CN107945536B - Method for realizing vehicle borrowing and returning of BRT (bus rapid transit) special lane based on screen signal system - Google Patents

Method for realizing vehicle borrowing and returning of BRT (bus rapid transit) special lane based on screen signal system Download PDF

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CN107945536B
CN107945536B CN201711069307.7A CN201711069307A CN107945536B CN 107945536 B CN107945536 B CN 107945536B CN 201711069307 A CN201711069307 A CN 201711069307A CN 107945536 B CN107945536 B CN 107945536B
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CN107945536A (en
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董红召
赵晨馨
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Zhejiang University of Technology ZJUT
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    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/087—Override of traffic control, e.g. by signal transmitted by an emergency vehicle
    • G—PHYSICS
    • G08—SIGNALLING
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Abstract

A method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system comprises the following steps: 1) the screen signal lamp group SSL is used for issuing vehicle lane borrowing and returning prompt information; 2) collecting BRT vehicle position information through VII, and sending vehicle borrowing and returning information to a screen signal lamp; 3) when the screen signal lamp displays that the common vehicle can borrow the lane, the driver can select whether to borrow the lane in the lane borrowing area, when the lane is selected, lane borrowing measures are completed in the lane borrowing area so as to realize lane borrowing driving of the special lane, otherwise, the original lane driving is kept; 4) when the BRT drives into the special lane and approaches the lane borrowing area, the screen signal corresponding to the lane borrowing area displays that the vehicles running in the special lane are prohibited from lane borrowing, prompts vehicles on the adjacent lane of the special lane to pay attention to the lane returning of the vehicles, and instructs drivers of the lane borrowing vehicles to execute lane returning measures in the lane returning area; 5) and after the vehicle is returned to the lane, returning to the step 2) and judging whether the driver can borrow the lane again according to the new indication of the screen signal lamp.

Description

Method for realizing vehicle borrowing and returning of BRT (bus rapid transit) special lane based on screen signal system
Technical Field
The invention relates to a method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system, belonging to the field of intelligent traffic.
Background
A Bus Rapid Transit (BRT) is a novel public passenger transport system in a mass Transit mode, and is also commonly referred to as an on-ground subway system. The BRT lane (hereinafter referred to as "lane") is an important basis for efficient operation of the BRT, but intermittent idle road resource waste occurs in a time period when the lane is not driven by the BRT. Under the condition of not influencing the BRT passing efficiency, social vehicles or common buses can share the private road, so that the utilization rate of the private road can be improved.
In the process of realizing the 'sharing' of the special lane, the lane borrowing and returning process of the vehicle is particularly important, however, the lane changing operation is carried out in the current traditional lane borrowing and returning process of the vehicle according to the experience of a driver, so that the traffic disorder is very easy to cause, the reliability of lane borrowing driving and instant lane changing of different vehicles cannot be ensured, the interference is generated on the BRT driving on the special lane, and the passing efficiency of the BRT is greatly reduced. Therefore, the method for realizing the vehicle borrowing and returning of the BRT special lane based on the screen signal system improves the reliability of vehicle borrowing driving and timely lane changing, ensures the passing efficiency of the BRT, and has great significance.
Disclosure of Invention
The invention provides a method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system, aiming at overcoming the defects in the existing vehicle borrowing and returning process.
The invention discloses a method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system, which mainly comprises the step of issuing vehicle borrowing and returning information through the special lane screen signal system under the support of a vehicle road integrated environment (VII), so that the purpose of cooperation between roadside signals and vehicle borrowing and returning is realized.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system comprises the following steps:
1) the screen signal lamp group SSL is used for issuing vehicle lane borrowing and returning prompt information, and firstly, layout design is carried out on lane changing areas of the screen signal lamp group SSL and a vehicle lane borrowing and returning BRT (lane borrowing and returning for short) special lane: the screen signal lamp groups SSL are arranged on the right side of the special road and are reasonably distributed in the road section according to the length of the special road and the distance of the intersection, and the arrangement distance of the two SSL lamp groups is about 350m to 400 m. The vehicle borrowing and returning areas of the special lanes are arranged on the front side and the rear side of each SSL road in the driving direction, the vehicle borrowing and returning areas of the BRT special lane are divided through the positions of the screen signal lamp groups SSL, the vehicle borrowing and returning areas are arranged at the positions in front of the SSL (in the driving direction of the vehicles on the road sections), and the vehicle returning areas are arranged behind the SSL. The target lane vehicle can judge whether the front borrowing and returning area allows the vehicle to borrow and return the lane through the screen signal lamp group, and the function of informing in advance is achieved.
2) Collecting the position information of the BRT vehicle through VII, judging whether the BRT is not used or is not about to use a special lane according to the position of the BRT, if so, displaying that the common vehicle can borrow the lane by a screen signal lamp, and if not, displaying that the common vehicle is prohibited from borrowing the lane by the screen signal lamp.
3) When the screen signal lamp displays that the common vehicle can borrow the lane, the driver can select whether to borrow the lane in the lane borrowing area, when the lane is selected, the lane borrowing measure is completed in the lane borrowing area so as to realize lane borrowing driving of the special lane, otherwise, the original lane driving is kept. When the driver chooses to execute lane borrowing measures (without enforcement) in the lane borrowing area, the lane change process of the vehicle lane borrowing must be completed in the lane borrowing area, and the following vehicles are defined, as shown in table 1, and have the following vehicle cooperation relationship:
vehicle with a steering wheel Description of the invention
Car_B Current lane changing vehicle
Car_A Adjacent road rear vehicle
Car_C Vehicle in front of adjacent road
Car_D Car _ B preceding vehicle
Car_E Car _ A rear vehicle
TABLE 1
The first is that the lane borrowing process is completed in the current lane changing space through the cooperation of the acceleration behavior of Car _ B and the deceleration of Car _ A; the second is that Car _ B completes the lane change by the deceleration action until waiting for the next lane change space. The length d of the vehicle Car _ B in the lane lending areab_areaAnd the lane change is completed, otherwise, the lane change opportunity is lost until the vehicle runs to the lane borrowing area of the next space segment.
In the first mode, the acceleration of Car _ B and the deceleration of Car _ A in the short time of the lane change process can be regarded as a uniform acceleration and deceleration process, and Car _ B in db_areaThe internally performed borrowing operation must satisfy the constraints of equations 1, 2, 3, and 4. The meaning of formula 1 is that Car _ B must exceed Car body equivalent of Car _ a following in lane change time t, the meaning of formula 2 is that the acceleration condition of Car _ B is limited by Car _ D speed and following distance, the meaning of formula 3 is that the whole lane change process is carried out in the lane borrowing area, and the meaning of formula 4 is that Car _ B is affected by the following distance between Car _ C and Car _ a.
Figure BDA0001456529930000031
Figure BDA0001456529930000041
Figure BDA0001456529930000042
Figure BDA0001456529930000043
In the formula:
Figure BDA0001456529930000044
the lane change inclination angle of Car _ B; v. ofB，aBThe speed and acceleration of Car _ B; v. ofA，aAThe speed and acceleration of Car _ A; v. ofDThe traveling speed of Car _ D; v. ofcThe traveling speed of Car _ C; dveEquivalent body for the following distance of a vehicle, common public transport andthe body equivalent of the social vehicles is different; daccThe transverse distance between Car _ B and Car _ A is defined, wherein a positive value represents that Car _ B is prior, and a negative value represents that Car _ A is prior; dfollowIs the following distance between the vehicles after the cooperation of Car _ C and Car _ A.
In the second mode, the vehicle can obtain the result with less constraint conditions in the lane changing process by increasing the cost of the lane changing time, and the conservative lane changing mode also conforms to the careful mind state of the driver in lane changing. In this manner, the constraint conditions for the lane change of the vehicle are shown in equations 5 and 6.
Figure BDA0001456529930000045
Figure BDA0001456529930000046
In the formula: v. ofEIs the running speed of the vehicle Car _ E; dnfThe following distance between Car _ E and Car _ A.
4) When the BRT drives into the special lane and approaches the lane borrowing area, the screen signal corresponding to the lane borrowing area displays that the vehicles driving in the special lane are prohibited from lane borrowing, prompts vehicles adjacent to the special lane to pay attention to the lane returning of the vehicles, and instructs drivers of the lane borrowing vehicles to execute lane returning measures (mandatory) in the lane returning area. The driver forcibly completes the lane returning operation, the lane returning process must be completed in the lane returning area, and the following vehicle cooperation relations exist:
if no proper lane changing space exists, the vehicle only waits for the occurrence of the lane changing opportunity, and compared with the lane borrowing process, the vehicle in front of the lane changing vehicle is already changed into the target lane, so that the vehicle in the source lane has no following behavior, and the lane changing situation in the mode is similar to the process of lane merging and changing in the road section. The traffic flow change of the target lane is richer than the lane borrowing process, the lane changing and returning situations of vehicles under different congestion conditions are different, and the road congestion scale is divided by taking the average density k of the vehicles on the road section as a parameter. The road section crowding degree is divided into three grades:
the first category is a loose scale, which defines the average of road segments under the scaleDensity k less than critical density ke. At the moment, the following distance of the target lane is large, the traffic flow is small, the lane changing behavior of the returning vehicles is close to that of the free lane changing, and the lane changing success rate is large.
The second category is a strict scale, and the average density k of the road section under the strict scale is defined to be larger than the critical density ke. The lane changing success rate of the vehicle on the returning lane is reduced because of the change of the traffic state of the adjacent lane, the lane changing behavior of the vehicle is similar to the lane borrowing behavior of the vehicle, and the constraint conditions of the lane changing success rate are formulas 1, 3 and 4.
The third category is the congestion scale, where the vehicle-following distance d of the target lane isfollowThe lane changing vehicle is smaller than the equivalent weight of the lane changing vehicle, the lane changing vehicle does not have enough space, the speed between the lane changing vehicle and the target lane is slow, the lane returning vehicle can only be inserted into the gap between the vehicles forcibly through probing at the low speed, when the vehicle Car _ A is matched with writing, the vehicle is successful, and if the vehicle Car _ A cannot be matched with writing, the vehicle can only wait for the next gap to arrive.
5) And after the vehicle is returned to the lane, returning to the step 2) and judging whether the driver can borrow the lane again according to the new indication of the screen signal lamp.
The invention has the beneficial effects that: the reliability of the vehicle on the special lane for borrowing and returning in time is improved, and the utilization rate of road resources is improved under the condition of ensuring the traffic priority of the BRT.
Drawings
FIG. 1 is a schematic diagram of the BRT private lane borrowing and returning area division.
Fig. 2 is a schematic view of a lane change situation of a lane exclusive for vehicle lane lending of the present invention.
Fig. 3 is a schematic view of a lane change situation of the exclusive lane of the vehicle returning lane of the present invention.
Fig. 4 is a flow chart of the method of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings, which are given by way of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 4, a method for realizing vehicle borrowing and returning of a BRT lane based on a screen signal system includes the following steps:
1) the screen signal lamp group SSL is used for issuing vehicle lane borrowing and returning prompt information, and firstly, layout design is carried out on lane changing areas of the screen signal lamp group SSL and a vehicle lane borrowing and returning BRT (lane borrowing and returning for short) special lane: the screen signal lamp groups SSL are arranged on the right side of the special road and are reasonably distributed in the road section according to the length of the special road and the distance of the intersection, and the arrangement distance of the two SSL lamp groups is about 350m to 400 m. The vehicle borrowing and returning areas of the special lanes are arranged on the front side and the rear side of each SSL road in the driving direction, the vehicle borrowing and returning areas of the BRT special lane are divided through the positions of the screen signal lamp groups SSL, the vehicle borrowing and returning areas are arranged at the positions in front of the SSL (in the driving direction of the vehicles on the road sections), and the vehicle returning areas are arranged behind the SSL. The vehicle in the target lane can judge whether the front borrowing and returning area allows the vehicle to borrow and return the lane through the screen signal lamp group, and the function of informing in advance is achieved, as shown in fig. 1.
2) Collecting the position information of the BRT vehicle through VII, judging whether the BRT is not used or is not about to use a special lane according to the position of the BRT, if so, displaying that the common vehicle can borrow the lane by a screen signal lamp, and if not, displaying that the common vehicle is prohibited from borrowing the lane by the screen signal lamp.
3) When the screen signal lamp displays that the common vehicle can borrow the lane, the driver can select whether to borrow the lane in the lane borrowing area, when the lane is selected, the lane borrowing measure is completed in the lane borrowing area so as to realize lane borrowing driving of the special lane, otherwise, the original lane driving is kept. When the driver chooses to execute the lane borrowing measure (without enforcement) in the lane borrowing area, the lane changing process of the vehicle lane borrowing must be completed in the lane borrowing area, as shown in fig. 2, the following vehicles are defined, as shown in table 1, and the following vehicle cooperation relations are provided:
vehicle with a steering wheel Description of the invention
Car_B Current lane changing vehicle
Car_A Adjacent road rear vehicle
Car_C Vehicle in front of adjacent road
Car_D Car _ B preceding vehicle
Car_E Car _ A rear vehicle
TABLE 1
The first is that the lane borrowing process is completed in the current lane changing space through the cooperation of the acceleration behavior of Car _ B and the deceleration of Car _ A; the second is that Car _ B completes the lane change by the deceleration action until waiting for the next lane change space. The length d of the vehicle Car _ B in the lane lending areab_areaAnd the lane change is completed, otherwise, the lane change opportunity is lost until the vehicle runs to the lane borrowing area of the next space segment.
In the first mode, the acceleration of Car _ B and the deceleration of Car _ A in the short time of the lane change process can be regarded as a uniform acceleration and deceleration process, and Car _ B in db_areaThe internally performed borrowing operation must satisfy the constraints of equations 1, 2, 3, and 4. The meaning of formula 1 is that Car _ B must exceed Car body equivalent of Car _ a following in lane change time t, the meaning of formula 2 is that the acceleration condition of Car _ B is limited by Car _ D speed and following distance, the meaning of formula 3 is that the whole lane change process is carried out in the lane borrowing area, and the meaning of formula 4 is that Car _ B is affected by the following distance between Car _ C and Car _ a.
Figure BDA0001456529930000081
Figure BDA0001456529930000082
Figure BDA0001456529930000083
Figure BDA0001456529930000084
In the formula:
Figure BDA0001456529930000085
the lane change inclination angle of Car _ B; v. ofB，aBThe speed and acceleration of Car _ B; v. ofA，aAThe speed and acceleration of Car _ A; v. ofDThe traveling speed of Car _ D; v. ofcThe traveling speed of Car _ C; dveThe equivalent weight of the vehicle body of the following distance of the vehicle is different from that of the common public transport and the social vehicle; daccThe transverse distance between Car _ B and Car _ A is defined, wherein a positive value represents that Car _ B is prior, and a negative value represents that Car _ A is prior; dfollowIs the following distance between the vehicles after the cooperation of Car _ C and Car _ A.
In the second mode, the vehicle can obtain the result with less constraint conditions in the lane changing process by increasing the cost of the lane changing time, and the conservative lane changing mode also conforms to the careful mind state of the driver in lane changing. In this manner, the constraint conditions for the lane change of the vehicle are shown in equations 5 and 6.
Figure BDA0001456529930000086
Figure BDA0001456529930000087
In the formula: v. ofEIs the running speed of the vehicle Car _ E; dnfThe following distance between Car _ E and Car _ A.
4) When the BRT drives into the special lane and approaches the lane borrowing area, the screen signal corresponding to the lane borrowing area displays that the vehicles driving in the special lane are prohibited from lane borrowing, prompts vehicles adjacent to the special lane to pay attention to the lane returning of the vehicles, and instructs drivers of the lane borrowing vehicles to execute lane returning measures (mandatory) in the lane returning area. The driver forcibly completes the lane returning operation, and the lane returning process must be completed in the lane returning area, as shown in fig. 3, with the following vehicle cooperation relationship:
if no proper lane changing space exists, the vehicle only waits for the occurrence of the lane changing opportunity, and compared with the lane borrowing process, the vehicle in front of the lane changing vehicle is already changed into the target lane, so that the vehicle in the source lane has no following behavior, and the lane changing situation in the mode is similar to the process of lane merging and changing in the road section. The traffic flow change of the target lane is richer than the lane borrowing process, the lane changing and returning situations of vehicles under different congestion conditions are different, and the road congestion scale is divided by taking the average density k of the vehicles on the road section as a parameter. The road section crowding degree is divided into three grades:
the first type is a loose scale, and the average density k of the road section under the scale is defined to be less than the critical density ke. At the moment, the following distance of the target lane is large, the traffic flow is small, the lane changing behavior of the returning vehicles is close to that of the free lane changing, and the lane changing success rate is large.
The second category is a strict scale, and the average density k of the road section under the strict scale is defined to be larger than the critical density ke. The lane changing success rate of the vehicle on the returning lane is reduced because of the change of the traffic state of the adjacent lane, the lane changing behavior of the vehicle is similar to the lane borrowing behavior of the vehicle, and the constraint conditions of the lane changing success rate are formulas 1, 3 and 4.
The third category is the congestion scale, where the vehicle-following distance d of the target lane isfollowThe lane changing vehicle is smaller than the equivalent weight of the lane changing vehicle, the lane changing vehicle does not have enough space, the speed between the lane changing vehicle and the target lane is slow, the lane returning vehicle can only be inserted into the gap between the vehicles forcibly through probing at the low speed, when the vehicle Car _ A is matched with writing, the vehicle is successful, and if the vehicle Car _ A cannot be matched with writing, the vehicle can only wait for the next gap to arrive.
5) And after the vehicle is returned, returning to the step 2), and judging whether the vehicle can be borrowed again by the driver according to the new indication of the screen signal lamp.
The essence of the vehicle borrowing and returning special lane is the process of changing lane from a source lane (the lane where the vehicle is located) to a target lane (the lane expected to enter), and the process of changing lane of the vehicle borrowing and returning special lane under the screen signal system is different from the traditional lane changing process of road vehicles: under the screen signal system, prompting the impending vehicle lane change behavior of the running vehicle in the road in a screen signal mode to promote the vehicle cooperation between the lane change vehicle and the adjacent lane vehicle; the lane changing operation of the vehicle can be completed only in the lane borrowing area or the lane changing area.
Fig. 4 is a vehicle lane borrowing and returning implementation process of a BRT dedicated lane based on a screen signal system. Firstly, carrying out layout design on a screen signal lamp group SSL of a special lane borrowing road section and a lane changing area of a vehicle borrowing and returning lane; then judging whether the BRT is not used or is not about to use a special lane according to the position of the BRT, if so, displaying that the ordinary vehicle can borrow the lane by using a screen signal lamp, and if not, displaying that the ordinary vehicle is prohibited from borrowing the lane by using the screen signal lamp; when the screen signal lamp displays that the common vehicle can borrow the lane, the driver can select whether to borrow the lane in the lane borrowing area, when the lane is selected, lane borrowing measures are completed in the lane borrowing area so as to realize lane borrowing driving of the special lane, otherwise, the original lane driving is kept; when the BRT drives into the special lane and approaches the lane borrowing area, the screen signal lamp indicates the lane borrowing vehicle to complete the lane returning measure in the lane returning area, and a driver needs to forcibly complete the lane returning operation; after the vehicle is returned to the lane, the driver can judge whether the lane can be borrowed again according to the new indication of the screen signal lamp.

Claims (1)

1. A method for realizing vehicle borrowing and returning of a BRT (bus rapid transit) special lane based on a screen signal system comprises the following steps:
1) the screen signal lamp group SSL is used for issuing vehicle lane borrowing and returning prompt information, and firstly, layout design is carried out on lane changing areas of the screen signal lamp group SSL and the vehicle lane borrowing and returning BRT special lanes: the screen signal lamp group SSL is arranged on the right side roadside of the special road and distributed in the road section according to the length of the special road and the distance between the screen signal lamp group SSL and the intersection, and the distance between the two SSL lamp groups is 350-400 m; the vehicle borrowing and returning areas of the special lanes are arranged on the front side and the rear side of each SSL road in the driving direction, the vehicle borrowing and returning areas of the BRT special lanes are divided through the positions of the SSLs of the screen signal lamp sets, the vehicle borrowing and returning areas are arranged in front of the SSLs in the driving direction of the vehicles on the road section, and the vehicle returning areas are arranged behind the SSLs; the target lane vehicle judges whether the front borrowing and returning area allows the vehicle to borrow and return the lane through the screen signal lamp group, and the function of informing in advance is achieved;
2) collecting the position information of the BRT vehicle through VII, judging whether the BRT does not use a special lane according to the position of the BRT, if so, displaying that the common vehicle can borrow the lane by a screen signal lamp, and if not, displaying that the common vehicle is prohibited from borrowing the lane by the screen signal lamp;
3) when the screen signal lamp displays that the common vehicle can borrow the lane, the driver selects whether to borrow the lane in the lane borrowing area, when the lane is selected, lane borrowing measures are completed in the lane borrowing area so as to realize lane borrowing driving of the special lane, otherwise, the original lane driving is kept; when the driver chooses to perform a lane-borrowing measure in the lane-borrowing area, the lane-changing process of the vehicle lane-borrowing must be completed in the lane-borrowing area, as shown in table 1, and the following vehicle cooperation relationships are provided:
vehicle with a steering wheel Description of the invention Car_B Current lane changing vehicle Car_A Adjacent road rear vehicle Car_C Vehicle in front of adjacent road Car_D Car _ B preceding vehicle Car_E Car _ A rear vehicle
TABLE 1
The first is that the lane borrowing process is completed in the current lane changing space through the cooperation of the acceleration behavior of Car _ B and the deceleration of Car _ A; secondly, the Car _ B completes the lane change through the deceleration action until waiting for the next lane change space; the length d of the vehicle Car _ B in the lane lending areab_areaThe lane change is completed internally, otherwise, the lane change opportunity is lost until the vehicle runs to the lane borrowing area of the next space slice;
in the first mode, the acceleration of Car _ B and the deceleration of Car _ A in the short time of the lane change process can be regarded as a uniform acceleration and deceleration process, and Car _ B in db_areaThe internally finished lane borrowing operation must meet the constraint conditions of the formulas (1), (2), (3) and (4); the meaning of the formula (1) is that Car _ B must exceed Car body equivalent of Car _ A following in lane changing time t, the meaning of the formula (2) is that the acceleration condition of Car _ B is limited by Car _ D speed and following distance, the meaning of the formula (3) is that the whole lane changing process is carried out in a lane borrowing area, and the meaning of the formula (4) is that Car _ B is influenced by the following distance between Car _ C and Car _ A;
Figure FDA0002376772470000021
Figure FDA0002376772470000022
Figure FDA0002376772470000023
Figure FDA0002376772470000024
in the formula:
Figure FDA0002376772470000025
the lane change inclination angle of Car _ B; v. ofB，aBThe speed and acceleration of Car _ B; v. ofA，aAThe speed and acceleration of Car _ A; v. ofDThe traveling speed of Car _ D; v. ofcThe traveling speed of Car _ C; dveThe equivalent weight of the vehicle body of the following distance of the vehicle is different from that of the common public transport and the social vehicle; daccThe transverse distance between Car _ B and Car _ A is defined, wherein a positive value represents that Car _ B is prior, and a negative value represents that Car _ A is prior; dfollowThe following distance between the cars after the cooperation of Car _ C and Car _ A is obtained;
in the second mode, the vehicle changes the lane by increasing the cost of lane changing time and gets the result with less constraint conditions in the lane changing process, and the conservative lane changing mode also conforms to the careful mind state of the driver in lane changing; in the second mode, the constraint conditions for changing the lane of the vehicle are shown in formulas (5) and (6);
Figure FDA0002376772470000026
Figure FDA0002376772470000031
in the formula: v. ofEIs the running speed of the vehicle Car _ E; dnfIs the following distance between Car _ E and Car _ A;
4) when the BRT drives into the special lane and approaches the lane borrowing area, the screen signal corresponding to the lane borrowing area displays that the vehicle driving in the special lane is prohibited from lane borrowing, prompts vehicles adjacent to the special lane to pay attention to the lane returning of the vehicle, and indicates a driver of the lane borrowing vehicle to forcibly execute a lane returning measure in the lane returning area; the driver forcibly completes the lane returning operation, the lane returning process must be completed in the lane returning area, and the following vehicle cooperation relations exist:
if no proper lane changing space exists, the vehicle only waits for the occurrence of the lane changing opportunity, compared with the lane borrowing process, the vehicle in front of the lane changing vehicle is already changed into the target lane, so that the vehicle in the source lane has no following behavior, and the lane changing situation in the mode is similar to the process of merging and changing lanes of the lanes in the road section; the traffic flow change of the target lane is richer than the lane borrowing process, the lane changing and returning situations of vehicles under different congestion conditions are different, and the road congestion scale is divided by taking the average density k of the vehicles on the road section as a parameter; the road section crowding degree is divided into three grades:
the first type is a loose scale, and the average density k of vehicles on a road section under the loose scale is defined to be less than the critical density ke(ii) a At the moment, the following distance of the target lane is large, the traffic flow is small, the lane changing behavior of the returning vehicles is close to the free lane changing, and the lane changing success rate is large;
the second category is a strict scale, and the average density k of vehicles on the road section under the strict scale is defined to be larger than the critical density ke(ii) a The lane changing success rate of the vehicle on the returning lane is reduced because of the change of the traffic state of the adjacent lane, the lane changing behavior of the vehicle is similar to the lane borrowing behavior of the vehicle at the moment, and the constraint conditions for the lane changing success are formulas (1), (3) and (4);
the third type is a congestion scale, and the vehicle following distance d of the target lane under the congestion scalefollowThe lane changing vehicle has insufficient space when the equivalent weight of the lane changing vehicle is less than the equivalent weight of the lane changing vehicle, the speed between the lane changing vehicle and a target lane is slow, the lane returning vehicle can only be inserted into a gap between the vehicles forcibly through probing at low speed, when the vehicle Car _ A is matched with the lane changing, the lane changing vehicle succeeds, and if the lane changing vehicle cannot be matched with the lane changing vehicle, the next gap can only be waited to arrive;
5) and after the vehicle is returned to the lane, returning to the step 2) and judging whether the driver can borrow the lane again according to the new indication of the screen signal lamp.
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