CN106128125A - A kind of speed bootstrap technique preferentially sensing control crossing for main road - Google Patents

Abstract

The invention discloses a kind of speed bootstrap technique preferentially sensing for main road and controlling crossing, belong to intelligent transportation field, the present invention includes step: gathers and realizes preferentially sensing the basic parameter needed for controlling the speed bootstrap technique of crossing for main road；Sensing is set and controls the infrastructure of crossing；Formulate speed boot policy, including canned paragraph speed boot policy and sensing section speed boot policy；Finally, speed boot policy exports trackside speed guide in LED screen for driver's reference.The present invention combines main road and preferentially senses the inherent characteristics controlling crossing, the not parking traveling demand by crossing of vehicle and the demand for security travelled in crossing are considered, formulate and preferentially sensed the speed boot policy controlling crossing for main road, substantially increase the vehicle traffic efficiency in crossing, having ensured the safety that vehicle travels in crossing, the speed guiding controlling crossing for sensing provides effective solution simultaneously.

Description

A kind of speed bootstrap technique preferentially sensing control crossing for main road

Technical field

The invention belongs to intelligent transportation field, be specifically related to a kind of speed preferentially sensing control crossing for main road and draw Guiding method.

Background technology

In existing traffic signal control system, owing to vehicle can not carry out the mutual of information with traffic signaling equipment, drive The person of sailing is difficult to predict that the signal condition of downstream intersection causes following two situation: 1. travels with current vehicle speed and arrives downstream friendship Prong green light does not has started, runs into red light；2. with current vehicle speed travel arrive downstream intersection green light be over, run into red Lamp.Both of which can cause the parking that vehicle is unnecessary, thus causes more oil consumption, exhaust emissions, and reduces The traffic efficiency of crossing.

For problem above, domestic and international research worker proposes some crossing speed bootstrap techniques, achieves certain Effect, but still have some shortcomings: on the one hand, the signal control method controlled due to timing controlled and sensing is more stable, China Still there is a large amount of urban intersection to use both signal control methods, but existing speed bootstrap technique is both for timing signal The crossing controlled, the speed bootstrap technique sensing control crossing for the most a large amount of domestic existence is not also studied；The opposing party Face, the motor vehicles speed limit in section and the speed limit entering crossing are different, and existing research does not accounts for motor vehicles by intersecting The safety issue of mouth, is likely to result in vehicle by speed too fast initiation traffic accidents during crossing.

Summary of the invention

For the deficiencies in the prior art, the present invention proposes a kind of speed preferentially sensing control crossing for main road and draws Guiding method, makes vehicle can avoid controlling, in sensing, the parking that crossing is unnecessary by acceleration, deceleration mode, and with accident-free vehicle Speed, by crossing, substantially increases the vehicle traffic efficiency in crossing, has also ensured what vehicle travelled in crossing simultaneously Safety.

The technical scheme is that

A kind of speed bootstrap technique preferentially sensing control crossing for main road, comprises the following steps:

S1, gathers and realizes preferentially sensing the basic parameter needed for controlling the speed bootstrap technique of crossing, bag for main road Include section speed limit parameter, crossing speed limit parameter and upstream sensing and control the signal timing dial parameter of crossing；

S1.1, obtains section speed limit parameter and crossing speed limit parameter according to actual traffic investigation, specifically includes section, friendship Minimum speed limit v of prong_min, section Maximum speed limit v_smaxWith crossing Maximum speed limit v_imax；

S1.2, is connected the controller of traffic signaling equipment with computer, is directly downloaded by traffic control test software The signal timing dial parameter of trip sensing control signal crossing, including main road red light duration R, main road the shortest long green light time G_min, unit Continuity green time G₀With main road maximum green perild G_max；

S2, arranges sensing and controls the infrastructure of crossing, guide graticule and the trackside of correspondence thereof including Article 1 speed Speed guides LED screen A, Article 2 speed to guide the trackside speed of graticule and correspondence thereof to guide LED screen B and time headway detection Coil；Wherein, time headway detection coil front position guides graticule concordant with Article 1 speed；Article 1, speed guides mark Line, Article 2 speed guide graticule distance downstream intersection 'STOP' line ahead to be respectively L₁、L₂；

S3, formulates and preferentially senses the speed boot policy controlling crossing for main road, guide plan including canned paragraph speed Omit and sensing section speed boot policy；

S3.1, by the section collected in S1, minimum speed limit v in crossing_min, section Maximum speed limit v_smax, crossing is the highest Speed limit v_imax, main road red light duration R, main road the shortest long green light time G_min, unit continuity green time G₀During green light the longest with main road Between G_maxAnd the Article 1 speed obtained in S2 guides graticule, Article 2 speed to guide graticule distance downstream intersection stop line Distance L₁、L₂It is manually entered in programmable logic controller (PLC) PLC so that it is determined that canned paragraph speed boot section by Artificial Between [t_s, t_f] value；

S3.2, starts to guide system clock starting point for speed with cycle main road red light, guides system according to current vehicle speed Clock t, it is judged that the speed that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is advised:

S4, exports speed boot policy trackside speed and guides in LED screen for driver's reference；

LED screen A and trackside speed is guided to guide the programmable logic controller (PLC) PLC and trackside speed that have downloaded program LED screen B connects, and guides LED screen A and trackside speed to guide LED screen B output speed to guide suggestion and with literary composition to trackside speed in real time Font formula shows in trackside speed guiding LED screen.

Further, in described S2, Article 2 speed guides graticule distance downstream intersection 'STOP' line ahead L₂Computing formula ForWherein a₁Deceleration for car braking.

Further, in described S3.1, canned paragraph speed guides interval initial time

Further, in described S3.1, canned paragraph speed guides the interval end time

Wherein a₂Acceleration for vehicle.

Further, described S3.2 guides system clock t according to current vehicle speed, it is judged that trackside speed guides LED screen A and trackside What the speed that speed guides LED screen B to provide was advised concretely comprises the following steps:

S3.2.1, as t ∈ [0, t_s) time, trackside speed guides the speed that LED screen A and trackside speed guide LED screen B to provide Suggestion is " asking normal vehicle operation "；

S3.2.2, as t ∈ [t_s, t_f) time, canned paragraph speed guides suggestion to start, and trackside speed guides LED screen B to provide Safe speed suggestion is for " front will enter crossing, please with speed v_minSafety traffic ", trackside speed guides LED screen A to provide The method of speed suggestion is: by time interval [t_s, t_f] be divided intoEqual portions, the most each equal portions time a length ofAs t ∈ [t_s+(i-1)*t_a, t_s+i*t_a) time, the speed suggestion that trackside speed guides LED screen A to provide is v_min+ (i-1) * 5km/h, i value 1,2,3 ... a；

S3.2.3, as t ∈ [t_f, t_f+G_max-G_min], canned paragraph speed guides suggestion to terminate, and sensing section speed guides suggestion Starting, time headway detection coil record first car is by moment t during time headway detection coil_b, and be transferred to compile Journey logic controller PLC, if meeting t_b-t_f≤2G₀, then speed guides suggestion to continue, as t ∈ [t_f, t_b] time, trackside speed guides LED screen A continues suggestion vehicle with v_smaxContinuing to travel, the safe speed that trackside speed guides LED screen B to provide advises that " front is i.e. Crossing will be entered, please with speed v_minSafety traffic ", turn S3.2.4；Otherwise speed guides suggestion to terminate, and trackside speed guides The suggestion that LED screen A and trackside speed guide LED screen B to provide is " asking normal vehicle operation "；

S3.2.4, as t ∈ (t_b, t_f+G_max-G_min], time headway detection coil obtains rear car and arrives Article 1 car with front truck Speed guides the time headway h of graticule, and is transferred to programmable logic controller (PLC) PLC, if meeting h ＜ G₀, then speed guides suggestion Continuing, trackside speed guides LED screen A to continue suggestion vehicle with v_smaxContinuing to travel, trackside speed guides the peace that LED screen B provides " front will enter crossing, please with speed v in full speed suggestion_minSafety traffic ", turn S3.2.5；Otherwise speed guides suggestion Terminating, the suggestion that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is " asking normal vehicle operation "；

S3.2.5, as t ＞ t_f+G_max-G_min, until next cycle main road red light starts, sensing section speed guides suggestion knot Bundle, i.e. speed guide suggestion to terminate, and the suggestion that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is " please Normal vehicle operation "；When next cycle main road red light starts, turn S3.2.1.

The invention have the benefit that

1, the present invention combine main road preferentially sense control crossing inherent characteristics, formulated and preferentially sensed control for main road The speed boot policy of crossing processed, the speed guiding controlling crossing for sensing provides effective solution.

2, the speed that the two pieces of trackside speeds arranged in the present invention guide LED screen to show advises that having considered vehicle does not stops The car traveling demand by crossing and the demand for security in crossing traveling, substantially increase the vehicle current effect in crossing Rate, has also ensured the safety that vehicle travels in crossing simultaneously.

Accompanying drawing explanation

Fig. 1 is main road preferential induction control method flow chart；

Fig. 2 is induced signal fundamental diagram；

Fig. 3 is that the present invention is a kind of preferentially senses the speed bootstrap technique flow chart controlling crossing for main road；

Fig. 4 is that a kind of infrastructure preferentially sensing the speed bootstrap technique controlling crossing for main road of the present invention is arranged Figure；

Fig. 5 is a kind of schematic diagram preferentially sensing the speed bootstrap technique controlling crossing for main road of the present invention；

Fig. 6 is that canned paragraph speed guides initial time t_sDetermine method figure；

Fig. 7 is that canned paragraph speed guides end time t_fDetermine method figure.

Detailed description of the invention

Below in conjunction with the accompanying drawings and instantiation the present invention will be further described, but protection scope of the present invention is not limited to This.

Main road preferentially senses control and refers to bury underground induction coil on the main road import track of crossing, and main road wagon flow is passed through By induction coil, whether power and green time detect that vehicle arrival determines, a kind of traffic signal that secondary road green time is fixing Control method, is mainly used in main road traffic flow big, the crossing that secondary road traffic flow is little.As it is shown in figure 1, concrete control Flow process is:

(1) main road green light is open, as in figure 2 it is shown, when main road green light arrives minimum green time G_minTime, preset a list Position green light duration G₀If detection coil is at G₀Period detection has vehicle to arrive, then increase a unit green light duration G₀ (G₀Value it is ensured that vehicle can pass through crossing)；If detection coil is at G₀Period detection does not has vehicle to arrive, then terminate main road Green light, gives time road by right-of-way；

(2) at this unit green light duration G₀In, if main road does not has vehicle to arrive, then at G₀After end, terminate main road Green light, gives time road by right-of-way；

(3) if at each unit green light duration G₀In, all there is vehicle to arrive, then repeat to increase G₀, when increasing certain Secondary G₀After, main road green time is more than the maximum green time G arranged_max, then cancel this duration, treat former duration After end, right-of-way is given time road；

(4) if at certain unit green light duration G₀In, do not have vehicle to arrive, then treat G₀After end, terminate main road Green light, gives time road by right-of-way；

(5), after secondary road green light terminates, turn (1).

The speed bootstrap technique controlling crossing is preferentially sensed for main road, including step as it is shown on figure 3, a kind of:

S1, gathers and realizes preferentially sensing the basic parameter needed for controlling the speed bootstrap technique of crossing, bag for main road Include section speed limit parameter, crossing speed limit parameter and upstream sensing and control the signal timing dial parameter of crossing；

S1.1, obtains section speed limit parameter and crossing speed limit parameter according to actual traffic investigation, specifically includes section, friendship Minimum speed limit v of prong_min(consider that the minimum speed limit in section and the crossing minimum speed difference opposite sex are less, therefore be set to same value), Section Maximum speed limit v_smaxWith crossing Maximum speed limit v_imax, wherein: section Maximum speed limit v_smaxSelect this section history speed 85% speed, minimum speed limit v in section and crossing_minSelect 15% speed of this section history speed, the highest limit in crossing Speed takes 30km/h；

S1.2, is connected the controller of traffic signaling equipment with computer by RS232 connection, is tested by traffic control Software directly downloads the signal timing dial parameter of sensing control signal crossing, upstream, the shortest green including main road red light duration R, main road Lamp duration G_min, unit continuity green time G₀With main road maximum green perild G_max。

S2, as shown in Figure 4, arrange sensing control crossing infrastructure, including Article 1 speed guide graticule and Corresponding trackside speed guides LED screen A, Article 2 speed to guide the trackside speed of graticule and correspondence thereof to guide LED screen B and car Away from detection coil during head；Wherein, time headway detection coil front position guides graticule concordant with Article 1 speed；Article 1, car Speed guides graticule, Article 2 speed to guide graticule distance downstream intersection 'STOP' line ahead to be respectively L₁、L₂；L₁Size on road Value in the range of segment length, its value is 600～800m；Article 2 speed guides graticule distance downstream intersection 'STOP' line ahead L₂ Computing formula beWherein a₁For the deceleration of car braking, can be obtained by driving simulator experiment statistics Taking, its value is 1.5m/s²。

S3, formulates and preferentially senses the speed boot policy controlling crossing for main road, and speed guides suggested strategies, is used for By vehicle, in section, not parking traveling demand by crossing and the demand for security travelled in crossing consider, according to working as Front speed guides system clock t to provide speed suggestion, and wherein, trackside speed guides LED screen A to be shown that avoiding vehicle unnecessary The speed suggestion stopped, trackside speed guides LED screen B to be shown that ensureing the accident-free vehicle run-up that vehicle deceleration enters crossing View；As it is shown in figure 5, speed boot policy includes canned paragraph speed boot policy and sensing section speed boot policy；Canned paragraph car Speed boot policy is for guiding in the speed of crossing " main road red light+the shortest green light of main road " period, it is possible in speed boot section Between provide vehicle corresponding speed suggestion；Sensing section speed boot policy is for the car in crossing " main road continuity green light " period Speed guides, it is possible to judge, according to the data that time headway detection Coil Detector arrives, the starting and ending bar that sensing section speed guides Part, provides the suggestion of vehicle corresponding speed simultaneously；

S3.1, by the section collected in S1, minimum speed limit v in crossing_min, section Maximum speed limit v_smax, crossing is the highest Speed limit v_imax, main road red light duration R, main road the shortest long green light time G_min, unit continuity green time G₀During green light the longest with main road Between G_maxAnd the Article 1 speed obtained in S2 guides graticule, Article 2 speed to guide graticule distance downstream intersection stop line Distance L₁、L₂It is manually entered in programmable logic controller (PLC) PLC so that it is determined that canned paragraph speed boot section by Artificial Between [t_s, t_f] value, guide interval initial time t_sIt is to make " to travel with current vehicle speed and arrive downstream intersection green light Do not have started, run into red light " vehicle, accept speed guide suggestion avoid the parking unnecessary in crossing；Guide interval End time t_fIt is the vehicle in order to make " travelling arrival downstream intersection green light with current vehicle speed to be over, run into red light ", Accepting speed guides suggestion to avoid the parking unnecessary in crossing；

As shown in Figure 6, canned paragraph speed guides interval initial time t_sCalculating process be:

Consider that the canned paragraph speed of current vehicle speed guides initial time t_sc:

$t_{sc}=R-t_{1,R}-t_{2,R}=R-\left|\frac{v_c-v_{\min }}{a_1}\right|-\frac{X_{2,R}}{v_{\min }}=R-\left|\frac{v_c-v_{\min }}{a_1}\right|-\frac{L_1-X_{1,R}}{v_{\min }}=R-\left|\frac{v_c-v_{\min }}{a_1}\right|-\frac{L_1-\left|\frac{v_c^2-v_{\min }^2}{2a_1}\right|}{v_{\min }}---\left(1\right)$

Wherein: t_1,RDecelerate to the time of suggestion speed, t from current vehicle speed for vehicle_2,RFor vehicle with suggestion speed at the uniform velocity Drive to the time of downstream intersection stop line, v_cThe current vehicle speed at " Article 1 speed guides graticule " place is arrived for vehicle, X_1,R、X_2,RIt is respectively vehicle to accept after guide car run-up view in section Reduced Speed Now, the distance that at the uniform velocity travels；

For ensureing t_scMoment accept speed guide suggestion vehicle can be not parking by crossing, v can be made_c= v_smax, then

$t_s=R-\left|\frac{v_{s\max }-v_{\min }}{a_1}\right|-\frac{L_1-\left|\frac{v_{s\max }^2-v_{\min }^2}{2a_1}\right|}{v_{\min }}---\left(2\right)$

As it is shown in fig. 7, canned paragraph speed guides interval end time t_fCalculating process be:

Consider that the canned paragraph speed of current vehicle speed guides end time t_fc:

$t_{2,G}=\frac{X_{2,G}}{v_{s\max }}=\frac{L_1-L_2-X_{1,G}}{v_{s\max }}=\frac{L_1-L_2-\left|\frac{v_{smax}^2-v_c^2}{2a_2}\right|}{v_{smax}}---\left(5\right)$

$t_{3,G}=\frac{v_{smax}-v_{imax}}{a_1}---\left(6\right)$

By (3) (4) (5) (6), can obtain

$t_{fc}=R+G_{\min }-\frac{v_{smax}-v_c}{a_2}-\frac{L_1-L_2-\left|\frac{v_{smax}^2-v_c^2}{2a_2}\right|}{v_{smax}}-\frac{v_{smax}-v_{imax}}{a_1}---\left(7\right)$

Wherein: t_1,GAccelerate to the time of suggestion speed from current vehicle speed for vehicle；t_2,GFor vehicle with suggestion speed at the uniform velocity Drive to the time of " Article 2 speed guides graticule "；t_3,GIt is decelerated to downstream for vehicle from " Article 2 speed guides graticule " hand over The time of prong stop line；a₂For the acceleration of vehicle, can be obtained by driving simulator experiment statistics, its value is 1.5m/s²； X_1,G、X_2,GIt is respectively the distance given it the gun, at the uniform velocity travel after vehicle accepts guide car run-up view；

For ensureing t_fcMoment accept speed guide suggestion vehicle can be not parking by crossing, v can be made_c=v_min, Then

$t_f=R+G_{\min }-\frac{v_{smax}-v_{\min }}{a_2}-\frac{L_1-L_2-\left|\frac{v_{smax}^2-v_{\min }^2}{2a_2}\right|}{v_{smax}}-\frac{v_{smax}-v_{imax}}{a_1}---\left(7\right)$

S3.2, starts to guide system clock starting point for speed with cycle main road red light, guides system according to current vehicle speed Clock t, it is judged that the speed that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is advised:

S3.2.1, as t ∈ [0, t_s) time, trackside speed guides the speed that LED screen A and trackside speed guide LED screen B to provide Suggestion is " asking normal vehicle operation "；

S3.2.2, as t ∈ [t_s, t_f) time, canned paragraph speed guides suggestion to start, and trackside speed guides LED screen B to provide Safe speed suggestion is for " front will enter crossing, please with speed v_minSafety traffic ", trackside speed guides LED screen A to provide The method of speed suggestion is: by time interval [t_s, t_f] be divided intoEqual portions, the most each equal portions time a length ofAs t ∈ [t_s+(i-1)*t_a, t_s+i*t_a) time, the speed suggestion that trackside speed guides LED screen A to provide is v_min+ (i-1) * 5km/h, i value 1,2,3 ... a；

S3.2.3, as t ∈ [t_f, t_f+G_max-G_min], canned paragraph speed guides suggestion to terminate, and sensing section speed guides suggestion Starting, time headway detection coil record first car is by moment t during time headway detection coil_b, and led to by RS485 News line is by t_bIt is transferred to programmable logic controller (PLC) PLC, if meeting t_b-t_f≤2G₀, then speed guides suggestion to continue, as t ∈ [t_f, t_b] time, trackside speed guides LED screen A to continue suggestion vehicle with v_smaxContinuing to travel, trackside speed guides the peace that LED screen B provides " front will enter crossing, please with speed v in full speed suggestion_minSafety traffic ", turn S3.2.4；Otherwise speed guides suggestion Terminating, the suggestion that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is " asking normal vehicle operation "；

S3.2.4, as t ∈ (t_b, t_f+G_max-G_min], time headway detection coil obtains rear car and arrives Article 1 car with front truck Speed guides the time headway h of graticule, and by RS485 connection, time headway h is transferred to programmable logic controller (PLC) PLC, If meeting h ＜ G₀, then speed guides suggestion to continue, and trackside speed guides LED screen A to continue suggestion vehicle with v_smaxContinue to travel, road The safe speed that side speed guides LED screen B to provide advises that " front will enter crossing, please with speed v_minSafety traffic ", turn S3.2.5；Otherwise speed guides suggestion to terminate, and trackside speed guides the suggestion that LED screen A and trackside speed guide LED screen B to provide It is " asking normal vehicle operation "；

S3.2.5, as t ＞ t_f+G_max-G_min, until next cycle main road red light starts, sensing section speed guides suggestion knot Bundle, i.e. speed guide suggestion to terminate, and the suggestion that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is " please Normal vehicle operation "；When next cycle main road red light starts, turn S3.2.1.

S4, exports speed boot policy trackside speed and guides in LED screen for driver's reference；

LED screen A and trackside speed is guided to guide the programmable logic controller (PLC) PLC and trackside speed that have downloaded program LED screen B is connected by RS485 connection, and programmable logic controller (PLC) PLC passes through MODBUS agreement, with data register address is Medium, guides LED screen A and trackside speed to guide LED screen B output speed to guide suggestion and with written form to trackside speed in real time Show and guide in LED screen in trackside speed.

Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make the technology in this area Personnel will appreciate that present disclosure and implement according to this, and protection scope of the present invention is not limited to above-described embodiment.So, all depend on The equivalent variations made according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.

Claims (5)

1. the speed bootstrap technique preferentially sensing control crossing for main road, it is characterised in that comprise the following steps:

S1, gathers and realizes preferentially sensing the basic parameter needed for controlling the speed bootstrap technique of crossing, including road for main road Section speed limit parameter, crossing speed limit parameter and upstream sensing control the signal timing dial parameter of crossing；

S1.1, obtains section speed limit parameter and crossing speed limit parameter according to actual traffic investigation, specifically includes section, crossing Minimum speed limit v_min, section Maximum speed limit v_smaxWith crossing Maximum speed limit v_imax；

S1.2, is connected the controller of traffic signaling equipment with computer, directly downloads upstream by traffic control test software and feels Answer the signal timing dial parameter of control signal crossing, including main road red light duration R, main road the shortest long green light time G_min, unit continuity Green time G₀With main road maximum green perild G_max；

S2, arranges sensing and controls the infrastructure of crossing, guide graticule and the trackside speed of correspondence thereof including Article 1 speed LED screen A, Article 2 speed is guided to guide the trackside speed of graticule and correspondence thereof to guide LED screen B and time headway detection line Circle；Wherein, time headway detection coil front position guides graticule concordant with Article 1 speed；Article 1 speed guide graticule, Article 2 speed guides graticule distance downstream intersection 'STOP' line ahead to be respectively L₁、L₂；

S3, formulates and preferentially senses the speed boot policy controlling crossing for main road, including canned paragraph speed boot policy and Sensing section speed boot policy；

S3.1, by the section collected in S1, minimum speed limit v in crossing_min, section Maximum speed limit v_smax, crossing Maximum speed limit v_imax, main road red light duration R, main road the shortest long green light time G_min, unit continuity green time G₀With main road maximum green perild G_max And the Article 1 speed obtained in S2 guides graticule, Article 2 speed to guide graticule distance downstream intersection 'STOP' line ahead L₁、L₂It is manually entered in programmable logic controller (PLC) PLC by Artificial so that it is determined that canned paragraph speed guides interval [t_s, t_f] value；

S3.2, starts to guide system clock starting point for speed with cycle main road red light, guides system clock according to current vehicle speed T, it is judged that the speed that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is advised:

S4, exports speed boot policy trackside speed and guides in LED screen for driver's reference；

LED screen A and trackside speed is guided to guide LED screen B the programmable logic controller (PLC) PLC and trackside speed that have downloaded program Connect, guide LED screen A and trackside speed to guide LED screen B output speed to guide suggestion and with written form to trackside speed in real time Show and guide in LED screen in trackside speed.

A kind of speed bootstrap technique preferentially sensing control crossing for main road the most according to claim 1, its feature Being, in described S2, Article 2 speed guides graticule distance downstream intersection 'STOP' line ahead L₂Computing formula beWherein a₁Deceleration for car braking.

A kind of speed bootstrap technique preferentially sensing control crossing for main road the most according to claim 1 and 2, it is special Levying and be, in described S3.1, canned paragraph speed guides interval initial time

A kind of speed bootstrap technique preferentially sensing control crossing for main road the most according to claim 1 and 2, its feature exists In, in described S3.1, canned paragraph speed guides the interval end time Wherein a₂Acceleration for vehicle.

A kind of speed bootstrap technique preferentially sensing control crossing for main road the most according to claim 1, its feature Being, described S3.2 guides system clock t according to current vehicle speed, it is judged that trackside speed guides LED screen A and trackside speed to guide Concretely comprising the following steps of the speed suggestion that LED screen B provides:

S3.2.1, as t ∈ [0, t_s) time, trackside speed guides the speed suggestion that LED screen A and trackside speed guide LED screen B to provide It is " asking normal vehicle operation "；

S3.2.2, as t ∈ [t_s, t_f] time, canned paragraph speed guides suggestion to start, and trackside speed guides the safety that LED screen B provides Speed suggestion is for " front will enter crossing, please with speed v_minSafety traffic ", trackside speed guides LED screen A to provide speed The method of suggestion is: by time interval [t_s, t_f] be divided intoEqual portions, the most each equal portions time a length ofAs t ∈ [t_s+(i-1)*t_a, t_s+i*t_a) time trackside speed guide speed suggestion that LED screen A provides for v_min+(i- 1) * 5km/h, i value 1,2,3 ... a；

S3.2.3, as t ∈ [t_f, t_f+G_max-G_min], canned paragraph speed guides suggestion to terminate, and sensing section speed guides suggestion to start, Time headway detection coil record first car is by moment t during time headway detection coil_b, and it is transferred to FPGA Controller PLC, if meeting t_b-t_f≤2G₀, then speed guides suggestion to continue, as t ∈ [t_f, t_b] time trackside speed guide LED screen A Continue suggestion vehicle with v_smaxContinuing to travel, the safe speed that trackside speed guides LED screen B to provide advises that " front will enter Crossing, please with speed v_minSafety traffic ", turn S3.2.4；Otherwise speed guides suggestion to terminate, and trackside speed guides LED screen A The suggestion guiding LED screen B to provide with trackside speed is " asking normal vehicle operation "；

S3.2.4, as t ∈ (t_b, t_f+G_max-G_min], time headway detection coil obtains rear car and draws with front truck arrival Article 1 speed The time headway h of beacon line, and it is transferred to programmable logic controller (PLC) PLC, if meeting h ＜ G₀, then speed guides suggestion to continue, Trackside speed guides LED screen A to continue suggestion vehicle with v_smaxContinuing to travel, trackside speed guides the safe speed that LED screen B provides " front will enter crossing, please with speed v in suggestion_minSafety traffic ", turn S3.2.5；Otherwise speed guides suggestion to terminate, road The suggestion that side speed guides LED screen A and trackside speed to guide LED screen B to provide is " asking normal vehicle operation "；

S3.2.5, as t ＞ t_f+G_max-G_min, until next cycle main road red light starts, sensing section speed guides suggestion to terminate, i.e. Speed guides suggestion to terminate, and the suggestion that trackside speed guides LED screen A and trackside speed to guide LED screen B to provide is " asks vehicle Normal traveling "；When next cycle main road red light starts, turn S3.2.1.