欢迎访问《汽车安全与节能学报》，
汽车安全与节能学报

汽车安全与节能学报 ›› 2026, Vol. 17 ›› Issue (3): 409-419.DOI: 10.3969/j.issn.1674-8484.2026.03.013

• 智能驾驶与智慧交通 • 上一篇    

智能网联车与人驾车混行环境下流量不平衡交叉口的优化通行策略及其博弈分析

郭世童1,2(), 巫诚诚1,2,*(), 郑丁玮1,2, 黄星雨1,2   

  1. 1 西华大学 汽车与交通学院， 成都 610039， 中国
    2 汽车测控与安全四川省重点实验室， 成都 610039， 中国
  • 收稿日期:2025-12-12 修回日期:2026-02-19 出版日期:2026-06-30 发布日期:2026-07-02
  • 通讯作者: *巫诚诚，副教授。E-mail：1220210028@mail.xhu.edu.cn。
  • 作者简介:郭世童（2001—），男（汉），四川，硕士研究生。E-mail：guoshitong@stu.xhu.edu.cn。
  • 基金资助:
    西华大学科研培育项目(YK20240233)

Optimized passage strategies and game-theoretic analysis for unbalanced intersections in mixed CAV and CHV traffic

GUO Shitong1,2(), WU Chengcheng1,2,*(), ZHENG Dingwei1,2, HUANG Xingyu1,2   

  1. 1 School of Automotive and Transportation, Xihua University, Chengdu 610039, China
    2 Sichuan Provincial Key Laboratory of Vehicle Measurement, Control and Safety, Chengdu 610039, China
  • Received:2025-12-12 Revised:2026-02-19 Online:2026-06-30 Published:2026-07-02

RichHTML

2

PDF

14

摘要：

考虑流量不平衡的城市交叉口优化需求及智能网联车（CAVs）与人工驾驶车（CHVs）混行环境特征，该文提出多主体协商下的交叉口通行优化策略。构建了 3 种优化策略：无行人/非机动车过街时，启用智能网联车跨越中分带的借道左转与进口道车辆直接左转；行人/非机动车选择正常过街时，延长左转待转区及智能网联车借道左转区；过街延后 + 充电补偿协商达成时，开放无线充电补偿以提升等待可接受度，智能网联车跨越中分带的借道左转与进口道车辆直接左转，并在单周期内动态调整后续放行方案，以提高策略对交叉口流量变化的响应能力。策略基于人-车过街协商结果及等待补偿机制构建，其中等待补偿通过在延后过街期间开放无线充电服务，降低行人和非机动车的等待成本。以行人/非机动车与机动车为博弈主体，分别构建双边演化博弈模型，引入“时间成本-安全风险-能量补偿”三维收益。结果表明：在混行与流量不平衡条件下，“行人/非机动车按信号过街+人工驾驶车辆延长待转+智能网联车借道左转至延长区”为演化稳定策略组合，可在不改变渠化与信号框架的前提下显著降低延误与混乱程度。

关键词: 智能网联车（CAVs）, 交叉口通行策略, 演化博弈论, 流量不平衡

Abstract:

An intersection passage optimization strategy based on multi-agent negotiation was proposed to optimize urban intersections under unbalanced traffic flow in a mixed environment of connected and automated vehicles (CAVs) and conventional human-driven vehicles (CHVs). Three strategies were developed: when no pedestrians or non-motorized vehicles were crossing, CAVs were allowed to perform lane-borrowing left turns across the median, while approach vehicles turned left directly; when pedestrians or non-motorized vehicles crossed normally, the left-turn waiting area and the CAV lane-borrowing left-turn area were extended; when a negotiated agreement on delayed crossing with charging compensation was reached, wireless charging was provided to improve the acceptability of waiting, CAVs performed lane-borrowing left turns across the median while approach vehicles turned left directly, and the subsequent release scheme was dynamically adjusted within a single cycle to improve responsiveness to traffic-flow variation. The strategy was built on the outcome of pedestrian-vehicle crossing negotiation and a waiting-compensation mechanism, in which the wireless charging service offered during delayed crossing reduced the waiting cost of pedestrians and non-motorized vehicles. With pedestrians/non-motorized vehicles and motor vehicles taken as the game players, bilateral evolutionary game models were established, and a three-dimensional payoff of “time cost-safety risk-energy compensation” was introduced. The results show that, under mixed and unbalanced traffic conditions, the combination of signal-compliant crossing by pedestrians/non-motorized vehicles, extended left-turn waiting for CHVs, and CAV lane-borrowing left turns into the extended area constitutes an evolutionarily stable strategy, which significantly reduces delay and disorder without altering the existing channelization or signal-control framework.

Key words: connected and automated vehicles (CAVs), intersection passage strategy, evolutionary game theory, unbalanced traffic flow

中图分类号: