-9-一种基于双层模糊控制的匝道合流区协同控制方法赵红专陈智振代静（桂林电子科技大学，广西桂林541000）【摘要】为了提高匝道合流区的交通通行效率，降低匝道合流区的车辆平均延误，采用双层模糊控制方法，对匝道合流区主线车辆和匝道车辆进行协同控制。建立面向匝道合流区的换道决策模糊控制器，设计其输入和输出变量，并确定模糊规则。根据第一层双模糊控制器决策结果，得到以车辆通行数优先的和以平均延误最低的换道决策率，并通过第二层模糊控制生成实际换道率，以车辆通过量和平均延误为评价指标，在相同条件下对无模糊控制，部分模糊控制以及完全模糊控制进行仿真。结果表明，部分模糊控制及完全模糊控制相对于无模糊控制，平均延误分别降低7.669s和48.746s。文章所提出的关于匝道合流区的模糊控制为匝道合流区协同控制提供了一种新的方式。【关键词】匝道控制；模糊控制；自动驾驶；换道决策【中图分类号】U491【文献标识码】A【文章编号】1008-1151(2022)12-0009-05ACoordinatedControlMethodofRampConfluenceAreaBasedonTwo-LayerFuzzyControlAbstract:Inordertoimprovethetrafficefficiencyintherampconfluenceareaandreducetheaveragedelayofvehiclesintherampconfluencearea,atwo-layerfuzzycontrolmethodisusedtocontrolthemainlinevehiclesandrampvehiclesintherampconfluencearea.Afuzzycontrollerforlanechangedecision-makinginrampmergingareaisestablished,itsinputandoutputvariablesaredesigned,andthefuzzyrulesaredetermined.Accordingtothedecision-makingresultsofthefirstlayerofdualfuzzycontrollers,thelanechangedecisionratewithprioritytothenumberofvehiclesandthelowestaveragedelayisobtained,andtheactuallanechangerateisgeneratedthroughthesecondlayeroffuzzycontrol.Takingthevehiclethroughputandaveragedelayastheevaluationindicators,thenon-fuzzycontrol,partialfuzzycontrolandcompletefuzzycontrolaresimulatedunderthesameconditions.Theresultsshowthatthepartialfuzzycontrolandthecompletefuzzycontrolrelativetonon-fuzzycontrol,theaveragedelayisreducedby7.669sand48.746srespectively.Theproposedfuzzycontroloframpconfluenceareaprovidesanewwayforthecollaborativecontroloframpconfluencearea.Keywords:rampcontrol;fuzzycontrol;automateddriving;lanechangedecision引言快速路的通...
