本团队关于智能网联车路协同系统领域的研究包括在车联网环境下的公交优先、城市道路交通控制、车路协同仿真平台搭建。在车联网环境下，车车通信、车路通信、中心控制成为可能。在信息可获取程度更高的情况下，实现更高效、更安全、更智能的交通运行。车联网环境下的公交优先包括城市交叉口公交优先优化，城市交叉口公交速度-驻站时间-信号配时协同优化，公交实时动态优化。而城市道路交通控制包括城市交叉口自动驾驶网联车轨迹控制。下图展示了车路系统系统仿真测试平台的工作原理及与优化控制算法的关系。

1. Ma C., Yu C., Zhang C., Yang X. , Signal timing at an isolated intersection under mixed traffic environment with self-organizing connected and automated vehicles , 2023 , Computer-Aided Civil and Infrastructure Engineering

2. Ma W.-J., Li J.-J., Yu C.-H. , Intersection Control in Mixed Traffic with Connected Automated Vehicles: A Review of Recent Developments and Research Frontiers [智能网联混合交通流交叉口控制:研究进展与前沿] , 2023 , Zhongguo Gonglu Xuebao/China Journal of Highway and Transport

3. Ma W., Chen B., Yu C., Qi X. , Trajectory Planning for Connected and Autonomous Vehicles at Freeway Work Zones under Mixed Traffic Environment , 2022 , Transportation Research Record

4. Ou S., Yu C., Ma W. , Connected Bus Real-Time Priority Control Considering Arterial Signal Coordination [干线信号协调背景下的网联公交实时优先控制方法] , 2022 , Tongji Daxue Xuebao/Journal of Tongji University

5. Wang L., Wang Y., Qi X., Ma W. , Travel Time Reliability Factor Analysis of Regular Bus Route Based on GPS [基于GPS的常规公交行程时间可靠性因素分析] , 2022 , Wuhan Ligong Daxue Xuebao (Jiaotong Kexue Yu Gongcheng Ban)/Journal of Wuhan University of Technology (Transportation Science and Engineering)

6. Ma W., Li J., Yu C. , Shared-phase-dedicated-lane based intersection control with mixed traffic of human-driven vehicles and connected and automated vehicles , 2022 , Transportation Research Part C: Emerging Technologies

7. Pang T., Yu C., Ma W., Wang L., Lin Q. , Intermittent and Dynamic Priority Control of Dedicated Lanes for Connected and Automated Vehicles on Freeways , 2022 , IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

8. Ou S., Ma W., Yu C. , Optimization of Bus Scheduling and Bus-Berth Matching at Curbside Stops under Connected Vehicle Environment , 2022 , Journal of Advanced Transportation

9. Danesh A., Ma W., Yu C., Hao R., Ma X. , Optimal roundabout control under fully connected and automated vehicle environment , 2021 , IET Intelligent Transport Systems

10. Wang L., Wu Z., Li W., Liu H., Ma W. , Adaptability Assessment Framework for Public Transit Systems with Automated Vehicles on Open Flow Roads , 2021 , CICTP 2021: Advanced Transportation, Enhanced Connection - Proceedings of the 21st COTA International Conference of Transportation Professionals

11. Wu M., Yu C., Ma W., Wang L., Ma X. , Reinforcement Learning Based Demand-Responsive Public Transit Dispatching , 2021 , CICTP 2021: Advanced Transportation, Enhanced Connection - Proceedings of the 21st COTA International Conference of Transportation Professionals

12. Wang L., Ma W., Wang L., Ren Y., Yu C. , Enabling In-Depot Automated Routing and Recharging Scheduling for Automated Electric Bus Transit Systems , 2021 , Journal of Advanced Transportation

13. Hao R., Wang L., Ma W., Yu C. , Estimating signal timing of actuated signal control using pattern recognition under connected vehicle environment , 2021 , Promet - Traffic - Traffico

14. Wang L., Zeng L., Ma W., Guo Y. , Integrating Passenger Incentives to Optimize Routing for Demand-Responsive Customized Bus Systems , 2021 , IEEE Access

15. Ma C., Yu C., Yang X. , Trajectory planning for connected and automated vehicles at isolated signalized intersections under mixed traffic environment , 2021 , Transportation Research Part C: Emerging Technologies

16. Qi X., Sun T., Ma W., Wang L., Yu C. , Evaluation of a variable speed limit system using a hierarchical framework under a connected vehicles environment: A case study of a field test in Seattle , 2020 , IET Intelligent Transport Systems

17. Wu Z., An K., Wang W., Currie G., Hu X. , Comprehensive Approach to Transfer Synchronization in Public Transit , 2020 , Journal of Transportation Engineering Part A: Systems

18. Huang K., Liu Z., Zhu T., Kim I., An K. , Analysis of the acceptance of park-and-ride by users: A cumulative logistic regression approach , 2019 , Journal of Transport and Land Use

19. Bian R.R., Wilmot C.G., Wang L. , Estimating spatio-temporal variations of taxi ridership caused by Hurricanes Irene and Sandy: A case study of New York City , 2019 , Transportation Research Part D: Transport and Environment

20. Huang K., An K. , Research papers - Modelling the dynamic one-way car sharing system , 2017 , ATRF 2017 - Australasian Transport Research Forum 2017, Proceedings

21. Jing W., An K., Ramezani M., Kim I. , Location Design of Electric Vehicle Charging Facilities: A Path-Distance Constrained Stochastic User Equilibrium Approach , 2017 , Journal of Advanced Transportation

22. Guan S., Su Z., Li J. , Optimization of number of parking space and parking rates for the on-street metered parking: A case study of guangzhou CBD , 2017 , Transport and Society - Proceeding of the 22nd International Conference of Hong Kong Society for Transportation Studies, HKSTS 2017

23. Cao G., Wang L., Jin Y., Yu J., Ma W., Liu Q., He A., Fu T. , Determination of the vehicle relocation triggering threshold in electric car-sharing system , 2016 , Lecture Notes in Electrical Engineering

24. Huang W., Ma W., Viti F., Tampère C.M.J. , An Optimization-Based Iterative Learning Method for Anticipatory Network Traffic Control , 2016 , CICTP 2016 - Green and Multimodal Transportation and Logistics - Proceedings of the 16th COTA International Conference of Transportation Professionals

25. Wang L., Ma W., Zuo Z. , Smart-Phone Trace Segmentation for Trip Information Extraction , 2016 , CICTP 2016 - Green and Multimodal Transportation and Logistics - Proceedings of the 16th COTA International Conference of Transportation Professionals

26. Wu W., Ma W.-J., Yang X.-G. , Route based signal coordination control model within vehicle infrastructure integration environment , 2014 , Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition)

27. Wang J., Ma W., Yang X. , Development and evaluation of intellidrive-enabled emergency vehicle preemption control algorithm , 2014 , CICTP 2014: Safe, Smart, and Sustainable Multimodal Transportation Systems - Proceedings of the 14th COTA International Conference of Transportation Professionals

28. Ma W., Head K.L., Feng Y. , Integrated optimization of transit priority operation at isolated intersections: A person-capacity-based approach , 2014 , Transportation Research Part C: Emerging Technologies

29. Wang J., Ma W., Yang X. , Development of degree-of-priority based control strategy for emergency vehicle preemption operation , 2013 , Discrete Dynamics in Nature and Society

30. Ma W., Liu Y., Yang X. , A dynamic programming approach for optimal signal priority control upon multiple high-frequency bus requests , 2013 , Journal of Intelligent Transportation Systems: Technology, Planning, and Operations

31. An K. , Robust transit network design with stochastic demand considering development density , 2013 , Proceedings of the 18th International Conference of Hong Kong Society for Transportation Studies, HKSTS 2013 - Travel Behaviour and Society

32. Lo H.K., An K., Lin W.-H. , Ferry service network design under demand uncertainty , 2013 , Transportation Research Part E: Logistics and Transportation Review

33. Yang X., Chu H., Wu Z., Pang Y., Ma W. , System structure and test research of apts based on zigbee technology in China , 2006 , 13th World Congress on Intelligent Transport Systems and Services

在研：

   1. 面上项目（52372333）：面向高速公路连锁冲突的车路协同避险调控方法研究，2024.01-2027.12

   2. 国家自然科学基金重点基金（52131204）：智能网联新型混合交通流协同控制，2022.01-2026.12

   3. 国家自然科学基金面上基金（52272336）：智能网联混合交通流交叉口自主协同控制，2023.01-2026.12

   4. 国家自然科学基金青年基金（52102415）：连续交通流路段-车群事故风险解析，2022.01-2024.12

已结题：

   1.  上海市曙光学者计划，智能网联环境下新型混合交通流控制与优化，2020.1-2022.12

   2.  国家自然科学基金，新型混合交通流粒流一致性控制，2020.01-2022.12

   3.  国家战略性国际科技创新合作重点专项子课题：复杂环境下智能交通协同管控技术（2016YFE0206800），2017/9-2020/8

   4.  工信部课题，基于多接入边缘计算（MEC）的车路协同应用系统应用示范，2019.09-2021.08

   5.  国家863计划课题“车路协同系统交通协调控制关键技术”，2011.1-2013.12，

   6.  道路与交通工程教育部重点实验室开放基金项目：车路协同环境下公共汽车经济驾驶策略优化方法研究，2012.9.1-2014.9.30 

   7.  中央高校基本科研业务费专项资金项目：车联网环境下交叉口主动控制基础理论研究，2012/1-2013/12

   8. 车路协同与安全控制北京市重点实验室开放课题“面向节能减排的车队速度引导与信号配时协调优化方法研究”

已授权：

1. 马万经，郝若辰.一种基于仿生学的自动驾驶车辆运行控制方法，201710059510.X

2. 马万经，郝若辰.一种面向网联自动驾驶车辆的交叉口自组织控制方法201710059516.7

3. 马万经，郝若辰，王浩然，刁晨雪，戚新洲，毕浩楠.一种面向网联自动驾驶车辆的交叉口自组织控制方法- 201710059516.7

4. 马万经、陈子轩、俞春辉. 一种车路协同系统的在环仿真方法及平台, 201910803508.8

5. 马万经、陈子轩、陈奔玮、俞春辉、王玲. 一种车路协同系统测试方法及架构, 202010068831.8

6. 王  玲、邹菱洁、马万经. 一种V2X环境下基于动静态特征的实时路段划分方法, 202210456020.4

7. 马万经;万丽娟;陈蓓;黄望月;付涛一种数据驱动的交叉口信号控制评价系统. CN201910074865.5

8. 马万经;袁见;俞春辉;王玲一种面向公交信号优先高频多申请的动态控制方法. CN202010287082.8

9. 马万经;黄望月;孙拓;郝若辰;陈蓓;谢洁旻;孙博一种基于轨迹数据的干线协调控制优化方法. CN202110064451.1

10. 胡笳;张羽;商智颖;张一鸣;马万经;吴志周;白玉;江泽浩一种基于混合函数域的网联智能车辆编队行驶控制方法. CN201810591195.X

11. 孙拓;马万经;郝若辰;陈蓓;林启恒;陈奔玮一种考虑路网容量约束的分布式主动均衡管控方法. CN202110892236.0

12. 马万经;郑喆;袁见;王玲;俞春辉基于多源数据的中运量公共交通系统综合效益评价方法. CN202110831921.2

13. 马万经;赫子亮;王玲;俞春辉一种基于车群事故风险的快速路多匝道协同控制方法. CN202110694972.5

14. 马万经;袁见;俞春辉;王玲一种面向公交信号优先高频多申请的动态控制方法. CN202010287082.8

15. 胡笳;张羽;商智颖;张一鸣;马万经;吴志周一种基于空间域的网联智能车编队行驶控制方法. CN201810591224.2

已受理：

1. 马万经，郝若辰，戚新洲. 一种车联网环境下的交通管控系统，201910092221.9

2. 马万经，陈子轩，俞春辉. 一种车路协同系统的在环仿真方法及平台，201910803508.8

3. 马万经，陈子轩，孙士超，王慧子，翁立成. 一种多模块融合的智能网联车在环测试系统，201910092276.X

4. 马万经，林启恒，赫子亮，王玲，俞春辉. 一种道路通行能力与网联自动驾驶车当量系数估计方法，201910978887.4

5. 朱弘戈，朱晓东，马万经，单铮，范栋男，俞春辉，陈奔玮. 一种面向智能网联车测试的数据库管理系统. 202010431923.8

6. 马万经、赫子亮、王玲、俞春辉. 一种基于车群事故风险的快速路多匝道协同控制方法, ZL202110694972.5

7. 田丽萍、朱弘戈、单铮、梁锐、王玲. 一种车路协同环境下高速公路施工区的路侧控制系统, 201910989948.7

8. 马万经、赫子亮、王玲、俞春辉. 一种基于事故风险的快速路车速和匝道协同控制方法, ZL 2020 1 0935327.3

9. 马万经、欧诗琪、王玲、余婧婷、刘圣月、马卓. 公交动态速度引导-驻站控制-信号优先协同控制方法, ZL202110772712.5

10. 马万经、郝若辰、戚新洲. 一种车联网环境下的交通管控系统, ZL  2019 1 0092221.9

11. 朱弘戈，朱晓东，马万经，单铮，范栋男，俞春辉，陈奔玮. 一种面向智能网联车测试的数据库管理系统, ZL 2020 1 0935327.3