CN111968370A - Intelligent variable lane sensing system and method for microwave radar - Google Patents
Intelligent variable lane sensing system and method for microwave radar Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
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Abstract
The invention provides a microwave radar intelligent variable lane perception system and a method, which relate to the technical field of traffic signal control and comprise a microwave radar, two virtual coils arranged on a variable lane and a signal controller, wherein the microwave radar is adopted to realize real-time tracking detection and lane-dividing queuing length of vehicles in the variable lane, and the virtual coils are used for collecting data such as section traffic flow, interval vehicle number and the like of the variable lane, so that data support and traffic prediction requirements are provided for an intelligent variable lane system, guidance of the variable lane is controlled, intelligent switching of the variable lane is realized, the lane utilization rate is effectively improved, and traffic pressure is relieved; the invention ensures the strong adaptability of the variable lane to road conditions and avoids the interference of frequent switching of the attribute of the variable lane to drivers by means of real-time vehicle data acquisition and multi-cycle judgment of the variable lane.
Description
Technical Field
The invention relates to the technical field of traffic signal control, in particular to a microwave radar intelligent variable lane sensing system and a method.
Background
With the acceleration of the urbanization process in China, the increasing preservation of urban motor vehicles causes the increasing contradiction caused by the mismatching of the vehicle travel demand and the existing road resources, and mainly reflects that the lane attribute can not meet the vehicle travel demand at the morning and evening commuting peak. For example: the peak in the morning and evening has more left-turn vehicles and less straight running, and the peak evening has less left-turn vehicles and more straight running vehicles. How to utilize at present road resource to satisfy changeable trip demand has become the problem that needs urgent solution, in order to solve this type of problem, some cities have set up convertible lane and convertible lane sign at the crossing that blocks up, the convertible lane that exists at present carries out lane attribute adjustment at the fixed time through artificial experience, can't in time adjust according to actual road conditions, lead to partly convertible lane magnificently unreal, can't effectively solve the contradiction that produces because of lane attribute and trip demand to can't alleviate the traffic jam problem.
With the development of front-end sensing equipment technology and communication technology, an intelligent lane-changeable system gradually becomes one of new directions for intelligent traffic development. The intelligent lane-changeable system is based on microwave radar, system communication, system control platform, etc. The front-end microwave radar is used for collecting data such as vehicle information and queuing length of roads and communicating with the system platform, information interaction and sharing are carried out, lane changing and releasing direction timely adjustment are achieved when steering and straight traffic flow are obviously changed, and therefore the purposes of improving road traffic efficiency and relieving traffic jam are achieved.
At present, an intelligent convertible lane system in China mainly adopts a timing switching scheme, and is manually subjected to statistical analysis according to collected historical data, so that three problems exist, and the method specifically comprises the following steps: 1) the formulation time is long, the scheme needs to be formulated in a mode of manually collecting data and processing and analyzing, the data collecting time period is long, and the scheme effect depends on the experience of an engineer to a great extent; secondly, the empirically established solution is not reproducible and needs to be "one by one" to increase the time for establishing the solution. 2) The flexibility is low, most of the existing systems adopt a timing switching scheme, and the timing switching mode can cause the system to be incapable of flexibly adjusting the control strategy according to the traffic demand change of the intersection, and particularly when the intersection encounters an emergency or the morning and evening commuting time is obviously changed, the system can not adjust the attribute of the convertible lane in time according to the actual situation, so that the control strategy becomes a 'chicken rib'. 3) The adaptability is poor, when the traffic flow of the intersection changes obviously with the lapse of time in the existing system, the original control scheme can not adapt to the current road condition continuously, the intersection needs to be investigated again and a new control strategy is formulated, and the new control scheme can be put into use after being tested and evaluated. In the past, a large amount of manpower and capital are invested in repeated research, and the required cost is invisibly increased for the transportation department.
The system adopts the latest wide area radar detector to realize real-time tracking detection of vehicles in the area, collects statistical data of sections and queuing data of lane divisions to the signal control machine, and the signal control machine calculates traffic rules and traffic changes in a short time by analyzing historical data, predicts the current traffic demand of intersections, and performs lane-changeable control, thereby realizing intelligent switching of 'lane-changeable' and effectively improving the utilization rate of lanes and relieving traffic pressure.
Disclosure of Invention
The invention aims to provide a microwave radar intelligent variable lane sensing system, which adopts a microwave radar and a virtual coil to realize real-time tracking detection of vehicles in a variable lane area, collects data such as section traffic flow, lane queuing length and the like, predicts traffic demand, controls variable lanes, realizes intelligent switching of the variable lanes, effectively improves the utilization rate of the lanes and relieves traffic pressure.
In order to achieve the above purpose, the invention provides the following technical scheme: a microwave radar intelligent variable lane sensing system is suitable for a variable lane with variable lane branches and comprises a first virtual coil, a second virtual coil, a microwave radar, a direction indicating signal lamp and a signal controller, wherein the first virtual coil and the second virtual coil are sequentially arranged on each lane branch of the variable lane at intervals after a stop line is arranged on the lane, and the microwave radar, the direction indicating signal lamp and the signal controller are arranged at the intersection of the variable lane; the signal control machine is connected with the microwave radar and the direction indication signal lamp through signals;
defining the direction of the traffic flow entering the convertible lane as the direction of the convertible lane, and enabling the vehicle to sequentially pass through the second virtual coil and the first virtual coil from any lane of the convertible lane, wherein the first virtual coil is arranged at the canalization tail end of the convertible lane;
the microwave radar is connected with the first virtual coil and the second virtual coil through signals, and is used for detecting the queuing length of the variable branch lane and two adjacent branch lanes in the variable lane after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane in real time, generating signals representing the queuing length of the variable branch lane and the two adjacent branch lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane, and sending the signals to the signal controller;
the signal control machine controls the direction indicating signal lamp of the intersection of the variable lane to change as follows according to the received signal which is sent by the microwave radar and represents the queuing length of the variable lane and the adjacent two lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding lane:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
when the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
when the queuing length of the variable lane is smaller than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are larger than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
when the first virtual coil and the second virtual coil on the variable branch lane and two adjacent branch lanes are occupied by the vehicle, the queuing lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queuing length of the adjacent branch lane with different attributes from a release cycle lane on the variable branch lane is larger than the variable lane adjustment queuing length, the sign of the direction indication signal lamp corresponding to the variable branch lane is changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different attributes from the release cycle lane on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane;
otherwise, the marks of the direction indicating signal lamps corresponding to the variable lane are always kept unchanged.
Furthermore, the lane-dividing variable guide signal lamp is connected with the signal controller through signals; the variable lane division guide signal lamp is arranged at one side of the channelized tail end of the variable lane, which is far away from the stop line, and is used for guiding vehicles to pass to the variable lane; the variable lane-dividing guide signal lamp is provided with a first stroboscopic prompt and a second stroboscopic prompt, the first stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing in a first set time length before the direction indication signal lamp is changed, and the second stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing in a second set time length before the direction indication signal lamp is changed.
Further, the distance between the first virtual coil and the second virtual coil on any lane of the convertible lanes is defined to be L, and L is not less than 100 m.
Further, the first set time length and the second set time length are both set to be 20s-120 s.
Further, the length from the second virtual coil to the stop line at the front end of the convertible lane is defined as y, and y is not less than 150 m.
The invention further discloses a sensing method adopting the microwave radar intelligent variable lane sensing system, which comprises the following specific processes:
the microwave radar detects the queuing length of the variable branch lane and two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes is finished in real time, collects the occupation states of a first virtual coil and a second virtual coil on the variable branch lane and the two adjacent branch lanes, and transmits the queuing length of the variable branch lane and the two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes and the occupation state data of the first virtual coil and the second virtual coil to the signal controller;
the signal controller receives the variable branch lane sent by the microwave radar and the queuing length of the two adjacent branch lanes after the last release period is finished and the occupation state data of the first virtual coil and the second virtual coil, and makes the following judgment according to the received data:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
if the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is judged to be changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
if the queuing length of the variable lane is less than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are both greater than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, then the sign of the direction indication signal lamp corresponding to the variable lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
if the variable branch lane and the first virtual coil and the second virtual coil on the two adjacent branch lanes are occupied by the vehicle, the queue lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queue length of the adjacent branch lane with different release cycle lane attributes on the variable branch lane is larger than the variable lane adjustment queue length, the sign of the direction indication signal lamp corresponding to the variable branch lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different release cycle lane attributes on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane;
and if the lane is not changed, judging that the mark of the direction indicating signal lamp corresponding to the lane is always kept unchanged.
In addition, the invention also discloses a computer readable storage medium, wherein a computer program is stored in the computer readable storage medium, and when the computer program is executed by a processor, the intelligent variable lane perception method of the microwave radar is realized.
According to the technical scheme, the intelligent variable lane sensing system and method for the microwave radar have the following beneficial effects that:
the invention discloses a microwave radar intelligent variable lane sensing system and a method, which comprises a microwave radar, two virtual coils arranged on a variable lane and a signal control machine, wherein the microwave radar is adopted to realize real-time tracking detection and lane-dividing queuing length of vehicles in the variable lane, the virtual coils are used for collecting section traffic flow, interval vehicle number and other data of the variable lane to ensure accurate queuing length data, data support and traffic prediction requirements are provided for an intelligent variable lane system, guidance of the variable lane is controlled, intelligent switching of the variable lane is realized, the use rate of the lane is effectively improved, and traffic pressure is relieved; the invention ensures the strong adaptability of the variable lane to road conditions and avoids the interference of frequent switching of the attribute of the variable lane to drivers by means of real-time vehicle data acquisition and multi-cycle judgment of the variable lane.
The technical scheme of the invention has the following advantages:
1) the microwave radar is in butt joint with the signal control machine, and a virtual coil is creatively used to replace a real coil, so that the damage to the road surface is reduced, and the stability and the precision of data are improved;
2) the microwave radar is adopted to provide statistical data of a plurality of sections of the convertible lanes and the lane-dividing queuing length, has the characteristic of large-area detection, and provides accurate data support for the conversion of the variable lane-dividing in the convertible lanes;
3) according to the invention, the queuing length of each lane at the intersection and the occupation condition of the virtual coil provided by the microwave radar are used for evaluating the operation state of the convertible lane and the road traffic efficiency, and providing accurate data support for further optimizing signal clearance.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a diagram illustrating the effect of the application of the apparatus of the present invention;
fig. 2 is a flowchart of the variable lane change determination of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
Based on the prior art, an intelligent lane-changeable system generally adopts manual statistics and analysis according to collected historical data to formulate a timing switching scheme, has the defects of long formulation time, low flexibility, poor adaptability and the like, cannot be adjusted according to the real traffic running condition, and has poor traffic mitigation effect; the invention aims to provide a method for performing changeable adjustment on lanes according to real traffic running conditions in real time by adopting the cooperation of a wide area radar and a virtual coil, so that the utilization rate of the lanes is improved, and traffic pressure is relieved.
Referring to fig. 1, the intelligent microwave radar variable lane sensing system is suitable for a variable lane provided with variable lane branches, and comprises a first virtual coil and a second virtual coil which are sequentially arranged on each lane branch of the variable lane at intervals after a stop line, a microwave radar and a direction indication signal lamp which are arranged at an intersection of the variable lane, and a signal controller, wherein the signal controller is in signal connection with the microwave radar and the direction indication signal lamp. The microwave radar arranged at the intersection of the convertible lanes forms an information acquisition element of the device, so that the running state of the convertible lanes is monitored, and the running information of vehicles on the convertible lanes is acquired in real time all day.
Defining the direction of the traffic flow entering the convertible lane as the direction of the convertible lane, and enabling the vehicle to sequentially pass through the second virtual coil and the first virtual coil from any lane of the convertible lane, wherein the first virtual coil is arranged at the canalization tail end of the convertible lane; the first virtual coil and the second virtual coil are arranged in a row, and can be used for detecting the traffic flow of the convertible lane section when the convertible lane is on. In addition, in order to confirm that the vehicle is in a queuing state on the lane, a plurality of rows of first virtual coils may be provided at intervals between the first virtual coil and the second virtual coil on any lane.
The microwave radar signal is connected with the first virtual coil and the second virtual coil and used for detecting the current queuing length of the variable branch lane and the adjacent two branch lanes thereof in the variable lane after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane in real time, and generating signals which represent the queuing length of the variable branch lane and the adjacent two branch lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane and sending the signals to the signal controller; generally, in order to improve the utilization efficiency of the convertible lane, avoid frequently switching lane attributes of the convertible lane, and truly reflect the traffic condition of the convertible lane, the length from the second virtual coil to the stop line at the front end of the convertible lane is defined as y, the distance between the first virtual coil and the second virtual coil on any lane of the convertible lane is defined as L, y is not less than 150m, and L is not less than 100 m.
Referring to fig. 2, the signal controller controls the direction indicating signal lamp at the intersection of the variable lane to change as follows according to the received signal which is sent by the microwave radar and represents the queuing length of the variable lane and two adjacent lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding lane:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
when the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
when the queuing length of the variable lane is smaller than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are larger than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
when the first virtual coil and the second virtual coil on the variable branch lane and two adjacent branch lanes are occupied by the vehicle, the queuing lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queuing length of the adjacent branch lane with different attributes from a release cycle lane on the variable branch lane is larger than the variable lane adjustment queuing length, the sign of the direction indication signal lamp corresponding to the variable branch lane is changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different attributes from the release cycle lane on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane; the lane-changeable adjusting coefficient n is a value set by a traffic control department according to road conditions and is used for adjusting the lane-changeable, and the value is usually 0< n < 1.
Otherwise, the marks of the direction indicating signal lamps corresponding to the variable lane are always kept unchanged.
In other cases, for example, the queue length of the variable branch lane and one of the adjacent lanes is less than y, the queue length of the other adjacent branch lane is greater than or equal to y, the attribute of the branch lane with the queue length greater than or equal to y is the same as the attribute of the lane in a passing cycle on the variable branch lane, and the sign of the direction indicator light corresponding to the variable branch lane is unchanged.
In specific implementation, every five signal cycles, the signal controller verifies and analyzes the queuing length data of the adjacent lanes of the variable lane and the occupation condition of the first virtual coil and the second virtual coil to obtain the real queuing length of the traffic flow in the current variable lane, and outputs a variable lane lamp or a variable lane marker lamp to be unchanged after determining whether the queuing length of the lane with the longest queuing length, the lane attribute and the lane attribute of a release cycle on the variable lane are the same or not, so as to adjust the attribute of the lane guide plate, if the release requirement of the straight-going lane is more than that of the left turn, the signal controller sends a signal of 'switching the straight-going lane' to the front end 'variable lane marker' to switch the current lane attribute into the straight-going lane, and the strong adaptability of the variable lane to the road condition is ensured through a real-time data acquisition and a multi-cycle judgment mode, meanwhile, the interference of frequent switching of the variable lane attribute to the driver is also avoided.
The current queuing length data of each lane acquired by the microwave radar realizes the transmission of the data to a signal controller and the release of the data through a direction indicating signal lamp through a communication unit, and the communication unit for realizing the data communication is specifically network transmission equipment such as wired (optical fiber and network cable) or wireless (network bridge, 4G) and the like arranged at the intersection of the convertible lane. And the signal control machine judges the current traffic condition of the intersection and the passing requirement of the vehicle according to the received current queuing length of each lane provided by the microwave radar and the occupation condition of the first virtual coil and the second virtual coil. For example, according to the traffic condition of the lane-changeable intersection, every 5 minutes is taken as an adjustment period, the lane attribute of the variable branch lane in the lane-changeable intersection is adjusted according to the requirement of the intersection, so that the intelligent switching of the lane-changeable intersection is realized, and then the sign change or no change action is made through the direction indicating signal lamp according to the change instruction of the signal controller, so that the lane attribute of the lane-changeable ahead of the motor vehicle driver is reminded, the driver is reminded to select the lane in advance, the utilization rate of the lane-changeable intersection is improved, and the traffic efficiency of the lane-changeable intersection is improved.
In order to avoid that the normal passing of the vehicle is influenced when the vehicle enters the convertible lane to be converted, the microwave radar intelligent variable lane sensing system is further provided with a variable lane dividing guide signal lamp which is in signal connection with the signal control machine, and the variable lane dividing guide signal lamp is arranged on one side, away from the stop line, of the channelized tail end of the convertible lane, for example, is 20m away from the channelized tail end of the convertible lane and is used for guiding the vehicle to pass to the convertible lane. The variable lane-dividing guide signal lamp is at least provided with a first stroboscopic prompt and a second stroboscopic prompt, the first stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing within a first set time length before the direction indication signal lamp is changed, the second stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing within a second set time length before the direction indication signal lamp is changed, both the first set time length and the second set time length can be set to be 20s-120s, wherein 20s is the optimal choice, and the stroboscopic time can be prolonged or shortened according to the road section environment for a special road section; for example, the device can be used for reminding a driver that a lane capable of changing in front is going to change from straight to left-turn, or that a lane in front is going to change left-turn and the driver can go straight.
In addition, for the vehicles which run in the variable lane, all the vehicles pass through according to the indication of the sign plate, when the running requirements of the vehicles correspond to the signs of the variable lane, the vehicles can pass through, and for the vehicles which do not meet the passing requirements, the vehicles which enter the variable lane must pass through according to the signs of the variable lane, and cannot stop to block other vehicles.
The invention further discloses a method for sensing the convertible lane by adopting the intelligent convertible lane sensing system of the microwave radar, which comprises the following specific processes:
the microwave radar detects the queuing length of the variable branch lane and two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes is finished in real time, collects the occupation states of a first virtual coil and a second virtual coil on the variable branch lane and the two adjacent branch lanes, and transmits the queuing length of the variable branch lane and the two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes and the occupation state data of the first virtual coil and the second virtual coil to the signal controller;
the signal controller receives the variable branch lane sent by the microwave radar and the queuing length of the two adjacent branch lanes after the last release period is finished and the occupation state data of the first virtual coil and the second virtual coil, and makes the following judgment according to the received data:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
if the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is judged to be changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
if the queuing length of the variable lane is less than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are both greater than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, then the sign of the direction indication signal lamp corresponding to the variable lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
if the variable branch lane and the first virtual coil and the second virtual coil on the two adjacent branch lanes are occupied by the vehicle, the queue lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queue length of the adjacent branch lane with different release cycle lane attributes on the variable branch lane is larger than the variable lane adjustment queue length, the sign of the direction indication signal lamp corresponding to the variable branch lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different release cycle lane attributes on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane;
and if the lane is not changed, judging that the mark of the direction indicating signal lamp corresponding to the lane is always kept unchanged.
The method is applied to effectively relieving traffic pressure of lanes when intersection traffic is busy, real-time tracking detection of vehicles in the convertible lanes and lane-dividing queuing length are realized through microwave radar, data such as section vehicle occupation conditions of the convertible lanes are collected through virtual coils, data support is provided for a signal control machine to judge lane-dividing conditions with heavy traffic pressure, traffic requirements of the convertible lanes are accurately predicted, guidance of the variable lane-dividing conditions is controlled, intelligent switching of the 'convertible lanes' is realized, strong adaptability of the variable lane to road conditions is guaranteed, and lane utilization rate is effectively improved.
The intelligent variable lane sensing method for the microwave radar disclosed by the invention is realized in the form of a software functional unit as a computer program and can be stored in a computer readable storage medium when being sold or used as an independent product. Based on such understanding, all or part of the processes in the method according to the above embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can be executed by a processor to implement the steps and results of the above method embodiments. The storage medium may be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid state disk.
The memory is a non-transitory computer readable storage medium, and may be used to store a non-transitory software program, a non-transitory computer executable program, and a module, such as program instructions/modules corresponding to the microwave radar intelligent variable lane sensing method in the embodiment of the present invention, and the processor executes various functional applications and data processing of the processor by running the non-transitory software program, instructions, and modules stored in the memory, so as to implement the microwave radar intelligent variable lane sensing method in the above-described method embodiment.
The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor, and the like. Further, the memory is preferably, but not limited to, a high speed random access memory, for example, but may also be a non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory may also optionally include memory located remotely from the processor, which may be connected to the processor via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The storage medium of the present disclosure may also include a combination of memories of the above-described kind.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (7)
1. A microwave radar intelligent variable lane sensing system is suitable for a variable lane provided with variable lane branches and is characterized by comprising a first virtual coil, a second virtual coil, a microwave radar, a direction indicating signal lamp and a signal controller, wherein the first virtual coil and the second virtual coil are sequentially arranged on the variable lane branches at intervals after stop lines are arranged on the variable lane branches; the signal control machine is connected with the microwave radar and the direction indication signal lamp through signals;
defining the direction of the traffic flow entering the convertible lane as the direction of the convertible lane, and enabling the vehicle to sequentially pass through the second virtual coil and the first virtual coil from any lane of the convertible lane, wherein the first virtual coil is arranged at the canalization tail end of the convertible lane;
the microwave radar is connected with the first virtual coil and the second virtual coil through signals, and is used for detecting the queuing length of the variable branch lane and two adjacent branch lanes in the variable lane after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane in real time, generating signals representing the queuing length of the variable branch lane and the two adjacent branch lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding branch lane, and sending the signals to the signal controller;
the signal control machine controls the direction indicating signal lamp of the intersection of the variable lane to change as follows according to the received signal which is sent by the microwave radar and represents the queuing length of the variable lane and the adjacent two lanes after the last release period is finished and the occupation state of the first virtual coil and the second virtual coil on the corresponding lane:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
when the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
when the queuing length of the variable lane is smaller than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are larger than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
when the first virtual coil and the second virtual coil on the variable branch lane and two adjacent branch lanes are occupied by the vehicle, the queuing lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queuing length of the adjacent branch lane with different attributes from a release cycle lane on the variable branch lane is larger than the variable lane adjustment queuing length, the sign of the direction indication signal lamp corresponding to the variable branch lane is changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different attributes from the release cycle lane on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane;
otherwise, the marks of the direction indicating signal lamps corresponding to the variable lane are always kept unchanged.
2. The microwave radar intelligent variable lane sensing system according to claim 1, further comprising a variable lane-dividing guide signal lamp in signal connection with the signal controller; the variable lane division guide signal lamp is arranged at one side of the channelized tail end of the variable lane, which is far away from the stop line, and is used for guiding vehicles to pass to the variable lane; the variable lane-dividing guide signal lamp is at least provided with a first stroboscopic prompt and a second stroboscopic prompt, the first stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing within a first set time length before the direction indication signal lamp is changed, and the second stroboscopic prompt is used for indicating the changing direction of the variable lane-dividing within a second set time length before the direction indication signal lamp is changed.
3. The microwave radar intelligent variable lane sensing system according to claim 1, wherein a distance between the first virtual coil and the second virtual coil on any lane of the variable lane is defined as L, and L is not less than 100 m.
4. The microwave radar intelligent variable lane awareness system of claim 2, wherein the first set time period and the second set time period are each set to 20-120 s.
5. The microwave radar intelligent variable lane sensing system of claim 1, wherein the length of the second virtual coil to the stop line at the front end of the variable lane is defined as y, and y is not less than 150 m.
6. A microwave radar intelligent variable lane perception method is characterized in that the method adopts the microwave radar intelligent variable lane perception system of any one of claims 1-5, and the specific process is as follows:
the microwave radar detects the queuing length of the variable branch lane and two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes is finished in real time, collects the occupation states of a first virtual coil and a second virtual coil on the variable branch lane and the two adjacent branch lanes, and transmits the queuing length of the variable branch lane and the two adjacent branch lanes after the last release period of the variable branch lane and the two adjacent branch lanes and the occupation state data of the first virtual coil and the second virtual coil to the signal controller;
the signal controller receives the variable branch lane sent by the microwave radar and the queuing length of the two adjacent branch lanes after the last release period is finished and the occupation state data of the first virtual coil and the second virtual coil, and makes the following judgment according to the received data:
defining the length from the second virtual coil to the stop line at the front end of the convertible lane as y;
if the queuing length of the variable lane is less than y, the queuing length of one lane of the two adjacent lanes of the variable lane is greater than or equal to y, the queuing length of the other lane of the variable lane is less than y, the attribute of the lane of which the queuing length is greater than or equal to y is different from the attribute of the lane of a release period on the variable lane, and the queuing length of the lane of which the queuing length is greater than or equal to y is greater than the adjustable queuing length of the variable lane, the sign of the direction indication signal lamp corresponding to the variable lane is judged to be changed into the sign of the direction indication signal lamp corresponding to the lane of which the queuing length is greater than or equal to y;
if the queuing length of the variable lane is less than y, the first virtual coil and the second virtual coil on two adjacent lanes of the variable lane are occupied by vehicles, the queuing lengths in the two adjacent lanes of the variable lane are both greater than y, and the lane attribute of the lane with the longest queuing length is different from the lane attribute of a release period on the variable lane, then the sign of the direction indication signal lamp corresponding to the variable lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the lane with the longest queuing length;
if the variable branch lane and the first virtual coil and the second virtual coil on the two adjacent branch lanes are occupied by the vehicle, the queue lengths in the variable branch lane and the two adjacent branch lanes are both larger than y, and the queue length of the adjacent branch lane with different release cycle lane attributes on the variable branch lane is larger than the variable lane adjustment queue length, the sign of the direction indication signal lamp corresponding to the variable branch lane is determined to be changed into the sign of the direction indication signal lamp corresponding to the adjacent branch lane with different release cycle lane attributes on the variable branch lane;
the variable lane adjusting queuing length is the product of a variable lane adjusting coefficient n and the sum of the variable lane queuing length and the queuing length of an adjacent lane with the same release cycle attribute on the variable lane;
and if the lane is not changed, judging that the mark of the direction indicating signal lamp corresponding to the lane is always kept unchanged.
7. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the microwave radar intelligent variable lane awareness method according to claim 6.
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| CN202010828847.4A CN111968370B (en) | 2020-08-18 | 2020-08-18 | Intelligent variable lane sensing system and method for microwave radar |
| PCT/CN2020/113526 WO2022036765A1 (en) | 2020-08-18 | 2020-09-04 | Intelligent changeable lane sensing system and method for microwave radar |
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