多红绿灯路段改进A*车速规划算法及其仿真验证

In order to ensure vehicles efficiently pass through intersections, reduce start-stops, drive safely, rapidly, economically and comfortably during long distance journeys, driving speed was planned for a given road condition with multiple traffic lights, speed limits and road slopes using rule-based algorithm, the A* algorithm and improved A* algorithm respectively. Speed control simulations were conducted on the vehicle-engine Simulink control model. Speed control effects, acceleration fluctuation and fuel economy were discussed in detail. The improved A* algorithm uses position, time and acceleration as state-space nodes, employs VT-Micro instantaneous fuel consumption as the cost function, and uses the traffic light phase, speed limit and road slope value as the constraints to optimize the planning result. Compared with the A* algorithm, the speed planning time of the improved A* algorithm is reduced by 75.95%, the vehicle travel time is reduced by 9.6%, the acceleration variation is reduced by 37.9%, and the fuel consumption is reduced by 2.56%.