Study on Speed Planning of Signalized Intersections with Autonomous Vehicles Considering Regenerative Braking
Abstract
:1. Introduction
2. Establishment of Simulation Model of HERBS
2.1. Mathematical Model of Motor
2.2. Mathematical Model of Supercapacitor
2.3. Bidirectional DC/DC Model
2.4. Simulation and Verification of HERBS
3. Establishment of Vehicle Model of HERBS
3.1. Working Principle of HERBS
3.2. Distribution Strategy Design of Brake Force
- (1)
- When the vehicle speed is too high, less braking energy shall be recovered for braking safety; when the vehicle speed is too low, less braking energy is recovered.
- (2)
- When the supercapacitor SOC is high, the charging efficiency is low, and the braking energy is recovered as little as possible; when the supercapacitor SOC is low, the charging efficiency is high and the energy can be recovered as much as possible.
- (3)
- When the braking intensity is too high, energy is not recovered for braking safety; when the braking intensity is low, the recovery of braking energy shall be increased.
3.3. HERBS Vehicle Model
4. Analysis of the Traffic Characteristics of a Single Vehicle in the near Signal Control Area
- (1)
- Ignore the impact of pedestrians and non-motor vehicles on the study vehicles;
- (2)
- The main research object is a single signalized intersection, without considering the impact of other intersections;
- (3)
- It mainly studies the straight driving conditions of vehicles. The vehicle lane changing conditions are not taken into account, and the problem of traffic conflict is ignored;
- (4)
- Classify the yellow-light as the red-light, which means that forbidden for vehicles to cross the stop line when the yellow-light is on.
4.1. Deceleration Passing through Condition
4.2. Deceleration Stopping Condition
5. Optimization of Speed Trajectory in NSCA Based on GA
5.1. Establishment of GA Optimization Mathematical Model for Deceleration Stopping
5.2. Deceleration Stopping GA Optimization
5.3. Comparative Analysis of Simulation Results
6. Conclusions
- (1)
- Based on the characteristics that connected automated vehicle can communicate with roadside facilities and regional center control systems in real-time, a GA optimization model for the deceleration stopping of electric vehicle HERBS is built. Taking the obtained signal light status and timing information as constraints, and the BERE as the optimization objective, speed trajectory of the autonomous vehicle equipped with the regenerative braking system is optimized at the signalized intersection and BERE and energy consumption are improved greatly.
- (2)
- The proposed speed trajectory planning method is also applicable for the situation of signalized intersection by deceleration passing through, for both passage efficiency and BERE are favorable, and for reducing the energy consumption.
- (3)
- Influence of other vehicles in the trip and their effects on the speed trajectory planning, based on the BERE under multi-vehicle environments, should be further investigated in future work.
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
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Component | Parameter | Quantity |
---|---|---|
Mass | kg | 1800 |
Wheel base | m | 2.85 |
Front wheel track | m | 1.57 |
Rear wheel track | m | 1.56 |
Center of gravity | m | 0.53 |
Distance from center of mass to front axle | m | 1.254 |
Distance from center of mass to rear axle | m | 1.596 |
Air drag coefficient | / | 0.28 |
Wheel rolling radius | m | 0.32 |
Symbol | Numerical | Unit |
---|---|---|
1 | s | |
120 | m | |
20 | s | |
20 | m/s |
Conditions | Supercapacitor SOC Initial Value | Supercapacitor SOC Final Value | Change Amount | Difference with Condition A |
---|---|---|---|---|
Condition A | 0.5 | 0.5243 | 0.0243 | -- |
Condition B | 0.5 | 0.5155 | 0.0155 | −36.21% |
Condition C | 0.5 | 0.5224 | 0.0224 | −7.82% |
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Li, N.; Yang, J.; Jiang, J.; Hong, F.; Liu, Y.; Ning, X. Study on Speed Planning of Signalized Intersections with Autonomous Vehicles Considering Regenerative Braking. Processes 2022, 10, 1414. https://doi.org/10.3390/pr10071414
Li N, Yang J, Jiang J, Hong F, Liu Y, Ning X. Study on Speed Planning of Signalized Intersections with Autonomous Vehicles Considering Regenerative Braking. Processes. 2022; 10(7):1414. https://doi.org/10.3390/pr10071414
Chicago/Turabian StyleLi, Ning, Jiarao Yang, Junping Jiang, Feng Hong, Yang Liu, and Xiaobin Ning. 2022. "Study on Speed Planning of Signalized Intersections with Autonomous Vehicles Considering Regenerative Braking" Processes 10, no. 7: 1414. https://doi.org/10.3390/pr10071414