V2X环境下近信号控制区车辆行驶的信息物理融合机制研究

By means of vehicle speed guidance in the adjacent area of traffic signal control, the cooperation of vehicle to infrastructure and vehicle to vehicle can not only solve the problem of Dilemma Zone, but also enhance traffic efficiency. With the development of V2X, to understand the inherent mechanism of vehicle driving under V2X is the basis for enhancing driving safety and optimizing traffic efficiency..In fact, the vehicle driving process in the adjacent area of traffic signal control is a continuous dynamic physical process to be enslaved to complex and diverse discrete information, and is with the typical characteristics of Cyber Physical systems (CPS). In the results of existing research, the mechanism of the role of information and its complex interaction with the physical factors is not yet revealed. For this reason, this project proposes to take the perspective of CPS and hybrid modeling of discrete-continuous system as a breakthrough point, and intends to develop the cyber-physical cooperative driving models of the single vehicle and the multi-vehicle in front or behind with the consideration of traffic efficiency and energy consumption. It is expected to clarify the cyber physical fusion mechanism of vehicle driving in the adjacent area of traffic signal control under V2X. Then the stability and robustness of those models are investigated in the uncertain environment, to verify the corresponding adaptive conditions for multi-vehicle cooperative driving..It is expected that the research results will put forth a new theory to describe the mechanism of vehicle driving in the adjacent area of traffic signal control under V2X. It will not only provide scientific support for the traffic optimization design of signal intersection, but also afford some new exploration for the technical challenges of cyber physical fusion modeling.

在近信号控制区借助车辆速度引导，进而实现车路和车车协同，既利于解决困惑区（Dilemma Zone）问题，又利于提高通行效率。随着V2X的兴起，掌握在该环境下车辆行驶的内在机制，是保障行驶安全和优化通行效率的基础。.事实上，V2X环境下近信号控制区的车辆行驶过程，是复杂离散信息作用下的连续动态物理过程，具有信息物理融合系统的典型特征，现有研究尚未揭示其信息因素及其与物理因素复杂交互的作用机理。为此，本课题以信息物理融合视角和离散连续混成建模为切入点，依据提升通行效率、降低能耗的需求，建立单车及前后多车协同行驶的信息物理融合模型，阐明车辆协同行驶信息物理融合机理，进而研究在不确定环境下模型的稳定性及鲁棒性，探明车辆协同行驶过程的适应条件。.研究成果将形成揭示V2X环境下近信号控制区车辆行驶机制的新理论，既为信号交叉口的通行优化设计提供科学支撑，也为信息物理融合建模这一挑战性问题提供新的探索。

在V2X环境下，为提高道路通行效率并解决困惑区（Dilemma Zone）问题，本项目针对近信号控制区这一典型场景，以信息物理融合视角和离散连续混成建模为切入点，结合混成自动机、模型预测控制、摄动理论、图论、Lyapunov 稳定性分析和H∞控制等方法与技术，对近信号控制区车辆行驶信息物理机制进行了研究。. 通过考虑V2X环境下的信息因素和影响车辆行驶过程的物理因素及驾驶者特征，构建了单车在近信号控制区行驶的信息物理融合模型，从而揭示了单车行驶过程的信息物理融合特征与车辆行驶状态之间的关系；在此基础上，通过考虑本车受前车的约束及对后车的影响，结合前后车控制信息和信号灯信息的前馈补偿机制，以及前车运动状态信息的反馈控制机制，建立了V2X环境下近信号控制区前后车协同行驶的信息物理融合模型，从而揭示了V2X环境下近信号控制区车辆协同行驶的机理；进一步利用相变及非线性动力学摄动分析理论等方法对构建的信息物理融合模型进行线性稳定性和非线性稳定性展开研究，获得了相应的稳定性判据，揭示了近信号控制区信息物理因素对车辆协同行驶稳定性的影响；最后基于H∞控制和线性矩阵不等式等方法，设计了鲁棒H∞控制策略，提升了存在各种外部扰动情况下车辆行驶信息物理融合系统的鲁棒性。. 综上所述，本研究为信号路口的通行优化设计和信息物理融合建模奠定了理论基础，为揭示近信号控制区这一典型场景车辆行驶过程中信息因素及其与物理因素复杂交互的作用机理提供了重要支撑。