CN111145563B - Vehicle lane change detection and control method for intersection induction control - Google Patents
Vehicle lane change detection and control method for intersection induction control Download PDFInfo
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Abstract
The invention discloses a vehicle lane change detection and control method for intersection induction control, which specifically comprises the following steps: (1) determining the specific position of a vehicle detection point on an intersection entrance road section; (2) setting an entrance lane vehicle detection point; (3) establishing a running path pairing relation and a direction judgment rule between the vehicle detection point of the intersection entrance road section and the vehicle detection point of the entrance road; (4) and establishing a vehicle detection logic judgment mechanism and an accurate induction control logic algorithm, and implementing signal real-time induction control on the premise of accurately judging the traffic demands of the vehicles in different directions. According to the invention, by improving the simplified setting and simplified control mode of the original vehicle detector and adopting the linkage judgment logic of a plurality of detection points, the passing direction of the coming vehicle at the intersection is accurately judged and accurate induction control is executed, so that the vehicle passing efficiency when induction control is implemented at the intersection is further effectively improved, and the control delay of the vehicle is greatly reduced.
Description
Technical Field
The invention relates to the technical field of traffic signal control, in particular to a vehicle lane change detection and control method for intersection induction control.
Background
Intersection inductive signal control (inductive control for short) is a control mode for measuring the traffic demand of an entrance road of an intersection through a vehicle detector and enabling the green light time of a signal to be suitable for the measured traffic demand. The method is suitable for the conditions that the intersection flow is not saturated and the random change is large, the adaptability of induction control to the random arrival of the vehicles is good, the vehicles can be stopped as little as possible before the stop line, the effect of smooth traffic is achieved, and the method has more mature application at the intersection of the city in China at present.
The induction control needs to arrange a vehicle detector in the center of an entrance lane of an intersection, the detector needs to be arranged at a certain distance away from a stop line of the entrance lane, and the basic principle is that when the entrance lane is released for a minimum green time which is necessary to ensure safe passing, subsequent vehicles which arrive randomly are in a specified unit time htOnce the vehicle detector detects the vehicle within the time interval, the set green light time is prolonged, and the vehicle can smoothly pass through the stop line according to a certain speed within the prolonged green light time period. If at htThe green time without subsequent vehicles or released in the direction exceeds a limit value, namely the maximum green timeThen the entrance lane direction green light ends. Therefore, the position of the detector from the stop line is mainly related to the average vehicle speed of the entrance way, the higher the average vehicle speed is, the longer the detector setting distance is, and different average vehicle speed values V correspond to different detector setting distances D, which is specifically shown in Table 1.
TABLE 1 Induction control vehicle Detector layout distance mapping Table
The intersection entrance lane generally comprises a guide lane with a white solid line on the guide lane and an entrance road section with a white dotted line on the convertible lane, the gradual change road section is one of the entrance road sections and is a common measure for increasing the traffic capacity of the intersection, such as a left-turn widened lane or a right-turn widened lane which are commonly used at the intersection, and vehicles need to drive into the left-turn or right-turn widened guide lane from the gradual change road section to make a left-turn or right-turn. When induction control is implemented at an intersection with a left-turn or right-turn widened lane, the distance from a vehicle detector to a stop line is likely to exceed the distance of a gradual change road section of the intersection according to road conditions of the intersection or the average speed of vehicles passing through the intersection, the vehicle detector can detect that the vehicles arrive at the intersection, but the passing direction of the vehicles is difficult to determine, namely the vehicles cannot be judged to pass through the intersection in a straight way, in a left-turn or a right-turn manner, if induction control is still implemented at the moment, the condition of control failure is generated, the control delay of the vehicles is greatly increased, and the control delay is far against the target of the induction control.
Disclosure of Invention
The invention aims to provide a vehicle lane change detection and control method for intersection induction control, aiming at the problems that when the intersection with geometrical conditions of left-turn or right-turn widened lane, vehicle turning ahead in advance from the left-turn lane or right-turn in advance from the straight lane and the like carries out induction control, the existing detector cannot determine the actual passing direction of the vehicle or lacks an accurate control algorithm to generate control failure and increase the vehicle control delay, the single setting and the simplified control mode of the original vehicle detector are improved, a plurality of detection points are adopted to link and judge logic, the passing direction of the vehicle coming from the intersection is accurately judged, and the accurate induction control is executed, so that the vehicle passing efficiency when the intersection carries out induction control is further effectively improved, and the control delay of the vehicle is greatly reduced.
In order to realize the purpose, the invention adopts the technical scheme that:
a vehicle lane change detection and control method for intersection induction control is characterized in that: the method specifically comprises the following steps:
(1) the method comprises the steps of measuring the average speed of a vehicle entering the intersection and passing a stop line in green light time periods in all directions of the intersection by using an electronic police and a bayonet device which are already arranged at the intersection, and determining the distance from a detector to the stop line at the intersection according to a distance mapping table arranged by an induction control vehicle detector, so as to determine the specific position of a vehicle detection point at an entrance road section of the intersection;
(2) an entrance lane vehicle detection point is arranged at the center of a lane at the tail end of the intersection guide lane and used for determining which entrance lane the vehicle arriving at the intersection finally selects to pass through the intersection;
(3) establishing a running path pairing relation and a direction judgment rule between a vehicle detection point of an intersection entrance road section and a vehicle detection point of an entrance road, accurately judging the passing direction of a vehicle arriving at the intersection road section to enter a guide lane, and providing an important basis for the accuracy and the effectiveness of induction control;
(4) according to the running path pairing relation and the direction judgment rule of the vehicle detection point of the intersection entrance road section and the vehicle detection point of the entrance road, a vehicle detection logic judgment mechanism and an accurate induction control logic algorithm are established, and signal real-time induction control is implemented on the premise of accurately judging the traffic demands of vehicles in different directions, so that the accuracy of induction control is improved, and the vehicle delay caused by control failure is avoided.
The lane change detection and control method for the intersection induction control is characterized by comprising the following steps: and (2) after the vehicle enters the guide lane of the intersection, the vehicle is not allowed to change the lane for driving, otherwise, the electronic police at the intersection carries out illegal snapshot, and the vehicle carries out punishment when not driving according to the specified lane.
Compared with the prior art, the invention has the following technical effects:
1. when the distance between the required inlet road section detector and the stop line exceeds the range of the gradual change road section, the matched inlet road section detection point is arranged at the center position of the lane at the tail end of the guide lane, the matched relation and the direction judgment rule of the driving path of the vehicle are established, and the corresponding induction control logic algorithm is used for implementing accurate induction control on the premise of judging different passing directions and requirements of the vehicle, thereby avoiding the vehicle delay caused by control failure.
2. The invention solves the problem that the detector arranged at the inlet road section of the intersection is difficult to determine the running path of the vehicle or lacks a reasonable control logic algorithm to cause control failure when the induction control is implemented at the intersection which has the commonly existing inlet lane widening and the vehicle can turn around in advance or turn right in advance, thereby effectively improving the accuracy and the effectiveness of the induction control of the vehicle, avoiding the redundant vehicle delay caused by the control error and being beneficial to improving the control efficiency of the intersection.
Drawings
Fig. 1 is an exemplary diagram of intersection canalization and vehicle detection point arrangement with widened lanes in the present invention.
FIG. 2 is an exemplary diagram of a vehicle driving path matching relationship and a direction determination rule in a single vehicle detection time interval according to the present invention.
FIG. 3 is a logic diagram of the detection and judgment mechanism and the accurate sensing control logic of the straight-driving vehicle in the case of the straight-driving green light according to the present invention.
FIG. 4 is a logic diagram of a left turn vehicle detection and judgment mechanism and an accurate sensing control logic diagram when turning left to green.
Detailed Description
A vehicle lane change detection and control method for intersection induction control specifically comprises the following steps:
(1) the method comprises the steps of measuring the average speed of a vehicle entering the intersection and passing a stop line in green light time periods in all directions of the intersection by using an electronic police and a bayonet device which are already arranged at the intersection, and determining the distance from a detector to the stop line at the intersection according to a distance mapping table arranged by an induction control vehicle detector, so as to determine the specific position of a vehicle detection point at an entrance road section of the intersection;
(2) an entrance lane vehicle detection point is arranged at the center of a lane at the tail end of the intersection guide lane and used for determining which entrance lane the vehicle arriving at the intersection finally selects to pass through the intersection; after the vehicle enters the guide lane of the intersection, the vehicle is not allowed to change the lane for driving, otherwise, the electronic police at the intersection is subjected to illegal snapshot, and the vehicle is punished by driving without the specified lane;
(3) establishing a running path pairing relation and a direction judgment rule between a vehicle detection point of an intersection entrance road section and a vehicle detection point of an entrance road, accurately judging the passing direction of a vehicle arriving at the intersection road section to enter a guide lane, and providing an important basis for the accuracy and the effectiveness of induction control;
(4) according to the running path pairing relation and the direction judgment rule of the vehicle detection point of the intersection entrance road section and the vehicle detection point of the entrance road, a vehicle detection logic judgment mechanism and an accurate induction control logic algorithm are established, and signal real-time induction control is implemented on the premise of accurately judging the traffic demands of vehicles in different directions, so that the accuracy of induction control is improved, and the vehicle delay caused by control failure is avoided.
The present invention will be described in further detail with reference to fig. 1 to 4.
As shown in figure 1, taking the south entrance of a standard crossroad as an example, the south entrance section consists of a straight left lane and a straight right lane, the south entrance is widened from two lanes to three lanes, and the guide lanes respectively consist of straight lanesThe lane is constituteed to 3 lanes on going, left-turn and turning right, and wherein there is the opening of turning around in advance in the lane of turning left, and the vehicle can be followed the lane of turning left and turn around in advance and get into south export lane. The method comprises the steps that a road section vehicle detection point 1 is arranged in the center of a straight left lane of an entrance road section, a road section vehicle detection point 2 is arranged in the center of a straight right lane, entrance lane vehicle detection points 1, 2 and 3 are respectively arranged on a left guide lane, a straight guide lane and a right guide lane, wherein the entrance lane vehicle detection point 1 is arranged in front of a turning opening of the left-turning guide lane, and the entrance lane detection points 2 and 3 are arranged at the tail ends of the guide lanes. The detection points are virtual detection areas which are set on a road through vehicle detection equipment such as a microwave radar or a video through software, and can detect main traffic parameters such as flow, headway and the like. Setting the distance from the vehicle detection point of the road section to the tail end of the gradual change road section as L, and the distances from the tail end of the gradual change road section to the vehicle detection points 1, 2 and 3 of the entrance road as L respectively1、l2、l3The distances from the road vehicle detection point 1 to the entrance road vehicle detection points 1 and 2 are L + L respectively1、L+l2The distances from the road vehicle detection point 2 to the entrance road vehicle detection points 2 and 3 are L + L respectively2，L+l3. Setting the average speed V of the vehicles entering the intersection and passing through the stop line in the green time period of each direction of the intersection as the time t required for reaching the vehicle detection points 1 and 2 of the entrance road from the vehicle detection point 1 of the road section11、t12Are respectively as
The time t required for reaching the vehicle detection points 2 and 3 at the entrance road from the vehicle detection point 2 at the road section22、t23Are respectively as
As shown in fig. 2, a vehicle traveling path pairing relationship and a direction judgment rule are established according to the condition that a vehicle passes from a road section detection point to an entrance lane detection point in a single vehicle detection time interval. The single vehicle detection time interval is a smaller time interval from the road vehicle detection point to the entrance vehicle detection point at a certain speed for distinguishing different passing vehicles.
When a vehicle passes through the road vehicle detection point 1, in a single vehicle detection time interval: if the vehicle detection point 1 of the entrance way detects that a corresponding vehicle passes through, the vehicle passing direction is judged to be left turn, if the vehicle detection point 1 of the entrance way does not detect that the vehicle passes through, the vehicle passing direction is judged to be non-left turn, and 3 conditions of vehicle turning, straight running or running without a specified lane exist; if the vehicle detection point 2 of the entrance lane detects that a corresponding vehicle passes through, the vehicle passing direction is judged to be straight, if the vehicle detection point 2 of the entrance lane does not detect that the vehicle passes through, the vehicle passing direction is judged to be non-straight, and 3 conditions that the vehicle turns left, turns around or does not run according to a specified lane exist; if the corresponding vehicle is detected to pass through the entrance lane vehicle detection point 3, the vehicle is judged not to run according to the specified lane, and if the vehicle is not detected to pass through, the situation is normal.
When a vehicle passes through the road vehicle detection point 2, in a single vehicle detection time interval: if the vehicle detection point 1 of the approach road detects that a corresponding vehicle passes through, the vehicle is judged not to run according to a specified lane, and if the vehicle does not pass through, the vehicle is in a normal condition; if the vehicle detection point 2 of the entrance lane detects that a corresponding vehicle passes through, the vehicle passing direction is judged to be straight, if the vehicle detection point 2 of the entrance lane does not detect that the vehicle passes through, the vehicle passing direction is judged to be non-straight, and two conditions of vehicle right turning or vehicle running without a specified lane exist; if the vehicle detection point 3 at the entrance lane detects that a corresponding vehicle passes through, the vehicle passing direction is judged to be a right turn, and if the vehicle detection point 3 at the entrance lane does not detect that the vehicle passes through, the vehicle passing direction is judged to be a non-right turn, so that the vehicle runs straight or does not run according to a specified lane.
As shown in FIG. 3, let the maximum headway of a straight-ahead vehicle be hzxThat is, after the straight-going green light is released for a minimum green light time for ensuring safe passing, if the time difference of the front and the rear straight-going vehicles continuously passing through a certain section of the entrance road is more than hzxIn the time, the explanation is not that the continuous straight traffic flows through, and the straight green light can be turned off in order to improve the traffic efficiency. When the vehicle detection point 1 or 2 on the road section detects that a vehicle existsWhen the vehicle passes through, the time interval between the vehicle and the previous vehicle which is determined as a straight-ahead vehicle is set as tzxAnd the straight green light time is in the range of the minimum green light time and the maximum green light time. The control flow of fig. 3 is now described as follows:
when the green light of the straight-ahead driving is released, the road vehicle detector 1 is passed by the vehicle, and records the time interval t between the road vehicle detector and the head time of the previous vehicle determined as the straight-ahead drivingzxAnd triggering the entrance lane detection points 1 and 2 to generate a new pairing timer. If case 1 is the paired timing t of the entry lane vehicle inspection point 22In the single vehicle detection time interval [0.8t12,1.2t12]If a vehicle passes through the detection point 2, the vehicle is determined to be a straight-going vehicle, and the pairing timing t at the moment is recorded2Continuous release of green lights in straight run hzx-t2And second, continuing to detect the subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer. If case 2, pairing timing t of inspection point 1 of vehicle at entrance lane1In the single vehicle detection time interval [0.8t11,1.2t11]If a vehicle passes through the system, the vehicle is determined to be a left-turning vehicle, and the pairing timing t of the entry lane detection point 1 is recorded1Get t01＝min(t1,1.2t12) If t iszx+t01≤hzxThen the green light is continuously released for hzx-t01-tzxSecond, continuing to detect a subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer; if tzx+t01>hzxAnd ending the green lamp of the straight-going state, and stopping and emptying the corresponding generated pairing timer. If the two conditions do not occur, determining that the passing vehicle is a shunting vehicle or does not run according to the lane regulation, ignoring the request, stopping and emptying the corresponding pairing timer, and if t is the time tzx+1.2t12≤hzxThen the green light is continuously released for hzx-1.2t12-tzxSecond, and continue to detect subsequent vehicles, if tzx+1.2t12>hzxAnd ending the straight green light.
When the green light of the straight-ahead driving is released, the road vehicle detector 2 passes through the vehicle, and records the time interval t between the road vehicle detector and the head time of the previous vehicle determined as the straight-ahead drivingzxIs triggered intoThe doorway lane detection points 2 and 3 generate new pairing timers. If case 1 is the paired timing t of the entry lane vehicle inspection point 22In the single vehicle detection time interval [0.8t22,1.2t22]If a vehicle passes through the detection point 2, the vehicle is determined to be a straight-going vehicle, and the pairing timing t at the moment is recorded2Continuous release of green lights in straight run hzx-t2And second, continuing to detect the subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer. If case 2, pairing timing t of inspection point 3 of vehicle at entrance lane3In the single vehicle detection time interval [0.8t23,1.2t23]If a vehicle passes through the system, the vehicle is determined to be a right-turning vehicle, and the pairing timing t of the entry lane detection point 3 is recorded3Get t03＝min(t3,1.2t22) If t iszx+t03≤hzxThen the green light is continuously released for hzx-t03-tzxSecond, continuing to detect a subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer; if tzx+t03>hzxAnd ending the green lamp of the straight-going state, and stopping and emptying the corresponding generated pairing timer. If the two conditions do not occur, determining that the passing vehicle does not run according to the lane rule, ignoring the request, stopping and emptying the corresponding pairing timer, and if t is the time tzx+1.2t22≤hzxThen the green light is continuously released for hzx-1.2t22-tzxSecond, and continue to detect subsequent vehicles, if tzx+1.2t22>hzxAnd ending the straight green light.
As shown in FIG. 4, let the maximum headway of a left-turn vehicle be hzzThat is, after the left-turn green light is released for a minimum green light time for ensuring safe passing, if the time difference of two front and rear left-turn vehicles continuously passing through a certain section of the entrance road is more than hzzWhen the vehicle is in a running state, the left-turning green light can be turned off to improve the running efficiency. When the road vehicle detection point 1 detects that a vehicle passes through, the time interval between the road vehicle detection point and the previous vehicle determined as a left-turning vehicle is set as tzzThe left turn green time is in the range of the minimum green time and the maximum green time. Now is rightThe control flow of fig. 4 is described as follows:
when the left turn green light is released, the road vehicle detector 1 has a vehicle passing through and records the time interval t between the vehicle passing through and the previous vehicle determined as the left turn vehiclezzAnd triggering the entrance lane detection points 1 and 2 to generate a new pairing timer. If case 1 is the paired timing t of inspection point 1 of the vehicle entering the lane1In the single vehicle detection time interval [0.8t11,1.2t11]If a vehicle passes through the system, the vehicle is determined to be a left-turning vehicle, and the pairing timing t at the moment of the entry lane detection point 1 is recorded1Left-turn green lamp continuous release hzz-t1And second, continuing to detect the subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer. If case 2, pairing timing t of entry lane vehicle inspection point 22In the single vehicle detection time interval [0.8t12,1.2t12]If a vehicle passes through the system, the vehicle is determined to be a straight-going vehicle, and the pairing timing t of the entry lane detection point 2 is recorded2Get t02＝min(t2,1.2t11) If t iszz+t02≤hzzThen the left turn green light is continuously released hzz-t02-tzzSecond, continuing to detect a subsequent coming vehicle, and stopping and emptying the corresponding generated pairing timer; if tzz+t02>hzzThen, the left turn green light is ended, and the corresponding generated pairing timer is stopped and emptied. If the two conditions do not occur, determining that the passing vehicle is a shunting vehicle or does not run according to the lane regulation, ignoring the request, stopping and emptying the corresponding pairing timer, and if t is the time tzz+1.2t11≤hzzThen the left turn green light is continuously released hzz-1.2t11-tzzSecond, and continue to detect subsequent vehicles, if tzz+1.2t11>hzzThen the left turn green light is ended.
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and those skilled in the art should make variations and modifications to the technical solution of the present invention without departing from the spirit of the present invention.
Claims (2)
1. A vehicle lane change detection and control method for intersection induction control is characterized in that: the method specifically comprises the following steps:
(1) the method comprises the steps of measuring the average speed of a vehicle entering the intersection and passing a stop line in green light time periods in all directions of the intersection by using an electronic police and a bayonet device which are already arranged at the intersection, and determining the distance from a detector to the stop line at the intersection according to a distance mapping table arranged by an induction control vehicle detector, so as to determine the specific position of a vehicle detection point at an entrance road section of the intersection;
(2) an entrance lane vehicle detection point is arranged at the center of a lane at the tail end of the intersection guide lane and used for determining which entrance lane the vehicle arriving at the intersection finally selects to pass through the intersection;
(3) establishing a running path pairing relation and a direction judgment rule between a vehicle detection point of an intersection entrance road section and an entrance road vehicle detection point, and accurately judging the passing direction of a vehicle arriving at the intersection road section to enter a guide lane;
the traveling path pairing relationship is as follows: the method comprises the steps that the allowable passing direction of a road section lane guide arrow where a road section vehicle detection point is located and the allowable passing direction of an entrance lane guide arrow at an intersection where an entrance lane vehicle detection point is located are recorded, possible paths of vehicles passing through different road section vehicle detection points and the entrance lane vehicle detection points are analyzed, and a one-to-one pairing relation is established in a list mode, namely, the driving paths of the vehicles passing through the different road section vehicle detection points and the entrance lane vehicle detection points are correlated;
the direction judgment rule is as follows: when the road vehicle detection points detect that a vehicle passes through, judging the vehicle arrival condition of the vehicle detection points at the entrance road in a single vehicle detection time interval, and then accurately judging the passing direction of the vehicle according to the path pairing relationship; the single vehicle detection time interval is a smaller time interval from the road vehicle detection point to the entrance road vehicle detection point at a certain speed for distinguishing different passing vehicles;
(4) according to the running path matching relation and the direction judgment rule of the vehicle detection point of the intersection entrance road section and the vehicle detection point of the entrance road, a vehicle detection logic judgment mechanism and an accurate induction control logic algorithm are established, and signal real-time induction control is implemented on the premise of accurately judging the traffic demands of vehicles in different directions;
the vehicle detection logic judgment mechanism comprises: when a road vehicle detector detects that a vehicle passes through, an entrance lane vehicle detection point is immediately triggered to generate a pairing timer and start timing, if the vehicle passes through the entrance lane vehicle detection point in a single vehicle detection time interval, the final passing direction of the vehicle is determined according to the established running path pairing relation and a direction judgment rule, the timing time of the vehicle from the entrance lane vehicle detection point to the entrance lane vehicle detection point is recorded, and the final passing direction and the timing time of the vehicle are provided for an accurate induction control logic algorithm for calculation;
the accurate induction control logic algorithm comprises the following steps: when the time difference that the front and rear straight vehicles continuously pass through a certain section of the entrance road is greater than the maximum headway time of the straight vehicles, the straight vehicles do not continuously pass through the green light and the straight green light is turned off; and when the time difference that the front and the rear left-turning vehicles continuously pass through a certain section of the inlet road is not greater than the maximum headway time of the left-turning vehicles, the situation that the continuous left-turning traffic flow passes through is indicated, and the left-turning green light is turned off.
2. The vehicle lane change detection and control method for intersection induction control according to claim 1, characterized in that: and (2) after the vehicle enters the guide lane of the intersection, the vehicle is not allowed to change the lane for driving, otherwise, the electronic police at the intersection carries out illegal snapshot, and the vehicle carries out punishment when not driving according to the specified lane.
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| KR100768751B1 (en) * | 2006-02-10 | 2007-10-19 | 주식회사 서영엔지니어링 | A traffic signal controlling method on the three-way intersection |
| CN100495471C (en) * | 2007-02-12 | 2009-06-03 | 吉林大学 | Detector layout method for urban traffic signal control system |
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