Volume 25 Issue 2
Apr.  2025
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ZHANG Zhen, LAI Jin-tao, YANG Xiao-guang. A priority control method for special vehicles based on heterogeneous vehicle group cooperation[J]. Journal of Traffic and Transportation Engineering, 2025, 25(2): 156-169. doi: 10.19818/j.cnki.1671-1637.2025.02.010
Citation: ZHANG Zhen, LAI Jin-tao, YANG Xiao-guang. A priority control method for special vehicles based on heterogeneous vehicle group cooperation[J]. Journal of Traffic and Transportation Engineering, 2025, 25(2): 156-169. doi: 10.19818/j.cnki.1671-1637.2025.02.010
shu

A priority control method for special vehicles based on heterogeneous vehicle group cooperation

doi: 10.19818/j.cnki.1671-1637.2025.02.010
  • 1.

    Key Laboratory of Road and Traffic Engineering of Ministry of Education, Tongji University, Shanghai 201804, China

  • 2.

    College of Electronic and Information Engineering, Tongji University, Shanghai 201804, China

Funds:

National Natural Science Foundation of China 52472350

Zhengzhou Major Science and Technology Project 2021KJZX0060-9

Science and Technology Plan Project of Guangxi Province GuikeAA23062022

Postdoctoral Fellowship Program of China Postdoctoral Science Foundation GZB20240541

More Information
  • Corresponding author: YANG Xiao-guang (1959-), male, professor, PhD, yangxg@tongji.edu.cn
  • Received Date: 2024-04-20
  • Publish Date: 2025-04-28
    Abstract
  • In a heterogeneous vehicle group environment, there is a coexistence between connected and automated vehicles (CAVs) and human-driven vehicles. To address the problems that the priority operation of existing special vehicles was vulnerable to interference and causes severe disturbances to the system, multi-objective considerations of individual priority benefits and system operation benefits were incorporated into the priority control of special vehicles. A differentiated hierarchical response mechanism for various traffic demands was developed, and the priority response levels of different vehicles' demand for right-of-way resources were determined. A hierarchical framework of centralized right-of-way allocation and distributed vehicle trajectory planning was designed. In the upper layer, right-of-way allocation decision-making was implemented based on different priority response levels of traffic demand. In the lower layer, distributed vehicle trajectory planning was achieved with the allocated right-of-way as the goal to provide the demand-responsive supply of priority right-of-way for special vehicles. To validate the effectiveness and advancement of the control method, different saturation (0.8-1.4) and different penetration rates (0.3-0.8) conditions were selected, and different priority control methods for special vehicles were compared. Simulation results show that, as for the priority level, the proposed method can guarantee the special vehicles with delays of less than 0.1 seconds, ensuring absolute priority of special vehicles in a heterogeneous vehicle swarm environment. As for the traffic efficiency at the intersection, the proposed method maintains high efficiency when the traffic demand saturation rate is below 1.0. When traffic demand saturation rate is above 1.0, the efficiency of the proposed method is significantly affected by the CAV penetration rates, and with the increment in the penetration rates, the intersection efficiency can be ensured by the proposed method in a better way.

     

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