CN103985260A - Vehicle speed control system for expressway main line - Google Patents
Vehicle speed control system for expressway main line Download PDFInfo
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- CN103985260A CN103985260A CN201410234707.9A CN201410234707A CN103985260A CN 103985260 A CN103985260 A CN 103985260A CN 201410234707 A CN201410234707 A CN 201410234707A CN 103985260 A CN103985260 A CN 103985260A
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Abstract
The invention provides a vehicle speed control system for an expressway main line. The system comprises a multichannel traffic environment comprehensive detector, divided lane LED variable speed-limit signs and a traffic guidance control system, wherein the multichannel traffic environment comprehensive detector, the divided lane LED variable speed-limit signs and the traffic guidance control system are arranged on the expressway main line road segment, the multichannel traffic environment comprehensive detector comprises an integrated communication module, a rain gauge, a fog and snow light-transmitting gauge, an anemoscope and a traffic flow detector, and the rain gauge, the fog and snow light-transmitting gauge, the anemoscope and the traffic flow detector are connected with the integrated communication module. The integrated communication module outputs data to the traffic guidance control system through a unified communication interface, and the traffic guidance control system is combined with speed limiting restraining conditions of divided lanes, optimally provides dynamic speed limiting values or lane-closing running instructions of the divided lanes, and outputs the values and instructions to the divided lane LED variable speed-limit signs. The vehicle speed control system has the advantages of optimally providing the dynamic speed limiting values or no-entry instructions of the divided lanes on basis of comprehensively considering the rain, snow, fog, wind and traffic congestion conditions, and ensuring the running safety on the expressway main line under the complex traffic condition.
Description
Technical field
The present invention relates to a kind of highway main line vehicle speed control system, be applicable to the optimal control of highway main line speed of a motor vehicle divided lane.
Background technology
Research shows, under complicated transport environmental condition (rain, snow mist, wind, congested flow), the probability that the too high meeting of the speed of a motor vehicle causes traffic hazard to occur significantly increases, especially on highway main line.Adopt main line divided lane real-time speed limit control technology, the capable of dynamic guiding speed of a motor vehicle remains in zone of reasonableness, and follows the velocity contrast between vehicle before and after reducing, thereby ensures the traffic safety under complicated transport environmental condition.
China's highway mainly adopts fixing speed limit mode at present, although part highway has adopted variable speed-limit control mode, there is no dynamically changeable Control for Speed Limitation technology and method for complicated traffic environment and divided lane.Relevant patent is less, and the Chinese patent that application number is 201010164710.x provides a kind of variable speed-limit control algolithm that belongs to tunnel safety field, does not consider the Control for Speed Limitation problem under inclement weather environment.Application number is 201210427353.0 Chinese patent, and a kind of highway variable speed-limit control system and method are provided, and has only considered under rainy day environment and the Control for Speed Limitation problem of divided lane not.
Summary of the invention
For above deficiency, the invention provides a kind ofly for the highway main line vehicle speed control system under complicated traffic environment, on the basis that considers multiple refers traffic environment, optimize and provide the dynamic speed limit of divided lane or no through traffic instruction.
The invention provides a kind of highway main line vehicle speed control system, be included in highway main line section arrange: hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign and traffic guidance control system, described hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign are connected with traffic guidance control system respectively; Described hyperchannel traffic environment comprehensive detection device comprises integrated communicaton module and the rain gage being attached thereto, mist snow penetrameter, anemoscope and magnitude of traffic flow detecting device, rain gage, mist snow penetrameter, anemoscope, magnitude of traffic flow detecting device detect respectively rainfall, mist snow, wind speed intensity and the magnitude of traffic flow in the same section of highway main line, and export to described integrated communicaton module, integrated communicaton module is exported to traffic guidance control system by Unified Communication interface by data; Traffic guidance control system, in conjunction with each divided lane speed limiting constraint condition, is optimized and is provided the dynamic speed limit of each divided lane or close track operating instruction, exports to each divided lane LED variable speed-limit sign; Divided lane LED variable speed-limit sign arranges by track, carries out divided lane speed limit or traffic prohibited sign and shows.
Further, the dynamic speed limit of described divided lane is obtained by following method optimization by traffic guidance control system:
(1) traffic guidance control system is by the rainfall of input, mist snow, wind speed intensity with congested in traffic situation is all divided into greatly, big or middle, less, little five grades, that is:
U
1, U
2, U
3∈ large, larger, in, less, little }
U
4(U
41, U
42, U
43, U
44) ∈ large, larger, in, less, little }
Wherein, rainfall intensity U
1, mist snow intensity U
2, wind velocity U
3not divided lane of value, congested in traffic situation U
4divided lane value, by track 1,2,3,4 successively value U
41, U
42, U
43, U
44;
(2) traffic guidance control system is divided into the speed limit of output:
V
i1，V
i2∈{0，20，40，60，80，100}
V
i3，V
i4∈{0，20，40，60，80，100，120}
Wherein, for unidirectional be the highway in 4 tracks, be cart traveling lane near the 1st, 2 tracks of trackside, Maximum speed limit 100km/h, is dolly traveling lane near the 3rd, 4 tracks of isolation strip, center, Maximum speed limit 120km/h; If the speed limit of output is 0, show traffic prohibited sign;
V
i1represent the output speed limit in the 1st track under certain traffic environment, i=1,2,3,4, represents respectively rain, mist snow, wind, congested in traffic environment, in like manner, and V
i2, V
i3, V
i4represent respectively the 2nd, the output speed limit in 3,4 tracks;
(3) input of traffic guidance control system and output relation adopt fuzzy rule to determine:
Consider that traffic environment is when " rain ", respective intensities greatly, big or middle, less, little, V
11=V
12be respectively 20,40,60,80,80; V
13=V
14be respectively 40,60,80,100,100;
Consider that traffic environment is when " mist snow ", respective intensities greatly, big or middle, less, little, V
21=V
22be respectively 0,20,40,60,80; V
23=V
24be respectively 0,20,40,60,80;
Consider that traffic environment is when " wind ", respective intensities greatly, big or middle, less, little, V
31=V
32be respectively 40,60,60,80,100; V
33=V
34be respectively 40,60,80,100,120;
Consider when the magnitude of traffic flow, corresponding congested conditions greatly, big or middle, less, little, V
41=V
42be respectively 0,60,80,100,100; V
43=V
44be respectively 0,60,80,120,120;
(4) traffic guidance control system can obtain the output speed limit set under simultaneously acting on of two kinds or above traffic environment, gets the minimum value of output valve set under various traffic environment independent actions:
V
1＝Min(V
11,V
21,V
31,V
41)；V
2＝Min(V
12,V
22,V
32,V
42)；
V
3＝Min(V
13,V
23,V
33,V
43)；V
4＝Min(V
14,V
24,V
34,V
44)；
Wherein V
1, V
2, V
3, V
4represent successively the output speed limit in the the 1st, 2,3,4 tracks.
Further, in highway main line section, a certain section arranges one group of LED variable speed-limit sign by track, at this section trackside, traffic guidance control system is set, and at 1000 meters of of spacing, traffic guidance control system downstream, hyperchannel traffic environment comprehensive detection device is set.Integrated communicaton module is exported to traffic guidance control system by wireless network after to various detection data integrations.
Described magnitude of traffic flow detecting device adopts video detector, and video camera is installed above track, the magnitude of traffic flow in multiple tracks is detected simultaneously.
Advantage of the present invention is: considering on rain, snow mist, wind and traffic flow congested conditions basis, optimize and provide the dynamic speed limit of divided lane or no through traffic instruction, complete the highway main line speed of a motor vehicle control under complicated traffic environment, ensure the traffic safety of highway main line under complicated transportation condition.
Brief description of the drawings
Figure l is highway main line vehicle speed control system structure of the present invention and scheme of installation.
Fig. 2 is the speed of a motor vehicle control flow chart of the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Present invention resides in highway main line section arrange: hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign and traffic guidance control system, described hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign are connected with traffic guidance control system respectively.
Hyperchannel traffic environment comprehensive detection device is by rain gage, mist snow luminous transmittance measuring, anemoscope, magnitude of traffic flow detecting device and integrated communicaton module composition.Rain gage, mist snow penetrameter, anemoscope detect respectively rainfall, mist snow, the wind speed intensity in highway main line section, and export to integrated communicaton module by cable network RS422 interface.Magnitude of traffic flow detecting device adopts video detector, can detect the magnitude of traffic flow in four tracks simultaneously, detects data and also exports to integrated communicaton module by cable network RS422 interface.Integrated communicaton module is exported to traffic guidance control system by wireless network after to various detection data integrations.
The complicated traffic environment that traffic guidance control system receives the output of hyperchannel traffic environment comprehensive detection device detects data, and in conjunction with each divided lane speed limiting constraint condition, optimize and provide the dynamic speed limit of each divided lane or close track operating instruction, export to each divided lane LED variable speed-limit sign.LED variable speed-limit sign arranges by track, receives respectively after the instruction of traffic guidance control system and carries out corresponding speed limit or close track operation (no through traffic) mark showing.
The dynamic speed limit of highway divided lane obtains by following method optimization:
(1) traffic guidance control system is by the rainfall of input, mist snow, wind speed intensity with congested in traffic situation is all divided into greatly, big or middle, less, little five grades, that is:
U
1, U
2, U
3∈ large, larger, in, less, little }
U
4(U
41, U
42, U
43, U
44) ∈ large, larger, in, less, little }
Wherein, rainfall intensity U
1, mist snow intensity U
2, wind velocity U
3not divided lane of value, U
4divided lane value of congested in traffic situation, by track 1,2,3,4 successively value U
41, U
42, U
43, U
44.
(2) traffic guidance control system is divided into the speed limit of output:
V
i1，V
i2∈{0，20，40，60，80，100}
V
i3，V
i4∈{0，20，40，60，80，100，120}
Wherein, for unidirectional be the highway in 4 tracks, according to China's Freeway Transport administrative provisions, the the 1st, the 2nd track near trackside is cart traveling lane, Maximum speed limit does not allow to exceed 100km/h, the the 3rd, the 4th track near isolation strip, center is dolly traveling lane, and Maximum speed limit does not allow to exceed 120km/h.If the speed limit of output is 0, show traffic prohibited sign.
V
i1represent the output speed limit in the 1st track under certain traffic environment, i=1,2,3,4, represents respectively rain, mist snow, wind, congested in traffic environment, other the like.
(3) input of traffic guidance control system and output relation adopt fuzzy rule to determine:
Table 1 the 1st and 2 track inputs and output fuzzy rule
Table 2 the 3rd and 4 track inputs and output fuzzy rule
(4) traffic guidance control system can obtain the output speed limit set under simultaneously acting on of two kinds or above traffic environment, and target is the minimum value of getting output valve set under various traffic environment independent actions.
V
1＝Min(V
11,V
21,V
31,V
41)；V
2＝Min(V
12,V
22,V
32,V
42)；
V
3＝Min(V
13,V
23,V
33,V
43)；V
4＝Min(V
14,V
24,V
34,V
44)
Wherein V
1, V
2, V
3, V
4represent successively the output speed limit in the the 1st, 2,3,4 tracks.
Specific embodiment is as follows.
As shown in Figure 1: select highway one main line section, unidirectional have 4 tracks, and highway main line vehicle speed control system is set.Above the each track of a certain section, upstream, in the face of direction to the car arranges LED variable speed-limit show label, at its trackside, traffic guidance control system is set, between the two, connects by wire communication cable, interface is RS422.Trackside at the section of 1000 meters of this section downstream spacing arranges hyperchannel traffic environment comprehensive detection device, comprises rain gage, mist snow luminous transmittance measuring, anemoscope, magnitude of traffic flow detecting device and integrated communicaton module.Magnitude of traffic flow detecting device adopts video detector, above each track, in the face of direction to the car respectively arranges a video camera, is responsible for Real-time Collection road map picture, and sends magnitude of traffic flow detecting device to by cable video cable.Every 10 minutes, various detection data sent integrated communicaton module to by wire communication cable RS422 interface, after integrated communicaton module integration, sent by cordless communication network (3G or 4G) the traffic guidance control system that is positioned at upstream to.Traffic guidance control system is built-in with control algolithm, in conjunction with each divided lane speed limiting constraint condition, (the 1st, 2 track Maximum speed limits are 100km/h to control algolithm, 3rd, 4 track Maximum speed limits are 120km/h), get minimum value formula etc. according to above-mentioned traffic environment input classification, input and output relation fuzzy rule, output valve set, dynamic optimization obtains the dynamic speed limit of each divided lane or closes track operating instruction, each divided lane LED variable speed-limit sign is controlled in output, carry out corresponding demonstration, once controlled and display update every 10 minutes.For example: when main line section is under moderate rain, little mist, strong wind acting in conjunction, and the magnitude of traffic flow in the the 1st, 2,3,4 tracks be successively more greatly, big or middle, hour, first, can be calculated the output speed limit set in each track by fuzzy rule: the output valve set in the 1st track is { 60,80,40,60}, the output valve set in the 2nd track is { 60,80,40,60}, the output valve set in the 3rd track is { 80,80,40,80}, the output valve set in the 4th track is { 80,80,40,120}; Secondly, got minimum value formula and can be obtained the output speed limit in each track by output valve set, the 1st track is that 40, the 2 tracks are that 40, the 3 tracks are that 40, the 4 tracks are 40; The LED variable speed-limit sign in last 4 tracks shows respectively 40.
As shown in Figure 2, the control flow of highway main line vehicle speed control system of the present invention is divided into five steps:
The first step: system initialization;
Second step a: rainfall of acquisition process, mist snow, monsoon intensity and the divided lane magnitude of traffic flow;
The 3rd step: in conjunction with divided lane speed limiting constraint condition, optimize and calculate the dynamic speed limit of each divided lane or close operating instruction (speed limit is) at 0 o'clock;
The 4th step: each divided lane shows corresponding speed limit or closes running mark (speed limit is) at 0 o'clock;
The 5th step: circular flow in every 10 minutes once.
Claims (5)
1. highway main line vehicle speed control system, it is characterized in that, be included in highway main line section arrange: hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign and traffic guidance control system, described hyperchannel traffic environment comprehensive detection device, divided lane LED variable speed-limit sign are connected with traffic guidance control system respectively; Described hyperchannel traffic environment comprehensive detection device comprises integrated communicaton module and the rain gage being attached thereto, mist snow penetrameter, anemoscope and magnitude of traffic flow detecting device, rain gage, mist snow penetrameter, anemoscope, magnitude of traffic flow detecting device detect respectively rainfall, mist snow, wind speed intensity and the magnitude of traffic flow in the same section of highway main line, and export to described integrated communicaton module, integrated communicaton module is exported to traffic guidance control system by Unified Communication interface by data; Traffic guidance control system, in conjunction with each divided lane speed limiting constraint condition, is optimized and is provided the dynamic speed limit of each divided lane or close track operating instruction, exports to each divided lane LED variable speed-limit sign; Divided lane LED variable speed-limit sign arranges by track, carries out divided lane speed limit or traffic prohibited sign and shows.
2. according to the highway main line vehicle speed control system described in right 1, it is characterized in that: the dynamic speed limit of described divided lane is obtained by following method optimization by traffic guidance control system:
(1) traffic guidance control system is by the rainfall of input, mist snow, wind speed intensity with congested in traffic situation is all divided into greatly, big or middle, less, little five grades, that is:
U
1, U
2, U
3∈ large, larger, in, less, little }
U
4(U
41, U
42, U
43, U
44) ∈ large, larger, in, less, little }
Wherein, rainfall intensity U
1, mist snow intensity U
2, wind velocity U
3not divided lane of value, congested in traffic situation U
4divided lane value, by track 1,2,3,4 successively value U
41, U
42, U
43, U
44;
(2) traffic guidance control system is divided into the speed limit of output:
V
i1，V
i2∈{0，20，40，60，80，100}
V
i3，V
i4∈{0，20，40，60，80，100，120}
Wherein, for unidirectional be the highway in 4 tracks, be cart traveling lane near the 1st, 2 tracks of trackside, Maximum speed limit 100km/h, is dolly traveling lane near the 3rd, 4 tracks of isolation strip, center, Maximum speed limit 120km/h; If the speed limit of output is 0, show traffic prohibited sign;
V
i1represent the output speed limit in the 1st track under certain traffic environment, i=1,2,3,4, represents respectively rain, mist snow, wind, congested in traffic environment, in like manner, and V
i2, V
i3, V
i4represent respectively the 2nd, the output speed limit in 3,4 tracks;
(3) input of traffic guidance control system and output relation adopt fuzzy rule to determine:
Consider that traffic environment is when " rain ", respective intensities greatly, big or middle, less, little, V
11=V
12be respectively 20,40,60,80,80; V
13=V
14be respectively 40,60,80,100,100;
Consider that traffic environment is when " mist snow ", respective intensities greatly, big or middle, less, little, V
21=V
22be respectively 0,20,40,60,80; V
23=V
24be respectively 0,20,40,60,80;
Consider that traffic environment is when " wind ", respective intensities greatly, big or middle, less, little, V
31=V
32be respectively 40,60,60,80,100; V
33=V
34be respectively 40,60,80,100,120;
Consider when the magnitude of traffic flow, corresponding congested conditions greatly, big or middle, less, little, V
41=V
42be respectively 0,60,80,100,100; V
43=V
44be respectively 0,60,80,120,120;
(4) traffic guidance control system can obtain the output speed limit set under simultaneously acting on of two kinds or above traffic environment, gets the minimum value of output valve set under various traffic environment independent actions:
V
1＝Min(V
11,V
21,V
31,V
41)；V
2＝Min(V
12,V
22,V
32,V
42)；
V
3＝Min(V
13,V
23,V
33,V
43)；V
4＝Min(V
14,V
24,V
34,V
44)；
Wherein V
1, V
2, V
3, V
4represent successively the output speed limit in the the 1st, 2,3,4 tracks.
3. according to the highway main line vehicle speed control system described in right 1, it is characterized in that: in highway main line section, a certain section arranges one group of LED variable speed-limit sign by track, at this section trackside, traffic guidance control system is set, and at 1000 meters of of spacing, traffic guidance control system downstream, hyperchannel traffic environment comprehensive detection device is set.
4. highway main line vehicle speed control system as claimed in claim 1, is characterized in that, described magnitude of traffic flow detecting device adopts video detector, and video camera is installed above track, the magnitude of traffic flow in multiple tracks is detected simultaneously.
5. highway main line vehicle speed control system as claimed in claim 1, is characterized in that, described integrated communicaton module is exported to traffic guidance control system by wireless network after to various detection data integrations.
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