Coordinated Control of Vehicle Lane Change and Speed at Intersection under V2X

Abstract

It is assumed that the vehicles entering the intersection can establish real-time and effective interaction with the intersection control center under the V2X technology. The vehicle optimal control (VOC) algorithm was proposed in this paper. The algorithm comprehensively considers factors such as controllable area, prohibited lane change area, safe following distance, and safe lane change conditions. And based on the COM interface of vissim software, the control algorithm is implemented by C++ programming. Under the conditions of different intersection saturation and control area distance, the traditional method and V2X method control experiment are carried out respectively. The results show that when the saturation does not exceed 0.45, the VOC algorithm has the best effect on the effect of the intersection, and the highest speed increase is 27%, the delay is reduced by 67%, and the number of stops is reduced by 65%. When oversaturated, the algorithm does not have a significant effect on the improvement of the running effect. When the saturation is 0.45-0.6, 0.75-0.9, the optimal control distance is 200m, 300m, and the remaining saturation range is not sensitive to the control distance.