CN108831166B - Intersection can be changed guided vehicle road function change method under bus or train route cooperative surroundings - Google Patents
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Abstract
The invention discloses intersections under a kind of bus or train route cooperative surroundings can be changed guided vehicle road function change method, according to each turning traffic flow saturation degree in combination with signal timing dial, pacesetting to determine whether triggering variable guided vehicle road, it specifically includes: when left-hand rotation, straight traffic saturation degree are respectively less than 0.8, usual speed induction only being carried out to vehicle；When straight traffic saturation degree less than 0.8 and left turn traffic saturation degree be greater than 0.8 when, usual speed induction is carried out to through vehicles and carries out the pacesetting suitable for high saturation to left turning vehicle, adjustment signal timing simultaneously is to reduce left turn traffic saturation degree, if turning left after pacesetting and signal timing optimization and straight traffic saturation degree being respectively less than 0.8, do not change changeable driveway then, otherwise changes variable guided vehicle road function；When left-hand rotation, straight traffic saturation degree are all larger than 0.8, the pacesetting suitable for high saturation is only carried out to vehicle.
Description
Technical field
The invention belongs to road traffic control fields, and in particular to adopt under bus or train route cooperative surroundings according to road saturation degree difference
Different strategies is taken, so that it is determined that the method for variable guided vehicle road functional mapping.
Background technique
With the development of the social economy, car ownership sharply increases, traffic congestion phenomenon is also on the rise.And city is handed over
Prong is often the key node for causing congestion, therefore the traffic efficiency for improving intersection can significantly alleviate traffic congestion.
Intersection is controlled in classical signal, it is constant to generally remain lane function, copes with transport need using signal adjustment
Change, but this mode often will cause certain when in face of each bogie car flowed fluctuation of different periods apparent entrance driveway
It is too long to turn to wagon flow queuing, or current phase counter flow causes time-space distribution to waste because clearance green time increases, therefore
Variable guided vehicle road is come into being.At this stage, still regulated and controled by manually for the conversion of variable guided vehicle road is basic, this
It is inappropriate to be likely to result in the transformation moment, the problems such as inefficiency.
The fast development of bus or train route coordination technique simultaneously provides technical support to can be changed the turning function transformation of guided vehicle road,
Under bus or train route cooperative surroundings, the real-time processing of data may be implemented, the Collaborative Control of vehicle, road, signal also may be implemented.
Therefore the present invention is based on bus or train route cooperative surroundings proposes variable in conjunction with bus or train route speed-optimization and signal timing optimization
The method of guided vehicle road turning function transformation.
Summary of the invention
The purpose of the present invention is to propose to intersections under a kind of bus or train route cooperative surroundings can be changed guided vehicle road function change method, gram
Clothes improve variable guiding by artificial the drawbacks of determining variable guided vehicle road transformation, in combination with pacesetting, signal optimization
The traffic efficiency in lane reduces vehicle in the delay of intersection.
The technical solution of the present invention is as follows: intersection can be changed guided vehicle road turning function transformation triggering side under bus or train route cooperative surroundings
Method specifically includes:
1) traffic parameter data are obtained:
Each traffic parameter, including vehicle flowrate, car speed, vehicle location, vehicle can be obtained under bus or train route cooperative surroundings in real time
Acceleration and the expected driving direction of vehicle etc.；
2) each steering saturation degree is calculated:Wherein qi- i turns to the bicycle road vehicle flowrate of wagon flow, and unit is to work as
Measure traffic/hour；CAPi- i turns to the handling capacity of wagon flow, and unit is the equivalent volume of traffic/hour；
3) different strategies is determined according to left-hand rotation and straight traffic saturation degree:
The service level of road is divided into six grades according to the difference of saturation degree index by " traffic capacity handbook " in the U.S., China
The road degree of crowding, service level are then divided into following level Four according to intensity value: (one) level-one service level: road traffic is suitable
Freely, service level is good, and saturation degree is between 0-0.6；(2) secondary service is horizontal: road slightly congestion, service level is higher,
Saturation degree is between 0.6-0.8；(3) three-level service level: congestion in road, service level are poor, and saturation degree is between 0.8-
Between 1.0；(4) level Four service level: road heavy congestion, service level are very poor, and saturation degree is greater than 1.0；Based on China from road
The classification of road saturation degree is set out, and choosing saturation degree is 0.8 as a line of demarcation, when lane saturation degree is lower than 0.8, it is believed that vehicle
Road is smooth, when saturation degree is higher than 0.8, it is believed that the congestion of lane；Therefore it is directed to certain intersection, when left-hand rotation, straight traffic saturation degree
When respectively less than 0.8, usual speed induction only is carried out to vehicle；When straight traffic saturation degree less than 0.8 left turn traffic saturation degree
When greater than 0.8, usual speed induction is carried out to through vehicles and carries out the pacesetting for being suitable for high saturation to left turning vehicle,
Adjustment signal timing simultaneously is to reduce left turn traffic saturation degree, if turning left after pacesetting and signal timing optimization and keeping straight on
Wagon flow saturation degree is respectively less than 0.8, then does not change changeable driveway, otherwise changes variable guided vehicle road function；When left-hand rotation, straight traffic
When saturation degree is all larger than 0.8, the pacesetting suitable for high saturation is only carried out to vehicle；
4) common speed induction:
When vehicle reaches intersection region, signal is green light, target is to pass through vehicle during current green light phase
Intersection, it is assumed that vehicle initial velocity is v0, vehicle distances intersection distance is L0When start to carry out pacesetting, vehicle need to add
Speed is to v1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, then vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tG is surplus≥tAdd+tIt is evenAnd v1≤vmax,
In formula: tG is surplus- green light remaining time；
vmax- vehicle driving maximum speed limit；
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
When vehicle reaches intersection region, signal is red light, if vehicle is with v0Driving at a constant speed can be in next green light phase
Pass through intersection before end, it may be assumed that
In formula: tR is surplus- red light remaining time；
tg- current phase green time；
Then vehicle is with v0It drives at a constant speed and passes through intersection；
When vehicle reaches intersection region, signal is red light, if vehicle is with v0Driving at a constant speed can not be in next green light phase
Position passes through intersection before terminating, and vehicle need to accelerate to v1Intersection could be passed through before green light terminates, then the vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tR is surplus+tg≥tAdd+tIt is evenAnd v1≤vmax,
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
5) it is suitable for the pacesetting of high saturation
By this wagon flow green light phase according under bus or train route cooperative surroundings it is achievable minimum time headway equalization distribute to it is each
Vehicle guarantees that vehicle passes through intersection in the green time of distribution；
Assuming that vehicle initial velocity is v0, last spacing intersection distance that this wagon flow green light phase can distribute is
L', vehicle need to accelerate to v1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, it is with last vehicle
Example:
The vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tR is surplus+tg-tG is surplus=tAdd+tIt is evenAnd v1≤vmax,
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
6) signal timing optimization:
Consider that variable period situation considers each phase long green light time, last four green light phases from long green light time respectively
The sum of position long green light time adds the loss time to be the period, and the period need to be between the minimax period, saturate wagon flow
Phase long green light time includes initial long green light time+green extension, and initial long green light time here is exactly when not optimizing signal
Long green light time, green light extend duration target be L0Last vehicle of section passes through in green light, other wagon flow long green light times
Similarly, only green light delay duration this can be negative value；
If L0Last vehicle acceleration time of section is tAdd, the at the uniform velocity time is tIt is even, then
tG prolongs=tAdd+tIt is even-tR is surplus-tg (8)
In formula: tG prolongs- green extension；
In formula: tg- long green light time；
And long green light time need to be between minimax long green light time, it may be assumed that
tgmin≤tg+tG prolongs≤tgmax (9)
7) judge whether changing Lane attribute:
When left-hand rotation, straight traffic saturation degree are respectively less than 0.8, usual speed induction only is carried out to vehicle, not adjustment signal
Timing, not changing Lane function；
When straight traffic saturation degree less than 0.8 and left turn traffic saturation degree be greater than 0.8 when, common speed is carried out to through vehicles
Degree induces and carries out the pacesetting for being suitable for high saturation to left turning vehicle, while adjustment signal timing is to reduce left turn traffic
Saturation degree, if left-hand rotation and straight traffic saturation degree are respectively less than 0.8 after pacesetting and signal timing optimization, not changing can
Become lane, otherwise changes variable guided vehicle road function；
When left-hand rotation, straight traffic saturation degree are all larger than 0.8, only vehicle lure suitable for the speed of high saturation
It leads, not adjustment signal timing, not changing Lane function.
The utility model has the advantages that 1, variable guided vehicle road turning function transformation triggering method proposed by the present invention is simple and easy, foundation
Lane saturation degree is differentiated that ensure that, which will not reduce direction vehicle to number of track-lines while changing Lane, causes excessive shadow
It rings.
2, the present invention is by means of utilizing the net bracing part under bus or train route cooperative surroundings, by lane function, track of vehicle and signal
Timing triplicity gets up to be ground, and effectively raises the traffic efficiency of vehicle, while reducing the vehicle delay of intersection.
Detailed description of the invention
Fig. 1 is that conventional four phase signals control intersection schematic diagram；
Fig. 2 is conventional four phase signal timing schematic diagrames；
Fig. 3 is that vehicle reaches common speed induction schematic diagram when intersection region is green light；
Fig. 4 is that vehicle reaches common speed induction schematic diagram when intersection region is red light (situation one)；
Fig. 5 is that vehicle reaches common speed induction schematic diagram when intersection region is red light (situation two)；
Fig. 6 is to induce schematic diagram suitable for the car speed under high saturation；
Fig. 7 is bus or train route cooperative surroundings signal timing optimization of lower variable cycle schematic diagram；
Fig. 8 is that can be changed guided vehicle road functional mapping schematic diagram under bus or train route cooperative surroundings.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings and detailed description.
Under bus or train route cooperative surroundings, for the intersection that there is variable guided vehicle road, while track of vehicle and signal are considered
Timing considers that by lane be to turn left by straight trip functional shift, when variable guided vehicle road meets switch condition to realize that three assists
With optimization, as shown in Figure 1.
By taking conventional four phase cross junctions as an example, signal timing dial is as shown in Figure 2:
Step 1: obtaining each traffic parameter in real time under bus or train route cooperative surroundings, including the magnitude of traffic flow, car speed, vehicle add
Speed, vehicle location etc.；
Step 2: calculate each steering saturation degree:Wherein qi- i turns to the bicycle road vehicle flowrate of wagon flow, equivalent
Traffic/hour；CAPi- i turns to the handling capacity of wagon flow, the equivalent volume of traffic/hour；
Step 3: being determined according to left-hand rotation and straight traffic saturation degree and common speed induction is carried out to vehicle or suitable for height
The speed of saturation degree induces:
(1) when wagon flow saturation degree is less than 0.8, usual speed induction is carried out to vehicle；
1, as shown in figure 3, when vehicle reaches intersection region, signal is green light, target is to make vehicle in current green light
Pass through intersection during phase, it is assumed that vehicle initial velocity is v0, vehicle distances intersection distance is L0When start carry out speed lure
It leads, vehicle need to accelerate to v1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, then vehicle acceleration time
Are as follows:The vehicle at the uniform velocity time are as follows:If tG is surplus≥tAdd+tIt is evenAnd v1≤vmax, in formula: tG is surplus- green light is surplus
The remaining time；vmax- vehicle driving maximum speed limit；Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
2, when signal is red light when as shown in Figures 4 and 5, vehicle reaches intersection region, if vehicle is with v0Driving at a constant speed can
Pass through intersection before next green light phase terminates, it may be assumed thatIn formula: tR is surplus- red light remaining time；tg- current phase
Position green time；Then vehicle is with v0It drives at a constant speed and passes through intersection；
When vehicle reaches intersection region, signal is red light, if vehicle is with v0Driving at a constant speed can not can be in next green light
Phase passes through intersection before terminating, and vehicle need to accelerate to v1Intersection could be passed through before green light terminates, then the vehicle acceleration time
Are as follows:The vehicle at the uniform velocity time are as follows:If tR is surplus+tg≥tAdd+tIt is evenAnd v1≤vmax, then vehicle accelerates row
It sails to intersection, otherwise vehicle is with v0It drives at a constant speed；
(2) when wagon flow saturation degree is greater than 0.8, the pacesetting suitable for high saturation is carried out to vehicle；
As shown in Figure 6；This wagon flow green light phase is impartial according to minimum time headway achievable under bus or train route cooperative surroundings
Each vehicle is distributed to, guarantees that vehicle passes through intersection in the green time of distribution.
Assuming that vehicle initial velocity is v0, last spacing intersection distance that this wagon flow green light phase can distribute is
L', vehicle need to accelerate to v1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, it is with last vehicle
Example:
The vehicle acceleration time are as follows:The vehicle at the uniform velocity time are as follows:If tR is surplus+tg-tG is surplus=tAdd+tIt is even
And v1≤vmax, then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
Step 4: determining that different signals optimizes according to left-hand rotation and straight traffic saturation degree situation
(1) when left-hand rotation, straight traffic saturation degree are respectively less than 0.8, intersection can satisfy vehicle smooth sequential fortune at this time
Row, therefore this research does not consider to change signal timing dial.
(2) when straight traffic saturation degree is less than 0.8, when left turn traffic saturation degree is greater than 0.8, as shown in fig. 7, consider can
In the case where variable period, from long green light time, each phase long green light time is considered respectively, when last four green lights phase green light
It is the sum of long that the loss time is added to be the period, and the period need to be between the minimax period, saturate wagon flow phase green light
Duration includes initial long green light time+green extension, when initial long green light time here is exactly green light when not optimizing signal
Long, the target that green light extends duration is L0Last vehicle of section passes through in green light, other wagon flow long green light times similarly, only
Green light postpones duration, and this can be negative value；
If L0Last vehicle acceleration time of section is tAdd, the at the uniform velocity time is tIt is even, then
tG prolongs=tAdd+tIt is even-tR is surplus-tg, in formula: tG prolongs- green extension；In formula: tg- long green light time；
And long green light time need to be between minimax long green light time, it may be assumed that
tgmin≤tg+tG prolongs≤tgmax
(3) when left-hand rotation, straight traffic saturation degree are all larger than 0.8, intersection changes lane and belongs in congestion status at this time
Property can not improve intersection efficiency, and lane change may generate negative impact to intersection, therefore this research does not consider
Change signal timing dial, and suggests that other methods is taken to improve intersection efficiency, such as increase number of track-lines and widen lane.
Step 5: and speed above-mentioned induction and signal timing optimization, judge whether to need from the angle of saturation degree
Changeable driveway is converted, as shown in Figure 8:
(1) when left-hand rotation, straight traffic saturation degree are respectively less than 0.8, usual speed induction only is carried out to vehicle, does not adjust letter
Number timing, not changing Lane function；
(2) when straight traffic saturation degree less than 0.8 and left turn traffic saturation degree be greater than 0.8 when, to through vehicles carry out it is general
Lead to pacesetting and carry out the pacesetting for being suitable for high saturation to left turning vehicle, while adjustment signal timing is to reduce
Wagon flow saturation degree does not change if left-hand rotation and straight traffic saturation degree are respectively less than 0.8 after pacesetting and signal timing optimization
Become changeable driveway, otherwise changes variable guided vehicle road function；
(3) when left-hand rotation, straight traffic saturation degree are all larger than 0.8, the speed suitable for high saturation is only carried out to vehicle
It induces, not adjustment signal timing, not changing Lane function.
It should be pointed out that for those skilled in the art, without departing from the principle of the present invention,
It can also make several improvements and retouch, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (1)
1. intersection can be changed guided vehicle road function change method under bus or train route cooperative surroundings, which comprises the following steps:
1) traffic parameter data are obtained:
Each traffic parameter can be obtained under bus or train route cooperative surroundings in real time, including vehicle flowrate, car speed, vehicle location, vehicle accelerate
Degree and the expected driving direction of vehicle；
2) each steering saturation degree is calculated:Wherein qi- i turns to the bicycle road vehicle flowrate of wagon flow, and unit is equivalent friendship
Logical/hour；CAPi- i turns to the handling capacity of wagon flow, and unit is the equivalent volume of traffic/hour；
3) different strategies is determined according to left-hand rotation and straight traffic saturation degree:
The service level of road is divided into six grades according to the difference of saturation degree index by " traffic capacity handbook " in the U.S., China's then root
The road degree of crowding, service level are divided into following level Four according to intensity value: (one) level-one service level: road traffic is smooth,
Service level is good, and saturation degree is between 0-0.6；(2) secondary service is horizontal: road slightly congestion, service level is higher, satisfies
And degree is between 0.6-0.8；(3) three-level service level: congestion in road, service level are poor, and saturation degree is between 0.8-1.0
Between；(4) level Four service level: road heavy congestion, service level are very poor, and saturation degree is greater than 1.0；Based on China from road
The classification of saturation degree is set out, and choosing saturation degree is 0.8 as a line of demarcation, when lane saturation degree is lower than 0.8, it is believed that lane
It is smooth, when saturation degree is higher than 0.8, it is believed that the congestion of lane；Therefore it is directed to certain intersection, when left-hand rotation, straight traffic saturation degree are equal
When less than 0.8, usual speed induction only is carried out to vehicle；When straight traffic saturation degree is less than 0.8 and left turn traffic saturation degree is big
When 0.8, usual speed induction is carried out to through vehicles and carries out the pacesetting for being suitable for high saturation to left turning vehicle, together
When adjustment signal timing to reduce left turn traffic saturation degree, if after pacesetting and signal timing optimization turn left and straight traffic
Stream saturation degree is respectively less than 0.8, then does not change changeable driveway, otherwise changes variable guided vehicle road function；When left-hand rotation, straight traffic are full
When being all larger than 0.8 with degree, the pacesetting suitable for high saturation is only carried out to vehicle；
4) common speed induction:
When vehicle reaches intersection region, signal is green light, target is that vehicle is made to pass through intersection during current green light phase
Mouthful, it is assumed that vehicle initial velocity is v0, vehicle distances intersection distance is L0When start to carry out pacesetting, vehicle need to accelerate to
v1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, then vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tG is surplus≥tAdd+tIt is evenAnd v1≤vmax,
In formula: tG is surplus- green light remaining time；
vmax- vehicle driving maximum speed limit；
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
When vehicle reaches intersection region, signal is red light, if vehicle is with v0Driving at a constant speed can terminate in next green light phase
Before pass through intersection, it may be assumed that
In formula: tR is surplus- red light remaining time；
tg- current phase green time；
Then vehicle is with v0It drives at a constant speed and passes through intersection；
When vehicle reaches intersection region, signal is red light, if vehicle is with v0Driving at a constant speed can not be in next green light phase knot
By intersection before beam, vehicle need to accelerate to v1Intersection could be passed through before green light terminates, then the vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tR is surplus+tg≥tAdd+tIt is evenAnd v1≤vmax,
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
5) it is suitable for the pacesetting of high saturation
This wagon flow green light phase is distributed into each vehicle according to minimum time headway equalization achievable under bus or train route cooperative surroundings,
Guarantee that vehicle passes through intersection in the green time of distribution；
Assuming that vehicle initial velocity is v0, last spacing intersection distance that this wagon flow green light phase can distribute is L', vehicle
V need to be accelerated to1Intersection could be passed through before green light terminates, if vehicle acceleration is aAdd, by taking last vehicle as an example:
The vehicle acceleration time are as follows:
The vehicle at the uniform velocity time are as follows:
If tR is surplus+tg-tG is surplus=tAdd+tIt is evenAnd v1≤vmax,
Then vehicle gives it the gun to intersection, and otherwise vehicle is with v0It drives at a constant speed；
6) signal timing optimization:
Consider that variable period situation considers each phase long green light time from long green light time respectively, last four green light phases are green
The sum of lamp duration adds the loss time to be the period, and the period need to be between the minimax period, saturate wagon flow phase
Long green light time includes initial long green light time+green extension, and initial long green light time here is exactly green when not optimizing signal
Lamp duration, the target that green light extends duration is L0Last vehicle of section passes through in green light, other wagon flow long green light times similarly,
Only green light delay duration this can be negative value；
If L0Last vehicle acceleration time of section is tAdd, the at the uniform velocity time is tIt is even, then
tG prolongs=tAdd+tIt is even-tR is surplus-tg (8)
In formula: tG prolongs- green extension；
In formula: tg- long green light time；
And long green light time need to be between minimax long green light time, it may be assumed that
tgmin≤tg+tG prolongs≤tgmax (9)
7) judge whether changing Lane attribute:
When turn left, straight traffic saturation degree be respectively less than 0.8 when, only to vehicle carry out usual speed induction, not adjustment signal timing,
Not changing Lane function；
When straight traffic saturation degree less than 0.8 and left turn traffic saturation degree be greater than 0.8 when, to through vehicles carry out usual speed lure
It leads and carries out the pacesetting for being suitable for high saturation to left turning vehicle, while adjustment signal timing is to reduce left turn traffic saturation
Degree does not change variable vehicle if left-hand rotation and straight traffic saturation degree are respectively less than 0.8 after pacesetting and signal timing optimization
Otherwise road changes variable guided vehicle road function；
When left-hand rotation, straight traffic saturation degree are all larger than 0.8, the pacesetting suitable for high saturation only is carried out to vehicle, no
Adjustment signal timing, not changing Lane function.
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| CN111369783B (en) * | 2018-12-25 | 2021-06-01 | 北京嘀嘀无限科技发展有限公司 | Method and system for identifying intersection |
| CN109859501B (en) * | 2019-03-08 | 2021-05-07 | 鲁东大学 | Intelligent control method for driving direction conversion of variable guide lane at signalized intersection |
| CN110807923B (en) * | 2019-10-31 | 2020-11-13 | 哈尔滨工业大学 | Method for reconstructing functions of intersection entrance lane under man-machine hybrid driving environment |
| CN111882860B (en) * | 2020-06-05 | 2022-03-04 | 阿波罗智联(北京)科技有限公司 | Lane adjusting method and device |
| CN113763728B (en) * | 2021-09-17 | 2022-08-02 | 青岛海信网络科技股份有限公司 | Traffic organization and signal timing collaborative optimization method, device and equipment |
| CN113903182B (en) * | 2021-10-26 | 2023-04-28 | 武汉中交交通工程有限责任公司 | Method for guiding marks in diversion area of expressway with ten lanes and more |
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