Improved A* algorithm speed planning of multi-traffic-light section and simulation validation
QIAO Feng-liang
SHEN Zhao-jie
LIU Dan-yang
Abstract：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％.
Keywords：improved A* algorithmspeed planningintelligent controlmulti-traffic-light intersections
Publication Date：2025-08-30
Online Publishing Date：2025-10-10(First online date of this platform, not the publication date of the document)
Pages：9( 1496-1504 )