CN114202932A - Intelligent expressway monitoring system and method - Google Patents
Intelligent expressway monitoring system and method Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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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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Abstract
An intelligent monitoring system and method for an expressway, count the number N1 and average speed V1 of the existing vehicles in the expressway with the length of L1; when V1 is less than Vmin1, the average time T1 of the current vehicle passing through the highway is predicted to be L1/V1; and then the regional speed limit is carried out on the previous section of the expressway L2 of the expressway L1 according to the average time T1 to be V2. The invention combines the area speed limiting device and the speed measuring device on the prior highway, and combines the vehicle counter to monitor the number of vehicles running and the average running speed of the vehicles in each highway section in real time; for the monitored congested highway section, the time of the vehicles entering the congested section is prolonged in a mode of speed-limited driving of the vehicles in the upper highway, further vehicle congestion is prevented, the average implementation speed of the vehicles on the congested highway section is further reduced, and the congestion time of the congested highway section is effectively shortened.
Description
Technical Field
The invention relates to a system and a method for intelligently monitoring a highway.
Background
With the rapid development of modern economy and modern society, the safety guarantee problem of traffic and the transportation industry slowly becomes a focus and a breakthrough of modern technology, and with the gradually increasing demand of people on traffic management, how to apply high and new modern technologies such as computer science, communication, microelectronics and the like to the monitoring and management of vehicle traffic and the control of traffic vehicles so as to guarantee the safety of traffic and the smoothness of driving, thereby having important significance in improving the quality of traffic environment.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide an intelligent highway monitoring system and method.
In order to achieve the above object, the present invention adopts the following technical solutions:
an intelligent monitoring method for an expressway comprises the following steps:
s1, counting the number N1 of the current vehicles in the expressway with the length of L1 and the average vehicle speed V1;
s2, when V1 is less than Vmin1, estimating the average time T1 of the current vehicle passing through the highway, namely L1/V1; vmin1 is the lower limit value of the speed limit of a highway L1;
s3, carrying out regional speed limit on an expressway L2 at the previous section of the expressway L1 to be V2 according to the average time T1, enabling V2 (T1+ T2) to be less than or equal to (L1+ L2), enabling T2 to be L2/Vmax2, wherein Vmax2 is the upper limit value of the speed limit of the expressway L2.
In the monitoring method, if the V2 in the step S3 is greater than Vmax1, the value of V2 in the step S3 is V2 ', V2' (T1-L1/Vmax1) ≦ L2, and Vmax1 is the upper limit of the speed limit of the expressway L1.
In the monitoring method, when N1 is greater than Nmax1 and V1 is greater than Vmin1, the expressway L2 is triggered to limit the speed of the staging area; in order to perform rated speed reduction Vn on the basis of the highest speed limit Vmax2 of an expressway L2, the highest speed after speed reduction is VLim2 which is Vmax2-Vn, wherein Vn is a fixed value, (n is 1, 2 and 3.);
wherein, Nmax1 is the vehicle capacity on the expressway L1 based on the speed limit upper limit value Vmax 1.
Further, in the monitoring method, the number N of vehicles exceeding the vehicle capacity Nmax1 of the highway L1 is divided into a plurality of sections, that is, N ═ Nmax1+ An, (N ═ 1, 2, 3, and.), and An is the number of vehicles exceeding;
when A (N-1) < (N1-Nmax1) < An, Vn takes the value of N V0, (N1, 2, 3,. and..) and V0 takes a fixed value.
Still further, the value of An (n ═ 1, 2, 3, and.) > a1 in the monitoring method is An > (An-1) >.
In the monitoring method, when V2 is less than Vmin2, where Vmin2 is the lower limit of the speed limit of the expressway L2, V2 is Vmin 2; and carrying out regional speed limiting on a previous section of the expressway L3 of the expressway L2 at the same time, so that V3 (T1+ Tmax2+ T3) is less than or equal to (L1+ L2+ L3), Tmax2 is L2/Vmax2, T3 is L3/Vmax3, wherein Tmax2 is the time for the highest speed limit to pass through the expressway L2, and Vmax3 is the upper limit value of the speed limit of the expressway L3.
The monitoring method counts the number N2 of the current vehicles on the expressway L2 and the average vehicle speed V2,
when N2 is greater than Nmax2 or (N2+ N1) > (Nmax1+ Nmax2) and V1 is greater than Vmin1 and V2 is greater than Vmin2, the expressway L3 is triggered to carry out stage region speed limit, rated speed reduction Vm is carried out on the basis of the highest speed limit Vmax3 of the expressway L3, and the highest speed after speed reduction is VLim3 which is Vmax3-Vm, wherein Vm is a fixed value, (m is 1, 2 and 3.);
wherein Nmax2 is the vehicle capacity on the expressway L2 based on the speed limit upper limit value Vmax2,
vmin2 is the lower limit of the speed limit for highway L2.
The statistics in the above monitoring method are based on a specific time period T.
An intelligent monitoring system for an expressway is suitable for the intelligent monitoring method for the expressway, and comprises a plurality of vehicle counters and a plurality of regional speed measuring and limiting devices;
the vehicle counter is respectively arranged at two ends of a plurality of sections of expressways and comprises a vehicle counter P at the inlet endIntoAnd exit end vehicle counter PGo out(ii) a The control device is based on the vehicle counter P at the entrance endIntoAnd exit end vehicle counter PGo outThe difference value of (2) is used for calculating the number of the current vehicles on the section of the expressway;
the region speed measuring and limiting devices are respectively arranged at two ends of a plurality of sections of expressways; the control device calculates the average speed of the current vehicles on the highway section according to the feedback of the regional speed measuring and limiting device and the combination of the number of the current vehicles on the highway section;
the control device limits the speed of each section of highway according to the number of the current vehicles and the average speed of each section of highway and the length of each section of highway.
The speed limit comprises regional speed limit and stage regional speed limit.
The invention has the advantages that:
the invention relates to an intelligent monitoring system and method for an expressway, which combines a regional speed limiting device and a speed measuring device on the existing expressway, and monitors the number of vehicles running and the average running speed of the vehicles in each expressway section in real time by combining a vehicle counter; for the monitored congested highway section, the time of the vehicles entering the congested highway section is prolonged in a mode of speed-limited driving of the vehicles in the upper highway section, further vehicle congestion is prevented, the average implementation speed of the vehicles on the congested highway section is further reduced, and the congestion time of the congested highway section is effectively shortened.
The intelligent expressway monitoring system and method provided by the invention are simple in structure and convenient to use, can realize automatic monitoring, monitoring and adjustment by combining the existing equipment, devices and real-time traffic monitoring software, and have strong practicability and wide applicability.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
An intelligent monitoring system for expressway is composed of several vehicle counters, area speed-measuring and speed-limiting units, and controller.
The vehicle counter is respectively arranged at two ends of a plurality of sections of expressways and comprises a vehicle counter P at the inlet endIntoAnd exit end vehicle counter PGo out(ii) a The control device is based on the vehicle counter P at the entrance endIntoAnd exit end vehicle counter PGo outThe current vehicle number of the highway section is calculated.
The regional speed measuring and limiting devices are respectively arranged at two ends of a plurality of sections of expressways; the control device calculates the average speed of the current vehicles on the highway according to the feedback of the regional speed measuring and limiting device and the number of the current vehicles on the highway.
The control device limits the speed of each section of highway according to the number of the current vehicles and the average speed of each section of highway, the length of each section of highway and an intelligent highway monitoring method.
An intelligent monitoring method for an expressway comprises the following steps:
s1, counting the number N1 of the current vehicles and the average speed V1 in the expressway with the length of L1 based on a specific time length T;
s2, when V1 is smaller than Vmin1, the control device calculates the average time T1 of the current vehicle passing through the highway, namely L1/V1; vmin1 is the lower limit value of the speed limit of a highway L1;
s3, carrying out regional speed limit on an expressway L2 at the previous section of the expressway L1 to be V2 according to the average time T1, enabling V2 (T1+ T2) to be less than or equal to (L1+ L2), enabling T2 to be L2/Vmax2, wherein Vmax2 is the upper limit value of the speed limit of the expressway L2.
If V2> Vmax1 in step S3, the value of V2 in step S3 is V2': v2' (T1-L1/Vmax1) is less than or equal to L2, wherein Vmax1 is the upper limit value of the speed limit of an expressway L1.
Triggering a staging zone speed limit on the highway L2 when N1> Nmax1 and V1> Vmin 1; in order to perform rated speed reduction Vn on the basis of the highest speed limit Vmax2 of an expressway L2, the highest speed after speed reduction is VLim2 which is Vmax2-Vn, wherein Vn is a fixed value, (n is 1, 2 and 3.); wherein, Nmax1 is the vehicle capacity on the expressway L1 based on the speed limit upper limit value Vmax 1.
Dividing the number N of vehicles exceeding the vehicle capacity Nmax1 of the expressway L1 into a plurality of sections, namely N is Nmax1+ An, (N is 1, 2, 3, and), and An is the number of the exceeding vehicles; when A (N-1) < (N1-Nmax1) < An, Vn takes the value of N V0, (N1, 2, 3,. and..) and V0 takes a fixed value. A value of An (n ═ 1, 2, 3, > is An > (An-1) > a 1.
When V2 is less than Vmin2, in the formula, Vmin2 is the speed limit lower limit value of a highway L2, and V2 is Vmin 2; and carrying out regional speed limiting on a previous section of the expressway L3 of the expressway L2 at the same time, so that V3 (T1+ Tmax2+ T3) is less than or equal to (L1+ L2+ L3), Tmax2 is L2/Vmax2, T3 is L3/Vmax3, wherein Tmax2 is the time for the highest speed limit to pass through the expressway L2, and Vmax3 is the upper limit value of the speed limit of the expressway L3.
Counting the number of current vehicles N2 and an average vehicle speed V2 of a highway L2, and when N2> Nmax2 or (N2+ N1) > (Nmax1+ Nmax2) and V1> Vmin1 and V2> Vmin2, triggering a stage region on the highway L3, wherein the speed limit is a rated deceleration Vm on the basis of the highest speed limit Vmax3 of the highway L3, and the highest speed after deceleration is VLim3 ═ Vmax3-Vm, wherein Vm is a fixed value, (m ═ 1, 2, 3.); wherein, Nmax2 is the vehicle capacity on the expressway L2 based on the speed limit upper limit value Vmax2, and Vmin2 is the speed limit lower limit value of the expressway L2.
Examples
Take the continuous highways L3, L2, and L1 as examples:
the expressway L3 is a unidirectional 4-lane, has the length of 30km and the speed limit of 60-120km/h, and can accommodate 600 vehicles;
the expressway L2 is a unidirectional 3-lane, has the length of 30km and the speed limit of 60-120km/h, and can accommodate 450 vehicles;
the highway L1 is a unidirectional 2-lane, has the length of 10km and the speed limit of 60-100km/h, and can contain 100 vehicles.
The number of the above-mentioned compatible vehicles is counted as a safety separation distance 200 m.
Example 1
It is assumed that statistically: the number of the current vehicles on the expressway L1 is 150, and the average speed is 40 km/h; 250 current vehicles on the expressway L2 are available, and the average speed is 100 km/h; the number of current vehicles on the highway L3 was 300, with an average speed of 100 km/h.
On the expressway L1, the average speed is 40km/h, and the longest transit time of the current vehicles on the expressway is T1-0.25 h. And the average speed is 40km/h <60km/h, the control device triggers the regional speed limit V2 for the expressway L2.
According to formula V2 (T1+ T2) is less than or equal to (L1+ L2), T2 is L2/Vmax 2; the available V2 is less than or equal to 80km/h, namely the highest speed limit of 120km/h of the expressway L2 is reduced to 80km/h, so that the speed of the vehicles running on the expressway L2 is reduced, the time for the part of the vehicles to enter the expressway L1 is delayed, the vehicles on the expressway L1 are prevented from being accumulated, the existing average vehicle speed is further reduced by 40km/h, and the overall influence on the vehicles running on the expressway L2 is small.
Example 2
It is assumed that statistically: the number of the current vehicles on the expressway L1 is 150, and the average speed is 70 km/h; 250 current vehicles on the expressway L2 are available, and the average speed is 100 km/h; the number of current vehicles on the highway L3 was 300, with an average speed of 100 km/h.
The average speed of 70km/h is more than 60km/h, so that the regional speed limit of the expressway L2 is not triggered; however, the current vehicles on the highway L1 are 150 vehicles >100 vehicles, and therefore, the staged region speed limit on the highway L2 is triggered.
Let An take the values a 1-35, a 2-55, A3-70, a 4-80, respectively; the value of V0 is 10 km/h. If the current vehicles on the highway L1 are 150 vehicles between a1 and a2, that is, n is 2, then the value of the formula Vn is n × V0 is 20, that is, the formula VLim2 is Vmax2-Vn is 120-20 is 100, that is, the highway L2 is subjected to stage regional speed limitation, the maximum speed limitation 120km/h of the highway L2 is reduced to 100km/h, so that the vehicle with the running speed exceeding 100km/h in the highway L2 reduces the speed thereof, the time for the part of the vehicles to enter the highway L1 is delayed, the accumulation of the vehicles in the highway L1 is prevented, and the average vehicle speed in the highway L1 is reduced.
Example 3
It is assumed that statistically: 80 current vehicles on the expressway L1 are available, and the average speed is 20 km/h; 250 current vehicles on the expressway L2 are available, and the average speed is 100 km/h; the number of current vehicles on the highway L3 was 300, with an average speed of 100 km/h.
Then the average speed on the motorway L1 is 20km/h <60km/h, the control means triggers the zone speed limit V2 for the motorway L2.
The longest transit time of the current vehicles on the highway L1 is T1 ═ 0.5 h.
According to formula V2 (T1+ T2) is less than or equal to (L1+ L2), T2 is L2/Vmax 2; v2 is less than or equal to 53.3 km/h;
and 53.3km/h is smaller than the lowest speed limit of 60km/h of the expressway L2, so the regional speed limit value of the expressway L2 is the lowest speed limit of 60 km/h.
Meanwhile, triggering the zone speed limit of the expressway L3, wherein the zone speed limit is determined according to a formula V3 (T1+ Tmax2+ T3) is less than or equal to (L1+ L2+ L3), Tmax2 is L2/Vmax2, and T3 is L3/Vmax 3;
the obtained Tmax2 is 0.5h, T3 is 0.25h, and V3 is 70 km/h.
Namely, regional speed limit is carried out on a highway L2 and a highway L3 at the same time, and the speed limit is 60km/h and 70km/h respectively.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.
Claims (10)
1. An intelligent monitoring method for an expressway is characterized by comprising the following steps:
s1, counting the number N1 of the current vehicles in the expressway with the length of L1 and the average vehicle speed V1;
s2, when V1 is less than Vmin1, estimating the average time T1 of the current vehicle passing through the highway, namely L1/V1; vmin1 is the lower limit value of the speed limit of a highway L1;
s3, carrying out regional speed limit on an expressway L2 at the previous section of the expressway L1 to be V2 according to the average time T1, enabling V2 (T1+ T2) to be less than or equal to (L1+ L2), enabling T2 to be L2/Vmax2, wherein Vmax2 is the upper limit value of the speed limit of the expressway L2.
2. The monitoring method according to claim 1, wherein if V2> Vmax1 in step S3, V2 in step S3 takes values of V2 ', V2' (T1-L1/Vmax1) ≦ L2, where Vmax1 is the upper limit of the speed limit of the expressway L1.
3. The monitoring method according to claim 1,
triggering a staging zone speed limit on the highway L2 when N1> Nmax1 and V1> Vmin 1; in order to perform rated speed reduction Vn on the basis of the highest speed limit Vmax2 of an expressway L2, the highest speed after speed reduction is VLim2 which is Vmax2-Vn, wherein Vn is a fixed value, (n is 1, 2 and 3.);
wherein, Nmax1 is the vehicle capacity on the expressway L1 based on the speed limit upper limit value Vmax 1.
4. The monitoring method according to claim 3,
dividing the number N of vehicles exceeding the vehicle capacity Nmax1 of the expressway L1 into a plurality of sections, namely N is Nmax1+ An, (N is 1, 2, 3, and), and An is the number of the exceeding vehicles;
when A (N-1) < (N1-Nmax1) < An, Vn takes the value of N V0, (N1, 2, 3,. and..) and V0 takes a fixed value.
5. The monitoring method according to claim 4, wherein a value of An (n-1, 2, 3.) > A1 is An > (An-1) >.
6. The monitoring method according to claim 1, wherein when V2< Vmin2, where Vmin2 is the lower limit value of highway L2, then V2 ═ Vmin 2; and carrying out regional speed limiting on a previous section of the expressway L3 of the expressway L2 at the same time, so that V3 (T1+ Tmax2+ T3) is less than or equal to (L1+ L2+ L3), Tmax2 is L2/Vmax2, T3 is L3/Vmax3, wherein Tmax2 is the time for the highest speed limit to pass through the expressway L2, and Vmax3 is the upper limit value of the speed limit of the expressway L3.
7. The monitoring method according to claim 1, wherein the number N2 of active vehicles and the average vehicle speed V2 of the expressway L2 are counted,
when N2 is greater than Nmax2 or (N2+ N1) > (Nmax1+ Nmax2) and V1 is greater than Vmin1 and V2 is greater than Vmin2, the expressway L3 is triggered to carry out stage region speed limit, rated speed reduction Vm is carried out on the basis of the highest speed limit Vmax3 of the expressway L3, and the highest speed after speed reduction is VLim3 which is Vmax3-Vm, wherein Vm is a fixed value, (m is 1, 2 and 3.);
wherein, Nmax2 is the vehicle capacity on the expressway L2 based on the speed limit upper limit value Vmax2, and Vmin2 is the speed limit lower limit value of the expressway L2.
8. The monitoring method of claim 1, wherein the statistics are based on a particular time period T.
9. An intelligent expressway monitoring system suitable for the intelligent expressway monitoring method of any one of claims 1 to 8, comprising a plurality of vehicle counters and a plurality of regional speed measuring and limiting devices;
the vehicle counter is respectively arranged at two ends of a plurality of sections of expressways and comprises a vehicle counter P at the inlet endIntoAnd exit end vehicle counter PGo out(ii) a The control device is based on the vehicle counter P at the entrance endIntoAnd exit end vehicle counter PGo outThe difference value of (2) is used for calculating the number of the current vehicles on the section of the expressway;
the region speed measuring and limiting devices are respectively arranged at two ends of a plurality of sections of expressways; the control device calculates the average speed of the current vehicles on the highway section according to the feedback of the regional speed measuring and limiting device and the combination of the number of the current vehicles on the highway section;
the control device limits the speed of each section of highway according to the number of the current vehicles and the average speed of each section of highway and the length of each section of highway.
10. The intelligent monitoring method for expressway of claim 1, wherein the speed limit comprises regional speed limit and staged regional speed limit.
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| CN106710216A (en) * | 2017-02-28 | 2017-05-24 | 广东省交通运输档案信息管理中心 | Expressway real-time traffic jam road condition detection method and system |
| CN110033627A (en) * | 2019-05-27 | 2019-07-19 | 中南大学 | A kind of Control Speed Limitation on Freeway method based on time stability |
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