车路协同系统下区域路径实时决策方法

为解决车辆行驶数据缺失和滞后造成路径规划系统不稳定问题，建立了基于车路协同系统（CVIS）的新型区域路径实时决策方法。首先，通过获取网联车辆的实时行驶数据，结合交通信号配时和路径转向信息，并考虑车辆在途经交叉口时可能遇到的非自由流行驶情况，动态计算当前路段路阻值；其次，根据当前时刻各路段的路阻统计数据，以及区域路网拓扑结构，实时预测各备选路线的行程时间，选择行程时间最少的路线作为车辆最优行驶路径；最后，选取北京市望京地区的典型区域路网数据进行验证。在150组实验过程中，计算得出不同时段下按所提方法得到的最优路线用时平均比常规导航系统推荐最优路线用时分别短9.52 s、13.39 s及20.65 s，证明了所提方法的有效性。 

Real-time regional path decision method in cooperative vehicle infrastructure system

To solve the instability of the path planning system caused by vehicle driving data loss and lag, a novel real-time regional path decision method based on the cooperative vehicle infrastructure system (CVIS) was presented in this paper. Firstly, the current road section resistance value was calculated dynamically through acquiring the real-time driving data of connected vehicles, combing with the traffic signal timing and path steering information, and considering the non-free flow situation which vehicles may encounter when passing through the intersection. Secondly, the travel time of each alternative route was predicted in real time according to the current road resistance statistics and the road network topology structure. After that, the predicted route with the least travel time was selected as the optimal vehicle driving path. Finally, the typical regional road network data of Wangjing area in Beijing was selected as the test scenario. 150 sets of tested results show that the average travel time in different periods of the optimized route obtained by this method is 9.52 seconds, 13.39 seconds and 20.65 seconds shorter than recommended route of the navigation system respectively, which proves the feasibility of the proposed method.