Abstract: In order to improve the advorse effects on comfort and economy caused by the frequent switching of “stop-go” status due to the periodic change of signal lights at urban traffic intersections, a speed planning method to improve traffic efficiency was designed by combining speed planning with model predictive control in the V2I scenario. And a variable weight model predictive control method for vehicle speed control was proposed. For the proposed method, the co-simulation model was established by Prescan and Matlab / Simulink, which was compared and analyzed with the speed planning method and speed control method respectively. The results show that in terms of traffic efficiency, the network-connected bus can maintain a high speed without idling at the intersection, which saves more time than the traditional bus does. In terms of comfort, compared with the networked-PI control strategy, the maximum acceleration and deceleration of the networked-MPC control strategy are reduced by 79.22% and 93.26% respectively, and the maximum acceleration and deceleration impact are reduced by 92.73% and 96.38% respectively, which improves the driving comfort of the bus. In terms of economy, compared with the networked-PI control strategy, the average braking force and the maximum braking force of the networked-MPC control strategy are reduced by 49.79% and 96.77% respectively, making the braking occur less and the breaking situation more moderate, which improves the economy of the bus.

Key words: traffic engineering; internet of vehicles; V2I; speed planning; MPC; vehicle speed control

摘要： 为了改善城市交通路口信号灯的周期变更引起的汽车频繁切换“停-走”状态而造成的舒适性和经济性不良影响，在V2I场景下将车速规划与模型预测控制相结合，设计了一种提高通行效率的车速规划方法，并提出了面向汽车车速控制的变权重模型预测控制方法。针对所提出的方法，利用Prescan和MATLAB/Simulink建立联合仿真模型，并分别对车速规划方法及车速控制方法进行比较分析。结果表明：在通行效率方面，网联客车能维持在较高车速且不发生路口怠速，相比传统客车节省更多的时间；在舒适性方面，与网联-PI控制策略相比，网联-MPC控制策略的最大加减速度分别降低了79.22%和93.26%，最大加减速冲击度分别降低了92.73%和96.38%，改善了客车的驾驶舒适性；在经济性方面，与网联-PI控制策略相比，网联-MPC控制策略的平均制动力和最大制动力分别降低了49.79%和96.77%，使得更少制动情况发生，且制动情况更为缓和，改善了客车的经济性。

关键词: 交通工程；车联网；V2I；速度规划；模型预测控制；车速控制