CN113554885A - Method and system for guiding vehicle steering at congested intersection - Google Patents
Method and system for guiding vehicle steering at congested intersection Download PDFInfo
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- CN113554885A CN113554885A CN202110699227.XA CN202110699227A CN113554885A CN 113554885 A CN113554885 A CN 113554885A CN 202110699227 A CN202110699227 A CN 202110699227A CN 113554885 A CN113554885 A CN 113554885A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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Abstract
A method and a system for guiding vehicle steering at a congested intersection comprise the following steps: acquiring the congestion distance of a first road D1 at the intersection; acquiring the running state of each vehicle within the congestion distance of the first lane D1, wherein the running state is straight running or waiting for steering; dividing all vehicles to be steered into a plurality of vehicle groups from front to back, wherein each vehicle group comprises at least one vehicle to be steered and does not comprise straight vehicles; a first guide path for turning travel in the normal steering direction to the third lane D3 is generated for each of the vehicles to be steered that are ranked in the odd-numbered vehicle group, and a second guide path for changing lanes to the second lane D2 and turning travel to the fourth lane D4 is generated for each of the vehicles to be steered that are ranked in the even-numbered vehicle group. The method for guiding the vehicle steering at the congested intersection can reasonably utilize road resources and shorten the vehicle passing time and waiting time at the intersection.
Description
Technical Field
The invention belongs to the field of traffic navigation, and particularly relates to a vehicle steering guiding method and system at a congested intersection.
Background
Traffic jam at an intersection is a common reason for inducing traffic jam, but an intersection without a traffic light (such as a parking lot entrance) is more serious, and taking a left T-shaped intersection of a bidirectional lane as an example, when a right-side forward vehicle needs to turn left when driving to the intersection, the traffic jam caused by intersection with the left-side vehicle is very serious, and the distance of vehicle jam in the right-side forward driving direction is usually longer. Therefore, a method for guiding vehicle steering at a congested intersection needs to be designed, so that the traffic congestion at the intersection can be relieved.
Disclosure of Invention
The invention aims to provide a vehicle steering guiding method and system at a congested intersection, which can relieve the traffic congestion condition at the intersection.
In order to achieve the above object, the present invention provides a method for guiding a vehicle to turn at a congested intersection, wherein the intersection is a t-junction or an intersection, and includes a first road and a second road which are intersected, the first road is a bidirectional two-lane and includes a first lane D1 and a second lane D2, the second road is a bidirectional lane and includes at least a third lane D3 and a fourth lane D4 which are in the same direction, and the vehicle can turn left from the first lane D1 or turn right from the second lane D2 to enter the third lane D3 or the fourth lane D4, the method including:
acquiring the congestion distance of the first lane D1 at the intersection;
acquiring the running state of each vehicle within the congestion distance of the first lane D1, wherein the running state is straight running or waiting for steering;
dividing all vehicles to be steered into a plurality of vehicle groups from front to back, wherein each vehicle group comprises at least one vehicle to be steered and does not comprise straight vehicles;
a first guide path for turning travel in a normal turning direction toward the third lane D3 is generated for each of the vehicles to be turned that are ranked in odd-numbered orders within the vehicle group, and a second guide path for changing lanes to the second lane D2 and turning travel toward the fourth lane D4 is generated for each of the vehicles to be turned that are ranked in even-numbered orders within the vehicle group.
Preferably, when there is a straight-traveling vehicle between the adjacent vehicle groups, the second guide path is generated for the vehicle group that is arranged behind the straight-traveling vehicle.
Preferably, the obtaining of the congestion distance of the first lane D1 at the intersection includes: and acquiring the congestion distance through acquisition equipment arranged on the road and the intersection, and transmitting the congestion distance to a data center.
Preferably, the acquiring of the driving state of each vehicle within the congestion distance of the first lane D1 includes:
each vehicle transmits the driving state of the vehicle to the data center through a vehicle-mounted navigation system;
the travel states of the respective vehicles within the congestion distance of the first lane D1 are acquired from the data center.
Preferably, the method further comprises the following steps:
comparing the predicted passing time T of the vehicle within the congestion distance of the first lane D1 and the predicted passing time T1 of the vehicle to be steered within the congestion distance with the passing time T0 of a signal lamp respectively,
when T is larger than or equal to T0 and T1 is larger than or equal to T0, the first guide path or the second guide path is generated for the vehicles to be steered within the congestion distance of the first lane D1 within the passing time T0.
Preferably, the vehicle predicted transit time T and the vehicle predicted transit time T1 are calculated by the following formulas:
T＝N0*L/V，T1＝N*L/V
wherein N0 represents the number of vehicles within the congestion distance of the first lane D1;
v represents an average speed of the vehicle within the congestion distance;
n represents the number of vehicles to be steered within the congestion distance of the first lane D1;
and L is the average length of the vehicles in the congestion distance.
Preferably, each vehicle transmits the vehicle length and the running speed to the data center through an on-board navigation system; the data center calculates the average length L and the average speed V from the length and the traveling speed of each vehicle.
Preferably, the number of vehicles N0 within the congestion distance of the first lane D1 is obtained by collecting equipment arranged on roads and intersections or calculated by the following formula:
N0＝((X-L)-Y)/L
wherein X represents a congestion distance of the first lane D1 at an intersection;
y represents the congestion distance of the second lane D2 at the intersection.
The invention also provides a vehicle steering guiding system at the congested intersection, which is used for executing the vehicle steering guiding method at the congested intersection.
The method for guiding the turning of the vehicles at the congested intersection has the advantages of reasonably utilizing road resources and shortening the passing time and waiting time of the vehicles at the intersection.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
FIG. 1 shows an intersection schematic diagram of a method of congestion intersection vehicle steering guidance according to one embodiment of the present invention;
description of reference numerals:
d1 first lane, D2 second lane, D3 third lane, D4 fourth lane;
1. 2, 3, 4, 5, 6, 7, 8 and a vehicle.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problems in the prior art, the invention provides a vehicle steering guiding method at a congested intersection, wherein the intersection is a t-junction or an intersection and comprises a first road and a second road which are intersected, the first road is a bidirectional two-lane and comprises a first lane D1 and a second lane D2, the second road is a bidirectional lane and comprises at least a third lane D3 and a fourth lane D4 which are in the same direction, and the vehicle can turn left from the first lane D1 or turn right from the second lane D2 to enter the third lane D3 or the fourth lane D4, the guiding method comprises the following steps:
acquiring the congestion distance of a first road D1 at the intersection;
acquiring the running state of each vehicle within the congestion distance of the first lane D1, wherein the running state is straight running or waiting for steering;
dividing all vehicles to be steered into a plurality of vehicle groups from front to back, wherein each vehicle group comprises at least one vehicle to be steered and does not comprise straight vehicles;
a first guide path for turning travel in the normal steering direction to the third lane D3 is generated for each of the vehicles to be steered that are ranked in the odd-numbered vehicle group, and a second guide path for changing lanes to the second lane D2 and turning travel to the fourth lane D4 is generated for each of the vehicles to be steered that are ranked in the even-numbered vehicle group.
The method for guiding the vehicle steering at the congested intersection can reasonably utilize road resources and shorten the vehicle passing time and waiting time at the intersection.
The method for guiding the vehicle to turn at the congested intersection is suitable for the condition that the lane to be turned is a bidirectional lane, data transmission is carried out through means of internet of vehicles, big data and the like, and the method is not suitable for old vehicles or vehicles without navigation systems, so that the vehicles which are not suitable for the method are regarded as forward running vehicles and are not counted in the vehicle to be turned.
Preferably, when a straight-going vehicle exists between adjacent vehicle groups, a second guide path is generated for the vehicle group arranged behind the straight-going vehicle, so that the passing efficiency is improved, the queuing time is reduced, and the influence of the straight-going vehicle on a steering vehicle is avoided.
Preferably, the acquiring the congestion distance of the first lane D1 at the intersection includes: the method comprises the steps that the jam distance is obtained through acquisition equipment arranged on a road and a crossing, the jam distance is transmitted to a data center, data of the data center are transmitted to a vehicle through a vehicle-mounted navigation system, and a route guide path is generated.
Preferably, the acquiring of the traveling state of each vehicle within the congestion distance of the first lane D1 includes:
each vehicle transmits the driving state of the vehicle to a data center through a vehicle-mounted navigation system;
the travel states of the respective vehicles within the congestion distance of the first lane D1 are acquired from the data center. The vehicle-mounted navigation system can judge whether the vehicle needs to turn at the intersection according to information such as a driving destination, route planning and the like, and the number of the vehicles needing to turn at the intersection can be collected through data collected by the data center and fed back to the vehicle-mounted navigation system in time.
Preferably, the method further comprises the following steps:
the predicted transit time T of the vehicle within the congestion distance of the first lane D1, the predicted transit time T1 of the vehicle to be steered within the congestion distance are compared with the transit time T0 of one signal lamp,
when T is equal to or more than T0 and T1 is equal to or more than T0, a first guide route or a second guide route is generated for the vehicle to be steered within the congestion distance of the first lane D1 within the passing time T0.
It should be noted that the vehicle driving in the lane change should pass through a signal time T0 to avoid affecting the waiting time of the vehicle in the second lane D2 driving in the reverse direction. The remaining vehicles wait for the next transit time. When T1< T0, the vehicle to be steered does not affect the vehicle waiting time of the second lane D2 in the reverse traveling direction, and guidance can be performed by a normal steering route.
The number of vehicles in a vehicle group can be one, and the number of vehicles in a plurality of vehicle groups can be the same or different.
Preferably, the vehicle predicted transit time T and the vehicle predicted transit time T1 are calculated by the following formulas:
T＝N0*L/V，T1＝N*L/V
where N0 represents the number of vehicles within the congestion distance of the first lane D1;
v represents the average speed of the vehicle within the congestion distance;
n represents the number of vehicles to be steered within the congestion distance of the first lane D1;
l is the average length of the vehicle within the congestion distance.
Preferably, each vehicle transmits the vehicle length and the running speed to the data center through the vehicle-mounted navigation system; the data center calculates an average length L and an average speed V from the length of each vehicle and the running speed.
Preferably, the number of vehicles N0 within the congestion distance of the first lane D1 is obtained by collecting equipment arranged on the road and at the intersection or calculated by the following formula:
N0＝((X-L)-Y)/L
wherein X represents a congestion distance of the first lane D1 at the intersection;
y represents the congestion distance of the second lane D2 at the intersection.
As shown in fig. 1, taking a t-junction as an example, the first traffic lane is vertical, the second traffic lane is horizontal, the vehicle 1, the vehicle 2, the vehicle 3, the vehicle 4, the vehicle 5, and the vehicle 6 wait along the first traffic lane D1 on the right side, and the congestion distance is X, wherein the vehicle 1, the vehicle 2, the vehicle 3, and the vehicle 4 have a left-turn demand, and the vehicle 5 and the vehicle 6 have a forward driving demand;
the vehicles 7 and 8 on the second lane D2 wait for a distance Y, the vehicle 1 is turning left to the third lane D3, and as shown in the common sense, the second lane D2 is located in the direction of the second lane away from the vehicles 7 and 8, and there are no vehicles, then according to the guiding method of the present invention, a navigation solution can be proposed to change the vehicles 2, 3 and 4 to the left second lane D2, turn to the fourth lane D4, and run simultaneously with the turning of the vehicle 1, so that the waiting and passing time of the vehicles 5 and 6 can be shortened;
the vehicles 2, 3, 4 may be any of the vehicles 1-6 having a left turn request.
In the above embodiment of the t-junction for left-turn, in other embodiments, the same guidance method is used for the right-turn t-junction.
The invention also provides a vehicle steering guiding system at the congested intersection, which is used for executing the vehicle steering guiding method at the congested intersection.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (9)
1. A method for guiding vehicle steering at a congested intersection, the intersection being a t-junction or an intersection comprising a first road and a second road intersecting, the first road being a two-way two-lane road comprising a first lane D1 and a second lane D2, the second road being a two-way lane road comprising at least a third lane D3 and a fourth lane D4 in the same direction, the vehicle being able to turn left from the first lane D1 or right from the second lane D2 into the third lane D3 or the fourth lane D4, the method comprising:
acquiring the congestion distance of the first lane D1 at the intersection;
acquiring the running state of each vehicle within the congestion distance of the first lane D1, wherein the running state is straight running or waiting for steering;
dividing all vehicles to be steered into a plurality of vehicle groups from front to back, wherein each vehicle group comprises at least one vehicle to be steered and does not comprise straight vehicles;
a first guide path for turning travel in a normal turning direction toward the third lane D3 is generated for each of the vehicles to be turned that are ranked in odd-numbered orders within the vehicle group, and a second guide path for changing lanes to the second lane D2 and turning travel toward the fourth lane D4 is generated for each of the vehicles to be turned that are ranked in even-numbered orders within the vehicle group.
2. The congestion intersection vehicle steering guidance method according to claim 1, wherein when there is a straight-going vehicle between adjacent vehicle groups, the second guidance route is generated for the vehicle group that is arranged behind the straight-going vehicle.
3. The congestion intersection vehicle steering guidance method according to claim 1, wherein obtaining the congestion distance at the intersection of the first lane D1 comprises: and acquiring the congestion distance through acquisition equipment arranged on the road and the intersection, and transmitting the congestion distance to a data center.
4. The congestion intersection vehicle steering guidance method according to claim 3, wherein said obtaining the travel state of each vehicle within the congestion distance of the first lane D1 comprises:
each vehicle transmits the driving state of the vehicle to the data center through a vehicle-mounted navigation system;
the travel states of the respective vehicles within the congestion distance of the first lane D1 are acquired from the data center.
5. The congestion intersection vehicle steering guidance method according to claim 3, further comprising:
comparing the predicted passing time T of the vehicle within the congestion distance of the first lane D1 and the predicted passing time T1 of the vehicle to be steered within the congestion distance with the passing time T0 of a signal lamp respectively,
when T is larger than or equal to T0 and T1 is larger than or equal to T0, the first guide path or the second guide path is generated for the vehicles to be steered within the congestion distance of the first lane D1 within the passing time T0.
6. The congestion intersection vehicle steering guidance method according to claim 5,
calculating the vehicle predicted transit time T and the vehicle predicted transit time T1 by the following formulas:
T＝N0*L/V，T1＝N*L/V
wherein N0 represents the number of vehicles within the congestion distance of the first lane D1;
v represents an average speed of the vehicle within the congestion distance;
n represents the number of vehicles to be steered within the congestion distance of the first lane D1;
and L is the average length of the vehicles in the congestion distance.
7. The congestion intersection vehicle steering guidance method of claim 6, wherein each vehicle transmits vehicle length and travel speed to the data center via an on-board navigation system; the data center calculates the average length L and the average speed V from the length and the traveling speed of each vehicle.
8. The method for guiding vehicle steering at a congested intersection as claimed in claim 6, wherein the number of vehicles N0 within the congestion distance of the first lane D1 is obtained by collecting devices arranged on roads and intersections or calculated by the following formula:
N0＝((X-L)-Y)/L
wherein X represents a congestion distance of the first lane D1 at an intersection;
y represents the congestion distance of the second lane D2 at the intersection.
9. A crossroad vehicle steering guidance system for performing the crossroad vehicle steering guidance method according to any one of claims 1 to 8.
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| CN202110699227.XA CN113554885A (en) | 2021-06-23 | 2021-06-23 | Method and system for guiding vehicle steering at congested intersection |
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| CN202110699227.XA CN113554885A (en) | 2021-06-23 | 2021-06-23 | Method and system for guiding vehicle steering at congested intersection |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114394104A (en) * | 2022-01-28 | 2022-04-26 | 支付宝(杭州)信息技术有限公司 | Driving assistance method, system, device and equipment |
| CN116661467A (en) * | 2023-08-01 | 2023-08-29 | 山东致远通信网络有限公司 | AGV robot walking path intelligent control system based on digital image processing |
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Application publication date: 20211026 |