Abstract: In order to gain an in-depth understanding of the vehicle-road cooperative control method at the intersection under the intelligent network connection, the development context of the research on the intersection of the vehicle-road cooperative control was systematically reviewed from the perspective of the control method. Firstly, according to the essential characteristics of vehicle-road coordination technology, the basic methods of vehicle-road coordination control were summarized. Secondly, considering the current and future development status and trends of intersection collaborative technology, starting from the type of signal control and the number of collaboratively controlled intersections, the vehicle-road collaborative control methods and their differences at intersections were expounded. In terms of single intersection, the cooperative control characteristics of signalized and non-signaled control intersections were analyzed and the linkage control mechanism between signal lights and vehicles, as well as the time-space conflict resolution method between vehicles and vehicles, vehicles and virtual agents were expounded. In terms of multiple intersections, the advantages of multiple intersections cooperative control were compared and analyzed, and the research progress of multiple intersections cooperative control was summarized from the aspect of balanced regulation of local traffic flow. Finally, the current difficulties of vehicle-road coordination technology at intersections and suggestions for popularization and application were put forward. The research results show that the combing of the current intersection vehicle-road collaborative control method provides a certain guiding reference for the future research, development and evaluation of the intersection collaborative control in the complex, special and transitional stages.

Key words: traffic engineering; intelligent transportation; vehicle-road cooperative; control method; intersection

摘要： 为了深入了解智能网联下交叉口车路协同控制方法，从控制方法的角度系统回顾了交叉口车路协同控制研究的发展脉络。根据车路协同技术本质特点，归纳了车路协同控制基本方法；考虑到当前与未来交叉口协同技术的发展现状与趋势，分别从信控类型及协同控制的交叉口数量出发，阐述了交叉口车路协同控制方法及其差异性。在单交叉口方面：分析了信号与无信号控制交叉口协同控制特征，阐述了信号灯与车辆之间的联动控制机理及车辆与车辆、车辆与虚拟代理之间的时空冲突疏解方法；在多交叉口方面：对比分析了多交叉口协同控制优势，并从局域交通流的均衡调控方面归纳了多交叉口协同控制研究进展。最后提出了当前交叉口车路协同技术的难点问题和推广应用的建议措施。研究结果表明：通过对当前交叉口车路协同控制方法的梳理为未来应对复杂化、特殊化、过渡阶段的交叉口协同控制研发和评估工作提供一定的指导性参考。

关键词: 交通工程；智能交通；车路协同；控制方法；交叉口