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To improve the traffic flow efficiency of vehicleroad cooperative adaptive cruise vehicles at signalized intersections, a model predictive control algorithm considering traffic signal status is proposed. When following a vehicle through an intersection, the vehicle first uses V2X to obtain information about the traffic signal, including its position, color and countdown timer. The vehicle's longitudinal kinematics model is used to link the acceleration request from the controller to the vehicle's future state. An objective function considering both the vehiclefollowing state and the traffic signal is designed. Finally, the output acceleration request is calculated through nonlinear optimization, simulating the behavior of human drivers when following other vehicles through signalized intersections. The simulation results show that compared with ACC vehicles, the vehicle using this algorithm achieves higher traffic efficiency while maintaining safety when passing through signalized intersections. This research provides a theoretical basis for prioritizing efficiency in the design of CACC vehicle control algorithms, and offers practical insights for developing an efficiency mode in systems that include both economic and efficiency modes.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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