Volume 40 Issue 6
Dec.  2022
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Article Navigation >  Journal of Transport Information and Safety  > 2022  >  40(6): 45-52
LI Xia, LI Mingye, ZHANG Xiaoming, CUI Hongjun, MA Xinwei. Switching Control Decision of Lane-changing Model in Interweaving Areas of Mixed Traffic Flow with Human-driving and Autonomous Vehicles[J]. Journal of Transport Information and Safety, 2022, 40(6): 45-52. doi: 10.3963/j.jssn.1674-4861.2022.06.005
Citation: LI Xia, LI Mingye, ZHANG Xiaoming, CUI Hongjun, MA Xinwei. Switching Control Decision of Lane-changing Model in Interweaving Areas of Mixed Traffic Flow with Human-driving and Autonomous Vehicles[J]. Journal of Transport Information and Safety, 2022, 40(6): 45-52. doi: 10.3963/j.jssn.1674-4861.2022.06.005
shu

Switching Control Decision of Lane-changing Model in Interweaving Areas of Mixed Traffic Flow with Human-driving and Autonomous Vehicles

doi: 10.3963/j.jssn.1674-4861.2022.06.005
  • 1.

    School of Civil and Transportation Engineering, Hebei University of Technology, Tianjin 300401, China

  • 2.

    Imperial College Business School-London, London SW72AZ, UK

  • Received Date: 2022-05-13
    Available Online: 2023-03-27
    Abstract
  • Due to the urgency of forced lane change in weaving areas, lane-changing behaviors occur in the second half of a weaving segment due to a strong desire to change lanes, which will have a certain impact on traffic flow. In a situation of mixed traffic flow with human-driving and autonomous vehicles, different lane change control models can affect the capacity of weaving areas. Based on analyze the characteristics of lane-changing behaviors in the weaving areas with the mixed traffic flow, they are divided into two types: conservative lane-changing and radical lane-changing. Based on an acceptable safety gap model and the cooperative behavior among autonomous vehicles, a cooperative lane changing model for autonomous vehicles in a conservative state is constructed; and the radical lane change model under the influence of the vehicle type behind the target lane in the radical state. By analyzing the track data from the field survey of Jinbao Interchange and the track data of the US-101 weaving area in NGSIM, the distribution functions of switching points of conservative and radical lane changing models are fitted, respectively; Considering the characteristics of different vehicle driving behaviors and their interactions, the logic decision of lane change model switching control under the condition of the mixed traffic flow is proposed. The SUMO simulation software is used to develop an experimental platform. Considering the distribution characteristics of the switching points of the lane-changing model of the manual vehicles, and aiming at optimizing the maximum flow rate, the overall vehicle running speed in the weaving area, and the speed of the lane-changing vehicles, the optimal conservative-aggressive lane changing model switching points of the autonomous vehicles under different penetration rates of the autonomous vehicles are determined. The simulation results show that when the length of the weaving area is 250 m and the penetration rate of autonomous vehicles is 0.2, 0.5, 0.8, the switching point of automatic lane-changing model reach the best at 180, 80, and 50 m respectively, with the increase of the penetration rate of autonomous vehicles, the best position of the lane change switching point will gradually move towards the entrance of the weaving segment, and the change of this lane change switching point is more obvious when the penetration rate of autonomous vehicles is low; At higher permeability, due to the increased frequency of cooperative lane-changing, the proportion of autonomous vehicle forced lane changing behavior decreases, and the impact of lane-changing model switching points on the capacity of weaving area gradually decreases. This study provides a basis for lane change control decisions of autonomous vehicles in freeway weaving areas under the condition of mixed traffic flow.

     

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