时距参数。但该仿真只考虑了ACC车辆，忽略CACC车辆，因此只适用于早期CAV车辆比例较低时的情况。KestingADDINZOTERO_ITEMCSL_CITATION{"citationID":"ZMjCcZLJ","properties":{"formattedCitation":"\\super[10]\\nosupersub{}","plainCitation":"[10]","noteIndex":0},"citationItems":[{"id":181,"uris":["/users/local/qy0YDVAZ/items/9YCUWMSK"],"uri":["/users/local/qy0YDVAZ/items/9YCUWMSK"],"itemData":{"id":181,"type":"article-journal","container-title":"TransportationResearchPartC:EmergingTechnologies","issue":"6","note":"publisher:Elsevier","page":"668–683","source":"GoogleScholar","title":"Adaptivecruisecontroldesignforactivecongestionavoidance","volume":"16","author":[{"family":"Kesting","given":"Arne"},{"family":"Treiber","given":"Martin"},{"family":"Schönhof","given":"Martin"},{"family":"Helbing","given":"Dirk"}],"issued":{"date-parts":[["2008"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[10]研究了不同CAV车辆渗透率对快速路匝道的通行能力的影响。结果表明当CAV车辆比例达到25%以上时，能有效提高道路的通行能力。但该仿真是通过改变IDM模型获得CAV车辆的跟驰模型，本质上只能体现驾驶模型的改变对道路通行能力的影响。王祺ADDINZOTERO_ITEMCSL_CITATION{"citationID":"h2Iju5Zr","properties":{"formattedCitation":"\\super[11]\\nosupersub{}","plainCitation":"[11]","noteIndex":0},"citationItems":[{"id":134,"uris":["/users/local/qy0YDVAZ/items/LGKTNBA3"],"uri":["/users/local/qy0YDVAZ/items/LGKTNBA3"],"itemData":{"id":134,"type":"article-journal","container-title":"中国公路学报","source":"GoogleScholar","title":"自适应巡航及协同式巡航对交通流的影响分析","volume":"6","author":[{"literal":"王祺"},{"literal":"谢娜"},{"literal":"侯德藻"},{"literal":"黄子超"},{"literal":"李志恒"}],"issued":{"date-parts":[["2019"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[11]为分析异构交通体对交通流的影响,以实际测量得到的交通数据和车间安全间距为依据，建立人工驾驶车辆跟驰模型和智能网联车辆的跟驰模型,从而得到不同CAV车辆渗透下对交通流的影响。通过对比分析，CAV车辆的比例大于50%时，交通流的饱和流量大幅增加。但该研究只针对车路协同环境较好的高速公路进行，且不考虑换道行为，并不适用于复杂的城市道路交通环境。邱小平ADDINZOTERO_ITEMCSL_CITATION{"citationID":"2j2E3f6q","properties":{"formattedCitation":"\\super[12]\\nosupersub{}","plainCitation":"[12]","noteIndex":0},"citationItems":[{"id":144,"uris":["/users/local/qy0YDVAZ/items/AQUIWCKA"],"uri":["/users/local/qy0YDVAZ/items/AQUIWCKA"],"itemData":{"id":144,"type":"article-journal","abstract":"随着汽车技术的发展,道路上自动驾驶的车辆在未来会越来越多,给道路交通带来了巨大影响.本文引入了经典的Gipps安全距离规则,对NaSch模型进行改进,提出了基于安全距离的自动驾驶元胞自动机交通流模型.然后,利用数值模拟的方法研究了自动驾驶车辆对道路交通流的影响,研究获得一些新的结论.第一,通过降低自动驾驶车辆系统的反应时间,可大幅提高道路通行能力,最高可达2倍.第二,当自动驾驶车辆系统的反应时间降到0.5s以下时,其对道路通行能力的影响可忽略.第三,道路上自动驾驶车辆的比例对道路通行能力和交通拥堵有显著影响.当自动驾驶车辆的比例达到80%时,通行能力可达到全手动驾驶交通流的2倍,交通拥堵可...","container-title":"交通运输系统工程与信息","ISSN":"1009-6744","issue":"04","language":"中文;","page":"101-108+124","source":"CNKI","title":"基于安全距离的手动—自动驾驶混合交通流研究","volume":"16","author":[{"family":"邱","given":"小平"},{"family":"马","given":"丽娜"},{"family":"周","given":"小霞"},{"family":"杨","given":"达"}],"issued":{"date-parts":[["2016"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[12]借助Gipps安全距离规则，对传统的元胞自动机模型加以改进，提出异构交通环境下的交通模型。借助数值模拟，研究了不同CAV渗透率下对道路交通流的影响。结果显示，不同的CAV渗透率对道路交通流的影响有明显的变化。但没有考虑到不同CAV车辆跟驰人工驾驶车辆时的差异，即没有考虑到CACC车辆在跟随人工驾驶车辆时可能降级为ACC车辆的情况。ShladoverADDINZOTERO_ITEMCSL_CITATION{"citationID":"w9EBXRL5","properties":{"formattedCitation":"\\super[13]\\nosupersub{}","plainCitation":"[13]","noteIndex":0},"citationItems":[{"id":184,"uris":["/users/local/qy0YDVAZ/items/R7AJEZNY"],"uri":["/users/local/qy0YDVAZ/items/R7AJEZNY"],"itemData":{"id":184,"type":"article-journal","abstract":"Thisstudyusedmicroscopicsimulationtoestimatetheeffectonhighwaycapacityofvaryingmarketpenetrationsofvehicleswithadaptivecruisecontrol(ACC)andcooperativeadaptivecruisecontrol(CACC).Becausethesimulationusedthedistributionoftimegapsettingsthatdriversfromthegeneralpublicusedinarealfieldexperiment,thisstudywasthefirstontheeffectsofACCandCACContraffictobebasedonrealdataondriverusageofthesetypesofcontrols.TheresultsshowedthattheuseofACCwasunlikelytochangelanecapacitysignificantly.However,CACCwasabletoincreasecapacitygreatlyafteritsmarketpenetrationreachedmoderatetohighpercentages.Thecapacityincreasecouldbeacceleratedbyequippingnon-ACCvehicleswithvehicleawarenessdevicessothattheycouldserveastheleadvehiclesforCACCvehicles.","container-title":"TransportationResearchRecord","DOI":"10.3141/2324-08","ISSN":"0361-1981","issue":"1","journalAbbreviation":"TransportationResearchRecord","language":"en","note":"publisher:SAGEPublicationsInc","page":"63-70","source":"SAGEJournals","title":"ImpactsofCooperativeAdaptiveCruiseControlonFreewayTrafficFlow","volume":"2324","author":[{"family":"Shladover","given":"StevenE."},{"family":"Su","given":"Dongyan"},{"family":"Lu","given":"Xiao-Yun"}],"issued":{"date-parts":[["2012",1,1]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[13]从真实的车间时距角度出发，模拟了ACC和CACC车辆对异构交通流通行能力的影响。结果表明ACC车辆不能显著提升道路的通行能力，CACC车辆在达到较高比例后能够大幅提升道路的通行能力。但该仿真由于没有对道路通行能力进行研究，无法说明不同ACC车辆和CACC车辆的比例对饱和交通流造成影响的本质原因。秦严严ADDINZOTERO_ITEMCSL_CITATION{"citationID":"12jqECX8","properties":{"formattedCitation":"\\super[14]\\nosupersub{}","plainCitation":"[14]","noteIndex":0},"citationItems":[{"id":135,"uris":["/users/local/qy0YDVAZ/items/GPWGSH8V"],"uri":["/users/local/qy0YDVAZ/items/GPWGSH8V"],"itemData":{"id":135,"type":"article-journal","container-title":"中国公路学报","source":"GoogleScholar","title":"智能网联环境下的混合交通流LWR模型","volume":"11","author":[{"literal":"秦严严"},{"literal":"王昊"},{"literal":"王炜"}],"issued":{"date-parts":[["2018"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[14]针对CAV车辆和人工车辆构成的异构交通流建立了基于CAV车辆渗透率的异构交通流模型，完成了异构交通流下的CACC车辆、ACC车辆和人工驾驶车辆的相互关系的解析表达。但仅从平衡态的层面讨论了车间时距对异构交通流的影响，没有考虑当交通流出现不稳定时对该模型的影响。对交通流的稳定性和安全性的改善TalebpourADDINZOTERO_ITEMCSL_CITATION{"citationID":"tOXKOH4c","properties":{"formattedCitation":"\\super[15]\\nosupersub{}","plainCitation":"[15]","noteIndex":0},"citationItems":[{"id":152,"uris":["/users/local/qy0YDVAZ/items/LJTSI4LI"],"uri":["/users/local/qy0YDVAZ/items/LJTSI4LI"],"itemData":{"id":152,"type":"article-journal","container-title":"TransportationResearchPartC:EmergingTechnologies","note":"publisher:Elsevier","page":"143–163","source":"GoogleScholar","title":"Influenceofconnectedandautonomousvehiclesontrafficflowstabilityandthroughput","volume":"71","author":[{"family":"Talebpour","given":"Alireza"},{"family":"Mahmassani","given":"HaniS."}],"issued":{"date-parts":[["2016"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[15]提出了一个利用不同的模型与技术来模拟具有不同通信能力的不同车辆类型的框架，并针对不同CAV渗透率下的异构交通流，利用该框架对所产生的交通流进行稳定性分析。分析结果显示，CAV车辆可以有效提升车辆编队的稳定性。MoonADDINZOTERO_ITEMCSL_CITATION{"citationID":"l1BpajLX","properties":{"formattedCitation":"\\super[16]\\nosupersub{}","plainCitation":"[16]","noteIndex":0},"citationItems":[{"id":189,"uris":["/users/local/qy0YDVAZ/items/RMHDVA78"],"uri":["/users/local/qy0YDVAZ/items/RMHDVA78"],"itemData":{"id":189,"type":"article-journal","abstract":"Thispaperdescribesthedesign,tuning,andevaluationofafull-rangeadaptivecruisecontrol(ACC)systemwithcollisionavoidance(CA).Thecontrolschemeisdesignedtoimprovedrivers’comfortduringnormal,safe-drivingsituationsandtocompletelyavoidrear-endcollisioninvehicle-followingsituations.Drivingsituationsaredividedintosafe,warning,anddangerousmodes.Threedifferentcontrolstrategieshavebeenproposed,dependingonthedrivingsituation.Thedrivingsituationsaredeterminedusinganon-dimensionalwarningindexandthetime-to-collision(TTC).ThecontrolparametersoftheproposedACC/CAsystemaretunedbyaconfusion-matrixmethodusingmanual-drivingdatainno-crashingdrivingsituations.Thevehicle-followingcharacteristicsofthesubjectvehiclewerecomparedtoreal-world,manual-drivingdata.Finally,theACC/CAsystemwasalsoimplementedinarealvehicleandtestedinbothsafe-trafficandsevere-brakingsituations.Itisshownthattheproposedcontrolstrategycanprovidenaturalfollowingperformancethatissimilartohumanmanual-drivinginbothhigh-speeddrivingandlow-speedstop-and-gosituations.Furthermore,itcanpreventthevehicle-to-vehicledistancefromdroppingtoanunsafelevelinavarietyofdrivingconditions.","container-title":"ControlEngineeringPractice","DOI":"10.1016/j.conengprac.2008.09.006","ISSN":"0967-0661","issue":"4","journalAbbreviation":"ControlEngineeringPractice","language":"en","page":"442-455","source":"ScienceDirect","title":"Design,tuning,andevaluationofafull-rangeadaptivecruisecontrolsystemwithcollisionavoidance","volume":"17","author":[{"family":"Moon","given":"Seungwuk"},{"family":"Moon","given":"Ilki"},{"family":"Yi","given":"Kyongsu"}],"issued":{"date-parts":[["2009",4,1]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[16]设计了一个基于避免碰撞的ACC系统，并通过碰撞时间这一指标评估该模型对异构交通流的稳定性的影响。同时，作者将该模型应用于一辆真实的车辆上行驶，结果表明，该模型能使车辆保持相对安全的间距，提升了异构交通流的稳定性。但作者只采用碰撞风险作为单一的评价指标评估交通流的稳定性。JeongADDINZOTERO_ITEMCSL_CITATION{"citationID":"AMQqsgxy","properties":{"formattedCitation":"\\super[17]\\nosupersub{}","plainCitation":"[17]","noteIndex":0},"citationItems":[{"id":191,"uris":["/users/local/qy0YDVAZ/items/8WCWV4LN"],"uri":["/users/local/qy0YDVAZ/items/8WCWV4LN"],"itemData":{"id":191,"type":"article-journal","abstract":"Automateddrivingsystems(ADSs)areexpectedtopreventtrafficaccidentscausedbydrivercarelessnessonfreeways.ThereisnodoubtregardingthissafetybenefitifallvehiclesinthetransportationsystemwereequippedwithADSs;however,itisimplausibletoexpectthatADSswillreach100%marketpenetrationrate(MPR)inthenearfuture.Therefore,thefollowingquestionarises:‘CanADSs,whichconsideronlysituationsinthevicinityofanequippedvehicle,reallycontributetoasignificantreductionintrafficaccidents?’Toaddressthisissue,theinteractionsbetweenequippedandunequippedvehiclesmustbeinvestigated,whichisthepurposeofthisstudy.ThisstudyevaluatedtrafficsafetyatdifferentMPRsbasedonaproposedindextorepresenttheoverallrear-endcrashriskofthetrafficstream.Twoapproacheswereevaluatedforadjustinglongitudinalvehiclemaneuvers:vehiclesafety-basedmaneuvering(VSM),whichconsidersthecrashriskofanequippedvehicleanditsneighboringvehicles,andtrafficsafety-basedmaneuvering(TSM),whichconsiderstheoverallcrashriskinthetrafficstream.TSMassumesthattrafficoperationalagenciesareabletomonitorallthevehiclesandtointerveneinvehiclemaneuvering.Anoptimizationprocess,whichattemptstoobtainvehiclemaneuveringcontrolparameterstominimizetheoverallcrashrisk,isintegratedintotheproposedevaluationframework.Themainpurposeofemployingtheoptimizationprocessforvehiclemaneuveringinthisstudyistoidentifyopportunitiestoimprovetrafficsafetythrougheffectivetrafficmanagementratherthandevelopingavehiclecontrolalgorithmthatcanbeimplementedinpractice.ThemicroscopictrafficsimulatorVISSIMwasusedtosimulatethefreewaytrafficstreamandtoconductsystematicevaluationsbasedontheproposedmethodology.BothTSMandVSMachievedsignificantreductionsinthepotentialforrear-endcrashes.However,TSMobtainedmuchgreaterreductionswhentheMPRwasgreaterthan50%.Thisstudyshouldinspiretransportationresearchersandengineerstodevelopeffectivetrafficoperationsstrategiesforautomateddrivingenvironments.","container-title":"AccidentAnalysis&Prevention","DOI":"10.1016/j.aap.2017.05.002","ISSN":"0001-4575","journalAbbreviation":"AccidentAnalysis&Prevention","language":"en","page":"115-124","source":"ScienceDirect","title":"Isvehicleautomationenoughtopreventcrashes?Roleoftrafficoperationsinautomateddrivingenvironmentsfortrafficsafety","title-short":"Isvehicleautomationenoughtopreventcrashes?","volume":"104","author":[{"family":"Jeong","given":"Eunbi"},{"family":"Oh","given":"Cheol"},{"family":"Lee","given":"Seolyoung"}],"issued":{"date-parts":[["2017",7,1]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[17]从对车辆操纵优化的角度出发，通过有效的交通管理分析异构交通流的稳定性，结果表明CAV渗透率的提高能提升交通流的稳定性，但与Moon一样均只考虑了单一的碰撞来作为评价指标。李霞ADDINZOTERO_ITEMCSL_CITATION{"citationID":"tjS8kRel","properties":{"formattedCitation":"\\super[18]\\nosupersub{}","plainCitation":"[18]","noteIndex":0},"citationItems":[{"id":150,"uris":["/users/local/qy0YDVAZ/items/2RHS5GGW"],"uri":["/users/local/qy0YDVAZ/items/2RHS5GGW"],"itemData":{"id":150,"type":"article-journal","abstract":"针对网联车辆与普通车辆构成的异质交通流,考虑网联车辆车对车(V2V)、车对基础设施(V2I)不同通信技术,研究复杂异质交通流稳定性.基于李雅普诺夫理论,分析对比不同通信技术下网联车辆与普通车辆构成的异质交通流稳定性;基于V2V、V2V/V2I的网联车辆和普通车辆以不同比例混合时,进行异质交通流稳定性判别及稳定域解析.通过数值仿真,验证理论解析的正确性.研究结果表明,基于V2V/V2I的网联车辆比基于V2V的网联车辆混入对异质交通流稳定性改善效果更显著.基于V2V、V2V/V2I的网联车辆同时汇入普通车辆交通流的情况下,当基于V2V的网联车辆比例较低时,不会明显提高异质交通流稳定性;而基于V2V...","container-title":"交通运输系统工程与信息","ISSN":"1009-6744","issue":"06","language":"中文;","page":"114-120","source":"CNKI","title":"智能网联环境下复杂异质交通流稳定性解析","volume":"20","author":[{"family":"李","given":"霞"},{"family":"汪","given":"一戈"},{"family":"崔","given":"洪军"},{"family":"朱","given":"敏清"},{"family":"王","given":"欣桐"}],"issued":{"date-parts":[["2020"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[18]基于李雅普诺夫理论，完成不同CAV渗透率和不同车路协同通信环境下异构交通流的稳定性判别和解析，结果表明，混有V2V/V2I的CAV车辆比混有V2V的CAV车辆的异构交通流的稳定性更高。蒋阳升ADDINZOTERO_ITEMCSL_CITATION{"citationID":"EXShmHr3","properties":{"formattedCitation":"\\super[19]\\nosupersub{}","plainCitation":"[19]","noteIndex":0},"citationItems":[{"id":156,"uris":["/users/local/qy0YDVAZ/items/J29F4HGQ"],"uri":["/users/local/qy0YDVAZ/items/J29F4HGQ"],"itemData":{"id":156,"type":"article-journal","abstract":"针对未来道路上由人工驾驶车辆(HumanDrivenVehicles,HDVs)和智能网联车(IntelligentandConnectedVehicles,ICVs)所组成的异质交通流,对其稳定性与安全性进行研究.首先,利用全速度差模型(FullVelocityDifference,FVD)和协同自适应巡航控制模型(CooperativeAdaptiveCruiseControl,CACC)分别描述人工驾驶车辆和智能网联车的跟驰特性.然后,通过分析不同智能网联车渗透率下异质交通流的线性稳定性,得出其稳定性条件.最后,采用数值仿真实验进行验证,选取多项安全指标评估了不...","container-title":"北京交通大学学报","ISSN":"1673-0291","issue":"01","language":"中文;","page":"27-33","source":"CNKI","title":"智能网联车环境下异质交通流稳定性及安全性分析","volume":"44","author":[{"family":"蒋","given":"阳升"},{"family":"胡","given":"蓉"},{"family":"姚","given":"志洪"},{"family":"吴","given":"培财"},{"family":"罗","given":"孝羚"}],"issued":{"date-parts":[["2020"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[19]对异构交通流的稳定性与安全性进行研究，分析不同CAV车辆渗透率下异构交通流的稳定性，并通过数值仿真实验，选取多项评估指标其稳定性，最终获得了保持异构交通流稳定性的条件。但作者只采用了特定的跟驰模型来进行研究，不能反应采用其他跟驰模型的CAV车辆对稳定性的影响。交叉口控制研究现状在传统的交叉口中，车辆的通行需要遵循信号灯的相位，虽然在一定程度上可以降低交叉口车辆事故的发生，但传统信号灯的控制存在一定的滞后性，无法彻底解决交叉口通行效率低下的问题。随着车路协同技术的发展，车车通信、车路通信的逐渐推广，国内外许多学者也尝试将车路协同技术应用与交叉口控制。交叉口协同控制模式主要包括：信号自适应模式、集中式控制模式和自组织分布式控制模式ADDINZOTERO_ITEMCSL_CITATION{"citationID":"xWRjO1Al","properties":{"unsorted":true,"formattedCitation":"\\super[20\\uc0\\u8211{}22]\\nosupersub{}","plainCitation":"[20–22]","noteIndex":0},"citationItems":[{"id":66,"uris":["/users/local/qy0YDVAZ/items/3W7Z5MJB"],"uri":["/users/local/qy0YDVAZ/items/3W7Z5MJB"],"itemData":{"id":66,"type":"article-journal","container-title":"TransportationResearchPartB:Methodological","note":"publisher:Elsevier","page":"429–456","source":"GoogleScholar","title":"Apiecewisetrajectoryoptimizationmodelforconnectedautomatedvehicles:Exactoptimizationalgorithmandqueuepropagationanalysis","title-short":"Apiecewisetrajectoryoptimizationmodelforconnectedautomatedvehicles","volume":"118","author":[{"family":"Li","given":"Xiaopeng"},{"family":"Ghiasi","given":"Amir"},{"family":"Xu","given":"Zhigang"},{"family":"Qu","given":"Xiaobo"}],"issued":{"date-parts":[["2018"]]}},"label":"page"},{"id":69,"uris":["/users/local/qy0YDVAZ/items/NVNADWU6"],"uri":["/users/local/qy0YDVAZ/items/NVNADWU6"],"itemData":{"id":69,"type":"article-journal","container-title":"TransportationResearchPartC:EmergingTechnologies","note":"publisher:Elsevier","page":"161–176","source":"GoogleScholar","title":"Aconsensus-baseddistributedtrajectorycontrolinasignal-freeintersection","volume":"100","author":[{"family":"Mirheli","given":"Amir"},{"family":"Tajalli","given":"Mehrdad"},{"family":"Hajibabai","given":"Leila"},{"family":"Hajbabaie","given":"Ali"}],"issued":{"date-parts":[["2019"]]}},"label":"page"},{"id":71,"uris":["/users/local/qy0YDVAZ/items/DQ67USSN"],"uri":["/users/local/qy0YDVAZ/items/DQ67USSN"],"itemData":{"id":71,"type":"article-journal","container-title":"Transportationresearchrecord","issue":"1","note":"publisher:SAGEPublicationsSageCA:LosAngeles,CA","page":"81–90","source":"GoogleScholar","title":"Modelingreservation-basedautonomousintersectioncontrolinVISSIM","volume":"2381","author":[{"family":"Li","given":"Zhixia"},{"family":"Chitturi","given":"MadhavV."},{"family":"Zheng","given":"Dongxi"},{"family":"Bill","given":"AndreaR."},{"family":"Noyce","given":"DavidA."}],"issued":{"date-parts":[["2013"]]}},"label":"page"}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[20–22]，如图1-2所示。图1-SEQ图1-\*ARABIC2交叉口车辆控制模式信号自适应模式是指交叉口信号灯相位的配时方案可以根据不同进口的交通流量动态调整，例如目前已经得到应用的SCATS系统、SCOOT系统。自组织分布式控制模式主要从微观角度出发，针对每辆车自身展开控制，但由于没有对交叉口整体进行考虑，不利于车辆与交叉口其他车辆的协同控制，因此该控制模式效率较低，国内外对其研究也较少，自组织分布式控制模式的主要代表是NaumannADDINZOTERO_ITEMCSL_CITATION{"citationID":"NuAaVBvZ","properties":{"formattedCitation":"\\super[23]\\nosupersub{}","plainCitation":"[23]","noteIndex":0},"citationItems":[{"id":193,"uris":["/users/local/qy0YDVAZ/items/M855WAZX"],"uri":["/users/local/qy0YDVAZ/items/M855WAZX"],"itemData":{"id":193,"type":"paper-conference","container-title":"ProceedingsofConferenceonIntelligentTransportationSystems","page":"818–823","publisher":"IEEE","source":"GoogleScholar","title":"Validationandsimulationofadecentralizedintersectioncollisionavoidancealgorithm","author":[{"family":"Naumann","given":"R."},{"family":"Rasche","given":"R."},{"family":"Tacken","given":"Jürgen"},{"family":"Tahedi","given":"C."}],"issued":{"date-parts":[["1997"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[23]提出的一种分散的交叉口管理方法，该算法只允许一辆车停留在交叉口核心控制区域，虽能完成交叉口的协同控制，但该方法会造成时空资源的浪费，效率较低，容易造成交叉口的拥堵。国内的金立生ADDINZOTERO_ITEMCSL_CITATION{"citationID":"lN1EMJGG","properties":{"formattedCitation":"\\super[24]\\nosupersub{}","plainCitation":"[24]","noteIndex":0},"citationItems":[{"id":119,"uris":["/users/local/qy0YDVAZ/items/SAKBAJDF"],"uri":["/users/local/qy0YDVAZ/items/SAKBAJDF"],"itemData":{"id":119,"type":"article-journal","container-title":"长安大学学报(自然科学版)","source":"GoogleScholar","title":"智能车辆交叉口协同控制算法","volume":"1","author":[{"literal":"金立生"},{"literal":"郑义"},{"literal":"高琳琳"},{"literal":"李科勇"}],"issued":{"date-parts":[["2015"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[24]也提出过一种分布式的交叉口车辆控制算法，通过临时解耦机制解决交叉口局部的车辆冲突，获取短时间内车辆期望的速度，通过反复迭代实现车辆运动轨迹的调整，但该算法局限性在于不适合大规模车辆同时调度处理。李鹏凯ADDINZOTERO_ITEMCSL_CITATION{"citationID":"F7pp4R7b","properties":{"formattedCitation":"\\super[25]\\nosupersub{}","plainCitation":"[25]","noteIndex":0},"citationItems":[{"id":103,"uris":["/users/local/qy0YDVAZ/items/EGHCSZFT"],"uri":["/users/local/qy0YDVAZ/items/EGHCSZFT"],"itemData":{"id":103,"type":"article-journal","container-title":"交通信息与安全","source":"GoogleScholar","title":"车路协同环境下信号交叉口车速引导建模与仿真","author":[{"literal":"李鹏凯"},{"literal":"杨晓光"},{"literal":"吴伟"},{"literal":"杨熙宇"}],"issued":{"date-parts":[["2012"]]}}}],"schema":"/citation-style-language/schema/raw/master/csl-citation.json"}[25]建立了针对独立个体车辆的车速诱导模型，对于单个交叉口，达到了停车延迟时间最小化的控制目标，并利用VISSIM和COM接口对模型进行了仿真验证，但该方法在交叉口高车流量时对车辆延误的改善效果有限。集中控制模式主要是从宏观角度出发，通过控制中心集中对经过交叉口的智能网联车辆进行控制，这也是目前国内外学者对交叉口协同控制的主要研究方向。大部分学者从交叉口的冲突消解和车队编组的角度出发完成交叉口车辆的协同控制。俄文娟ADDINZOTERO_ITEMCSL_CITATION{"citationID":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