在智能网联环境下，为提升车辆通过无信控交叉口的安全性、高效性与舒适性，提出一种无信控交叉口智能网联车辆的冲突消解模型，以实现车辆通过交叉口次序的全局优化。首先，基于进入控制区和离开控制区的时间推导车辆到达各冲突区的安全时间间隔，对存在潜在冲突的车辆构建虚拟车队并建立冲突约束。其次，基于最大速度和加速度进行车辆最小行程时间推导，再以车辆总延误最小为目标构建冲突消解的非线性时序优化模型；针对车辆急加、减速问题，基于时序优化模型的结果，将车辆在控制区的初始状态和末端状态作为初始数据，利用最优控制理论进行轨迹优化。最后，通过 Traci 接口对 SUMO 进行二次开发以建立仿真场景并对所建模型进行仿真验证。结果表明，模型在不同交通量下的优化效果均优于“先到先服务”控制方法，车辆的平均行程时间和平均损失时间分别降低44.67% 和 78.33%；在轨迹优化方法的控制下，加速度干扰值降低了 55.5%，能使车辆在冲突消解模型的控制下平滑地完成加减速过程，有效提升了交叉口行车舒适性。

In the intelligent connected environment, to enhance the safety, efficiency and comfort of vehicles passing through uncontrolled intersections, a conflict resolution model for intelligent connected vehicles at unsignalized intersections was proposed to achieve the global optimization of vehicle passage timing at intersections. Firstly, based on the time of entering and leaving the control zone, the safe time intervals for vehicles to reach each conflict zone were derived, and virtual fleets were constructed for vehicles with potential conflicts and conflict constraints were established. Then, the minimum travel time of vehicles was derived based on the maximum speed and acceleration, and a nonlinear timing optimization model for conflict resolution was constructed with the objective of minimizing the total vehicle delay. Regarding the problem of sudden acceleration and deceleration of vehicles, based on the results of the timing optimization model, the initial and terminal state of the vehicle in the control area were taken as the initial data, and the optimal control theory was used to optimize the trajectory. Finally, the SUMO was redeveloped through the Traci interface to establish a simulation scenario and verify the proposed model through simulation. The results show that the proposed model has better optimization effects than the "first come, first served" control method under different traffic volumes.The average travel time and average loss time of vehicles are reduced by 44.67% and 78.33% respectively. Under the control of the trajectory optimization method, the acceleration interference value is reduced by 55.5%, which enables vehicles to smoothly complete the acceleration and deceleration process under the control of the conflict resolution model, effectively improving the intersection passage efficiency and driving comfort.