CN106846832B - The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration - Google Patents
The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration Download PDFInfo
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Abstract
The invention discloses a kind of optimal speed bootstrap algorithms in city signal intersection based on bus or train route collaboration and speed to guide system, wherein, optimal speed bootstrap algorithm does not include in previous research basic assumptions such as " not allowing vehicle cut-ins, lane-change; all vehicles all follow speed guidance ", the real-time refreshing of system is guided by speed, it is constantly calculated according to current vehicle position, reduces the restrictive condition of model.The influence that Ackermann steer angle speed is relatively low in practical driving procedure is considered simultaneously, the speed influence lower than the keeping straight on when moderating process and queue clearance vehicle before left/right rotation vehicle arrival stop line is considered in calculating pass through stop line.Speed guidance system is completed in present system from theoretical model to the design of equipment in kind and exploitation, proposes a set of feasible and mature, economic scheme under currently practical conditions, the function of basic bus or train route collaboration can be realized with more cheap price.
Description
Technical field
The present invention relates to a kind of optimal speed bootstrap algorithm in city signal intersection based on bus or train route collaboration and speed guidance
System belongs to field of intelligent transportation technology.
Background technique
With the continuous improvement of people's living standards, the popularity rate of vehicle is also higher and higher.According to statistics from the Traffic Management Bureau of the Ministry of Public Security,
By the end of the year 2016, national vehicle guaranteeding organic quantity is up to 2.9 hundred million, wherein 1.94 hundred million, automobile；3.6 hundred million people of vehicle driver,
Wherein motorist is more than 3.1 hundred million people.Violent increased motor vehicle brings huge pressure to road traffic, due to driving
The driving behavior of member has very big uncertainty, and the speed selection of blindness allows natively hard up path resource to be unable to get height
Effect utilizes, and usually needs car owner's frequent start-stop that could waste a large amount of time and combustion by a traffic light intersection in peak period
Oil aggravates the abrasion of vehicle, discharges more tail gas to atmosphere.How to provide that road is friendly, vehicle of economic security for driver
Speed guides this problem, most important.
Due to the introducing of bus or train route collaboration concept, the new gate of a fan is opened for the development of intelligent transport technology.Bus or train route collaboration
System can effectively improve that traffic transportation efficiency and road safety are horizontal, electronic information technology, wireless communication technique promotion under,
Bus or train route cooperative system can realize the information transmission quick, accurate and effective in internal system, promote the information between vehicle vehicle, bus or train route
Interaction.Under bus or train route cooperative surroundings, intelligent road side system can know road traffic condition and intersection signal phase information in real time, lead to
The mode for crossing speed guidance makes vehicle reasonably adjust speed, promotes intersection efficiency.Bus or train route coordination technique generally stops at present
It stays in conceptual phase, a wide range of practical application is at home and abroad not implemented, existing speed bootstrap algorithm is also incomplete.It is existing
Many methods are that effective green time is divided into N sections by interval of saturation headway, each is guided to enter control range
Vehicle reaches stop line in one section of green time.The bootstrap technique requires each car all to reach stop line within the expected time,
It will affect subsequent vehicle if thering is a vehicle deviation occur, cause speed guidance failure.Its linear programming model used is examined
Worry factor is less, and is not easy to solve.
Summary of the invention
Goal of the invention: it is an object of the invention to not perfect, the propositions of overcome the deficiencies in the prior art and embodiment
The optimal speed bootstrap algorithm in city signal intersection, and the speed guidance system of complete set is devised, meeting various functions
In the case where demand, the exploitation of vehicular control unit and wayside control units is realized with relatively inexpensive cost.
Technical solution: for achieving the above object, the present invention adopts the following technical scheme:
A kind of optimal speed bootstrap algorithm in city signal intersection, includes the following steps:
(1) if target vehicle meets can reach stop line, and front with highest road speed limit traveling before green light terminates
Queuing vehicle can dissipate before this period green light terminates to be finished, then it is assumed that target vehicle can pass through intersection within this signal period
Mouthful, (2) are entered step, otherwise guiding target vehicle deceleration stops and waits next period by intersection, terminates；
(2) it is arranged if target vehicle meets to travel with road Maximum speed limit to stop line required time less than front queuing vehicle
Team's resolution time, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in the form of fleet, if then guiding mesh
Mark vehicle reaches stop line when queuing vehicle dissipation in front finishes, and otherwise guiding target vehicle passes through as early as possible.
Further,
If meeting tx+tm≤ T, then it is assumed that target vehicle can reach stopping with highest road speed limit traveling before green light terminates
Line；If meeting tq+hs≤Tg, then it is assumed that queuing vehicle can dissipate before this period green light terminates in front of target vehicle finishes；Its
In, T is a signal period duration, txFor the duration that current time starts away from this period, tmIt is logical with road Maximum speed limit for vehicle
The time required to crossing intersection, TgFor green light phase duration, h in a cyclesFor saturation headway, tqFor front queuing vehicle
Resolution time；
For through vehicles,a1For acceleration of the target vehicle when section accelerates；vm
For road Maximum speed limit；v0For target vehicle present speed；L is target vehicle current location apart from stop line distance；
LqFor queue length, amsFor vehicle launch acceleration, ttThe time is lost for starting；
For left-hand rotation or right-turning vehicles, consider that speed is slower and has moderating process before stop line, to tmAnd tqAfter amendment
Are as follows:
Wherein, vleftFor left-hand rotation speed；vrightFor left-hand rotation speed, a2The acceleration to slow down for target vehicle in section.Into
One step, if meeting tm≤Tr+tq+hs-tx, then it is assumed that target vehicle can be passed through in the form of fleet with front queuing vehicle to intersect
Mouthful.
Further, the guiding target vehicle reaches the guidance mode of stop line when front queuing vehicle dissipates and finishes
Are as follows:The guidance mode that the guiding target vehicle passes through as early as possible are as follows: Wherein, vgTo guide speed, v0For target vehicle present speed, L is target vehicle present bit
It sets apart from stop line distance, TrFor red light phase duration, t in a cycleqFor front queuing vehicle resolution time, hsFor saturation
Time headway, trFor time of driver's reaction.
Further, the guiding target vehicle deceleration parking is to guide vehicle with economic speed row since current time
It sails, the calculation of economic speed:
Wherein, acomFor the suitable acceleration in vehicle deceleration process, v0For target vehicle present speed, trIt is anti-for driver
Between seasonable；aslipAcceleration is slided for vehicle；t1For the time that target vehicle slides, L is that target vehicle current location distance is stopped
Only linear distance, LqFor queue length.
Further, for keep straight on and turn right a shared lane the case where, to right-turning vehicles speed guidance be modified,
Include:
A. behavior red light phase and front are kept straight on without queuing vehicle, then according to signal in normal right-hand rotation speed guidance system
Phase is green, and the queuing vehicle guidance mode finished that dissipated in front guides；
B. there is queuing vehicle in keep straight on behavior red light phase and front, then right-turning vehicles will be limited by queuing vehicle, be pressed
Directly capable speed guidance guides；
C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then the right-turning vehicles is guided to arrange in front
Team's vehicle dissipation reaches stop line when finishing and is turned to, i.e., be according to signal phase in normal speed guidance system it is green,
And the queuing vehicle guidance mode finished that do not dissipate in front guides；
D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guides the right-turning vehicles according to normal
Speed guidance system in signal phase be green, and the queuing vehicle guidance mode finished that dissipated in front guides.
A kind of city signal intersection speed guidance system based on bus or train route collaboration and optimal speed bootstrap algorithm, including vehicle
Mounted terminal module and roadside message switching center module；Wherein car-mounted terminal module and roadside message switching center module pass through nothing
Wired link is attached, and roadside message switching center module is used to obtain traffic signal timing information and vehicle queue information, with
And vehicle location and vehicle speed information that car-mounted terminal is sent are received, it carries out feeding back to vehicle after operation obtains the optimal speed of vehicle suggestion
Mounted terminal module；Car-mounted terminal module is for sending vehicle location and speed letter to roadside message switching center module in real time
Breath, and receive and suggest speed and show.
Further, the car-mounted terminal module includes: GPS signal receiving module, human-computer interaction module, radio communication mold
Block and MCU module；Wherein MCU module includes GPS data processing unit, wireless communication control unit, display control unit and master
Control unit；Main control unit is connected with GPS data processing unit, wireless communication control unit and display control unit respectively, GPS number
It is connected according to processing unit with GPS signal receiving module, display control unit is connected with human-computer interaction module, and wireless communication control is single
Member is connected with wireless communication module.
Further, the roadside message switching center module includes: that be lined up image collection module, Signalized control upper
Machine, wireless communication module, MCU module；Wherein MCU module includes image processing unit, core algorithm unit, serial communication list
Member, wireless communication control unit and main control unit；Main control unit is logical with image processing unit, core algorithm unit and serial ports respectively
Believe that unit is connected；Image processing unit is connected with image collection module is lined up, and carries out image procossing, obtains queuing vehicle length；
Serial communication unit is connected with Signalized control host computer, obtains the timing information of signal lamp, core algorithm unit respectively with figure
Picture processing unit is connected with serial communication unit, and the optimal velocity of vehicle is calculated according to the information of acquisition.
The utility model has the advantages that compared with prior art, the invention has the advantages that
For suggesting optimal speed bootstrap algorithm, the speed boot policy proposed in the present invention does not include previous research
In the basic assumptions such as " do not allow vehicle cut-ins, lane-change, all vehicles all follow speed guidance ", pass through the reality that speed guides system
When refresh, constantly calculated according to current vehicle position, reduce the restrictive condition of model.Practical drive the cross is considered simultaneously
The relatively low influence of Ackermann steer angle speed in journey, considered in calculating left/right rotation vehicle reach stop line before moderating process and
The speed influence lower than keeping straight on when queue clearance vehicle passes through stop line.And the influence of different entrance driveway configurations is considered, it is right
The case where difference steering Shared Lane, is modified, this bootstrap technique is made to be suitable for various intersections.
For the physics realization of speed guidance system, speed is completed in the present invention and guides system from theoretical model
To the design and exploitation of equipment in kind, a set of feasible and mature, economic scheme under currently practical conditions, Ke Yiyong are proposed
More cheap price realizes the function of basic bus or train route collaboration.
Detailed description of the invention
Fig. 1 is inventive algorithm flow chart.
Fig. 2 is that system hardware realizes block diagram, including roadside message switching center module, car-mounted terminal module.
Fig. 3 is that message switching center module in roadside implements schematic diagram.
Fig. 4 is that car-mounted terminal module implements schematic diagram.
Fig. 5 is working-flow figure.
Specific embodiment
It is as shown in Figure 1 the flow chart of the optimal bootstrap algorithm of city signal intersection disclosed by the embodiments of the present invention speed,
General process are as follows: after vehicle enters guidance field, first pass through the calculated queue clearance time and signal lamp phase determines vehicle
It can pass through crossing in this signal lamp cycle.If can not pass through, vehicle is guided to stop with economic speed to tail of the queue；If
It can then judge whether to need to guide vehicle and front vehicles to pass through in the form of fleet by crossing, if if not needing,
Guidance vehicle passes through as early as possible, if desired then guides vehicle to reach stopping when queue clearance finishes by crossing in the form of fleet
Line.After the above process judges, guidance speed is calculated separately.
It is illustrated in figure 2 the hardware realization block diagram of speed guidance system of the present invention, optimal vehicle disclosed by the embodiments of the present invention
Fast guidance system includes with lower component: car-mounted terminal module and roadside message switching center module；Car-mounted terminal module and roadside
The transmission and interaction that information exchange module passes through the interconnected row information of going forward side by side of wireless channel link.
Wherein, car-mounted terminal module includes 4 Main physical modules: GPS signal receiving module 210, human-computer interaction module
(display screen) 214, wireless communication module 209, MCU module 217.Wherein MCU module includes 4 logic units: GPS data processing
Unit 211, wireless communication control unit 212, display control unit 213 and main control unit 215.Main control unit 215 respectively with GPS
Data processing unit 211, wireless communication control unit 212 are connected with display control unit 213, GPS data processing unit 211 with
GPS signal receiving module 210 is connected, and display control unit 213 is connected with human-computer interaction module 214, wireless communication control unit
212 are connected with wireless communication module 209.Fig. 4 is that car-mounted terminal module implements schematic diagram.As shown in figure 4, MCU module
Based on MSP430, it is connected by serial ports with GPS, realizes that the modification to GPS communication baud rate, sample frequency are arranged, send
Collected longitude and latitude, speed, course, real time clock information are saved in MCU module by Content Selection；Human-computer interaction module is logical
It crosses serial ports and is obtained from MCU module and suggest the information such as speed, simulate the form of instrument board for real-time speed and suggest that speed shows
Driver.MCU module is connected by SPI communication mode with wireless communication module, and control wireless communication module sends and receives
Data.Debugging interface module is connected to a computer by JTAG mouthfuls.Pressure stabilizing is arrived after power supply module is boosted by lithium battery copped wave
3.3v being powered.In the present embodiment, the GPS module in car-mounted terminal module is NEO-6M high-performance GPS, wireless communication module
For NRF24L01, human-computer interaction module is TFT color screen, MCU module MSP430F5529.
Roadside message switching center module includes 4 Main physical modules: being lined up image collection module 201, signal lamp control
Host computer 205 processed, wireless communication module 208, MCU module 216；Wherein MCU module includes 5 logic units: image procossing again
Unit 202, core algorithm unit 203, the serial communication unit 204 of signal-oriented lamp host computer, wireless communication control unit 207
With main control unit 206.Main control unit 206 respectively with image processing unit 202, core algorithm unit 203 and serial communication unit
204 are connected；Image processing unit 202 is connected 201 with image collection module is lined up, and carries out image procossing, and acquisition queuing vehicle is long
Degree；Serial communication unit 204 is connected with Signalized control host computer 205, obtains the timing information of signal lamp, core algorithm unit
203 are connected with image processing unit 202 and serial communication unit 204 respectively, calculate the optimal of vehicle according to the information of acquisition
Speed.Fig. 3 is that message switching center module in roadside implements schematic diagram.As shown in figure 3, MCU module passes through DMA for picture number
It is imported into MCU module according to from queuing image collection module, image procossing is carried out, obtains queuing vehicle length.MCU module passes through string
Row communication interface is connected with Signalized control host computer, obtains the timing information of signal lamp.MCU module passes through SPI mode and nothing
Line communication module is connected, and control wireless communication module is orderly connect with car-mounted terminal, realizes road vehicle position, speed, boat
To etc. information acquisition and to vehicle send suggest speed.Roadside message switching center module further includes debugging interface module and confession
Electric module, debugging interface module are connected to a computer by JTAG mouthfuls.Pressure stabilizing after power supply module is boosted by lithium battery copped wave
It is powered to 3.3v.In the present embodiment, queuing image collection module is OV16860 sensor, and wireless communication module is
NRF24L01, MCU module MSP430F5529.MSP430 by DMA by the image point matrix data of camera be saved in MCU into
Row image procossing；MSP430 obtains the traffic signal timing data that Signalized control host computer transmits by RS232.MSP430 passes through
SPI hardware in USCI_B is connected with wireless communication module, carries out the reception and transmission of wireless signal.
Core algorithm unit in above-mentioned roadside message switching center module, used optimal speed bootstrap algorithm is such as
Under:
1. speed of keeping straight on guidance
For the vehicle in designation range, speed guidance system mainly passes through the position of vehicle, speed, current demand signal
Situation is lined up before phase and stop line judges vehicle by way of intersection.When the following conditions are met, target vehicle can be
By intersection in this period, otherwise need to wait for parking next period.
tx+tm≤T (1)
tq+hs≤Tg (2)
Wherein, txThe duration started for current time away from this period；hsFor saturation headway；TgIt is green in a cycle
Lamp phase duration；TrFor red light phase duration in a cycle；T=Tr+TgFor a signal period total duration；tmFor vehicle with
Road Maximum speed limit passes through the time required to intersection；tqFor front queuing vehicle resolution time.Formula (1) indicates vehicle with highest road
Speed limit traveling in road can reach stop line before green light terminates, and formula (2) indicates that front queuing vehicle can be before this period green light terminates
Dissipation finishes.
a1For acceleration of the target vehicle when section accelerates；vmFor road Maximum speed limit；v0For this vehicle present speed；L
It is current location apart from stop line distance；tq0For the queue clearance time for not including the starting loss time；LqFor queue length；ams
For vehicle launch acceleration；ttThe time is lost for starting.
A. vehicle can pass through intersection within this period.If target vehicle can be passed through by speed guidance within this period
Intersection, then optimization aim is that guidance vehicle not parking can pass through, to reduce the delay by intersection.On this basis,
And then judge whether vehicle can pass through intersection with front queuing vehicle in the form of fleet.When meeting formula (5), i.e., vehicle is with road
When road Maximum speed limit is less than the queue clearance time the time required to travelling to stop line, vehicle can be immediately following front vehicles in the form of fleet
Pass through.
tm≤Tr+tq+hs-tx (5)
If vehicle can be passed through in the form of fleet with front vehicles, guiding target vehicle has dissipated in front queuing vehicle
Stop line is reached when complete, guidance mode is as follows:
If vehicle can not be passed through in the form of fleet with front vehicles, i.e., row when being travelled with road Maximum speed limit to stop line
Team, which has dissipated, to be finished, then guiding target vehicle passes through as early as possible, and guidance mode is as follows:
B. vehicle needs ramp to stop and next period is waited to pass through intersection.Vehicle can not be guided by speed reduces list
Vehicle delay is then guided vehicle to be slowed down in a manner of economical and energy saving and stopped to queuing vehicle tail of the queue, vehicle is guided since current time
With economy cruising, the lower calculation for economic speed:
Wherein, acomFor the suitable acceleration in vehicle deceleration process, can set based on experience value；trFor driver's reaction
Time；aslipAcceleration is slided for vehicle；t1The time slided for target vehicle.
2. turning left, the guidance of right-turning vehicles speed
In practical driving procedure, left/right rotation vehicle and through vehicles differ greatly in steering procedure, this research is to execute
Based on algorithm, consider that left-hand rotation right-turning vehicles speed in steering procedure is slower and has moderating process before stop line, to tm
And tqCalculated value be modified.
A. different to turn to tmAmendment
By taking the guidance of left turning vehicle speed as an example, considers there is a moderating process before vehicle reaches stop line, obtain tmMeter
Calculation mode:
Wherein, vleftFor left-hand rotation speed；a2The acceleration to slow down for target vehicle in section.
Right-turning vehicles speed bootstrap technique is identical as left turning vehicle speed guidance.
B. different to turn to tqAmendment
By taking left turning vehicle as an example, left turning vehicle turning velocity during queue clearance compares slower, the Xiang Yingji that keeps straight on
Calculation method is as follows:
Wherein, tqleft0For the left-hand rotation queue clearance time for not including the starting loss time.
The speed guidance of right-turning vehicles is similar with left-hand rotation.
3. the speed guidance under different lane configurations
The case where multi-steering shares a lane is commonly present under actual traffic environment, then the vehicle between different steerings can phase
It is mutually restricted, in this research by taking straight right lane as an example, the guidance of right-turning vehicles speed is modified.
A. behavior red light phase and front are kept straight on without queuing vehicle, then according to signal in normal right-hand rotation speed guidance system
Phase is green, and the queuing vehicle guidance mode finished that dissipated in front guides；
B. there is queuing vehicle in keep straight on behavior red light phase and front, then right-turning vehicles will be limited by queuing vehicle, be pressed
Directly capable speed guidance guides；
C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then the right-turning vehicles is guided to arrange in front
Team's vehicle dissipation reaches stop line when finishing and is turned to, i.e., be according to signal phase in normal speed guidance system it is green,
And the queuing vehicle guidance mode finished that do not dissipate in front guides；
D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guides the right-turning vehicles according to normal
Speed guidance system in signal phase be green, and the queuing vehicle guidance mode finished that dissipated in front guides.
Correlation empirical parameter value, which can read up the literature, in the present embodiment, when algorithm concrete operation selection or rule of thumb rationally sets
It is fixed, such as: ams2.78m/s is taken for vehicle launch acceleration2；tt1.5s is taken for the starting loss time；vleft30m/ is taken for left-hand rotation speed
s。
As shown in figure 5, the specific workflow of speed guidance system of the present invention is as follows:
1) roadside message switching center module initialization is communicated with Signalized control host computer, and it is real to obtain signal lamp
When timing information；Image is obtained from vehicle queue image collection module simultaneously and calculates current vehicle queue length；Later, it waits
The access of car-mounted terminal module；
2) car-mounted terminal module initialization establishes connection with roadside message switching center module, carries out data transmission and prepares；
3) car-mounted terminal module transmits current vehicle position and vehicle speed information to message switching center module, simultaneously
It issues and suggests optimal speed acquisition request；
4) vehicle location and the speed letter that message switching center module in roadside sends the car-mounted terminal module received
Breath, current signal light timing information, current vehicle queue length and current intersection coordinate import and suggest most as parameter
It is calculated in excellent speed algorithm；
5) the optimal speed of suggestion that message switching center module in roadside obtains operation (can turn to according to left straight right three kinds and divide
Do not calculate, while pushing three speed) it is sent to car-mounted terminal module, car-mounted terminal module will suggest optimal speed real-time display
To user.
Speed boot policy proposed by the present invention overcomes the limitation of traditional bus or train route cooperation model, eliminate cannot overtake other vehicles,
The restrictive conditions such as lane change are unable to, so that model more meets real road situation, and devises the speed guidance system of complete set,
By realizing its main functional modules by the product development of hardware platform of msp430, and it is total by the vehicle of comparison guidance front and back
Transit time, the suggestion speed for showing that the present invention calculates have higher driving reference value.Therefore of the invention based on vehicle
The speed bootstrap algorithm and system of road collaboration are of great importance to the promotion of road entirety traffic efficiency.
Claims (8)
1. a kind of optimal speed bootstrap algorithm in city signal intersection, which comprises the steps of:
(1) if target vehicle meets can reach stop line with highest road speed limit traveling before green light terminates, and front is lined up
Vehicle can dissipate before this period green light terminates to be finished, then it is assumed that and target vehicle can pass through intersection within this signal period, into
Enter step (2), otherwise guiding target vehicle deceleration stops and waits next period by intersection, terminates；
(2) disappear if target vehicle meets to travel with road Maximum speed limit to stop line required time less than the queuing of front queuing vehicle
Dissipate the time, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in the form of fleet, if then guiding target vehicle
Front queuing vehicle dissipation finish when reach stop line, otherwise guiding target vehicle passes through as early as possible；
If meeting tx+tm≤ T, then it is assumed that target vehicle can reach stop line before green light terminates with highest road speed limit traveling；If
Meet tq+hs≤Tg, then it is assumed that queuing vehicle can dissipate before this period green light terminates in front of target vehicle finishes；Wherein, T is
One signal period duration, txFor the duration that current time starts away from this period, tmIntersection is passed through with road Maximum speed limit for vehicle
The time required to mouthful, TgFor green light phase duration, h in a cyclesFor saturation headway, tqWhen dissipating for front queuing vehicle
Between；
For through vehicles,a1For acceleration of the target vehicle when section accelerates；vmFor road
Road Maximum speed limit；v0For target vehicle present speed；L is target vehicle current location apart from stop line distance；
LqFor queue length, amsFor vehicle launch acceleration, ttThe time is lost for starting；
For left-hand rotation or right-turning vehicles, consider that speed is slower and has moderating process before stop line, to tmAnd tqAfter amendment are as follows:
Wherein, vleftFor left-hand rotation speed；vrightFor right-hand rotation speed, a2The acceleration to slow down for target vehicle in section.
2. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that:
If meeting tm≤Tr+tq+hs-tx, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in the form of fleet；
TrFor red light phase duration in a cycle.
3. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that:
The guiding target vehicle reaches the guidance mode of stop line when front queuing vehicle dissipates and finishes are as follows: The guidance mode that the guiding target vehicle passes through as early as possible are as follows:Wherein, vgTo guide speed, v0For target vehicle present speed, L works as target vehicle
Front position is apart from stop line distance, TrFor red light phase duration, t in a cycleqFor front queuing vehicle resolution time, hsFor
Saturation headway, trFor time of driver's reaction.
4. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that:
The guiding target vehicle deceleration parking guides speed to guide vehicle with economy cruising since current time
Calculation:
Wherein, acomFor the suitable acceleration in vehicle deceleration process, v0For target vehicle present speed, trWhen being reacted for driver
Between；aslipAcceleration is slided for vehicle；t1For the time that target vehicle slides, L is target vehicle current location apart from stop line
Distance, LqFor queue length.
5. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that: for straight
Row and the case where sharing a lane of turning right, are modified the guidance of right-turning vehicles speed, comprising:
A. behavior red light phase and front are kept straight on without queuing vehicle, then according to signal phase in normal right-hand rotation speed guidance system
To be green, and the queuing vehicle guidance mode finished that dissipated in front guides；
B. there is queuing vehicle in keep straight on behavior red light phase and front, then right-turning vehicles will be limited by queuing vehicle, according to straight
Capable speed guidance guides；
C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then the right-turning vehicles is guided to be lined up vehicle in front
It dissipates and to reach stop line when finishing and be turned to, i.e., be green and preceding according to signal phase in normal speed guidance system
The square queuing vehicle guidance mode finished that do not dissipate guides；
D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guides the right-turning vehicles according to normal vehicle
Signal phase is green in fast guidance system, and the queuing vehicle guidance mode finished that dissipated in front guides.
6. one kind using the optimal speed bootstrap algorithm in city signal intersection according to claim 1-5 is based on
The city signal intersection speed of bus or train route collaboration guides system, it is characterised in that: hands over including car-mounted terminal module and roadside information
Switching center9's module；Wherein car-mounted terminal module is attached with roadside message switching center module by Radio Link, roadside letter
Breath switching centre's module is for obtaining traffic signal timing information and vehicle queue information, and the vehicle that reception car-mounted terminal is sent
Position and vehicle speed information carry out operation and obtain to feed back to car-mounted terminal module after vehicle suggests optimal speed；Car-mounted terminal mould
Block to roadside message switching center module transmission vehicle location and vehicle speed information, and reception for suggesting speed and showing in real time
Show.
7. a kind of city signal intersection speed based on bus or train route collaboration according to claim 6 guides system, feature
Be: the car-mounted terminal module includes: GPS signal receiving module, human-computer interaction module, wireless communication module and MCU module；
Wherein MCU module includes GPS data processing unit, wireless communication control unit, display control unit and main control unit；Master control list
Member be connected respectively with GPS data processing unit, wireless communication control unit and display control unit, GPS data processing unit and
GPS signal receiving module is connected, and display control unit is connected with human-computer interaction module, wireless communication control unit and wireless communication
Module is connected.
8. a kind of city signal intersection speed based on bus or train route collaboration according to claim 6 guides system, feature
Be: the roadside message switching center module includes: to be lined up image collection module, Signalized control host computer, wireless communication
Module, MCU module；Wherein MCU module includes image processing unit, core algorithm unit, serial communication unit, wireless communication control
Unit and main control unit processed；Main control unit is connected with image processing unit, core algorithm unit and serial communication unit respectively；Figure
Picture processing unit is connected with image collection module is lined up, and carries out image procossing, obtains queuing vehicle length；Serial communication unit with
Signalized control host computer is connected, and obtains the timing information of signal lamp, core algorithm unit respectively with image processing unit and string
Port communications unit is connected, and the optimal velocity of vehicle is calculated according to the information of acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230928.2A CN106846832B (en) | 2017-04-11 | 2017-04-11 | The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710230928.2A CN106846832B (en) | 2017-04-11 | 2017-04-11 | The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration |
Publications (2)
| Publication Number | Publication Date |
|---|---|
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| CN107248276B (en) * | 2017-07-26 | 2019-08-27 | 北方工业大学 | Intelligent networking automobile formation control method and device based on vehicle-road cooperation |
| CN107610494B (en) * | 2017-08-28 | 2020-08-07 | 西北工业大学 | AGV vehicle system based on information physical fusion system and traffic control method |
| CN107591008A (en) * | 2017-09-18 | 2018-01-16 | 同济大学 | A kind of distributed traffic control system based on roadside device |
| CN108447281A (en) * | 2018-04-02 | 2018-08-24 | 江苏数慧信息科技有限公司 | Green wave control system |
| CN108765982A (en) * | 2018-05-04 | 2018-11-06 | 东南大学 | Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings |
| CN108831143B (en) * | 2018-06-15 | 2021-09-07 | 合肥工业大学 | Signal intersection fleet speed guiding method based on vehicle-road cooperation technology |
| CN110634283A (en) * | 2018-06-22 | 2019-12-31 | 长城汽车股份有限公司 | Vehicle speed guiding method and device |
| CN109035814B (en) * | 2018-07-02 | 2021-04-09 | 福建榕基软件股份有限公司 | Automatic traffic light interval time adjusting method and system |
| CN110874939B (en) * | 2018-08-30 | 2021-06-18 | 广州汽车集团股份有限公司 | Green wave vehicle speed guiding method and system |
| CN109523810A (en) * | 2018-11-21 | 2019-03-26 | 长安大学 | A kind of signalized intersections speed guidance System and method for based on car networking |
| CN111243300B (en) * | 2018-11-28 | 2023-04-28 | 阿里巴巴集团控股有限公司 | Method and device for acquiring lost time length |
| CN111653107B (en) * | 2020-05-29 | 2022-05-20 | 山东交通职业学院 | Intelligent transportation system |
| CN112216105B (en) * | 2020-09-21 | 2023-01-24 | 浙江吉利控股集团有限公司 | Vehicle speed guiding method and device, vehicle and storage medium |
| CN112376340B (en) * | 2020-12-03 | 2022-02-22 | 吉林大学 | Design method for left-turn intersection guide line and left-turn stop line |
| CN113421443A (en) * | 2021-06-15 | 2021-09-21 | 东风汽车集团股份有限公司 | V2X-based vehicle intersection guiding method and device |
| CN113628443B (en) * | 2021-08-10 | 2022-06-24 | 哈尔滨工业大学 | Signal intersection speed guiding method based on driver finiteness |
| CN113706873B (en) * | 2021-09-28 | 2022-11-29 | 长沙智能驾驶研究院有限公司 | Vehicle arrival time prediction method, device, equipment and computer storage medium |
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| CN104637315B (en) * | 2015-02-06 | 2016-07-13 | 北京交通大学 | Unsignalized intersection optimal control method under bus or train route cooperative surroundings and system |
| CN105070084A (en) * | 2015-07-23 | 2015-11-18 | 厦门金龙联合汽车工业有限公司 | Vehicle speed guiding method and system based on short-distance wireless communication |
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