CN114822052A - Urban intelligent traffic management and control system - Google Patents
Urban intelligent traffic management and control system Download PDFInfo
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- CN114822052A CN114822052A CN202110123607.9A CN202110123607A CN114822052A CN 114822052 A CN114822052 A CN 114822052A CN 202110123607 A CN202110123607 A CN 202110123607A CN 114822052 A CN114822052 A CN 114822052A
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- 206010063385 Intellectualisation Diseases 0.000 description 3
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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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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
- E01C1/002—Design or lay-out of roads, e.g. street systems, cross-sections ; Design for noise abatement, e.g. sunken road
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C1/00—Design or layout of roads, e.g. for noise abatement, for gas absorption
- E01C1/02—Crossings, junctions or interconnections between roads on the same level
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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
- G08G1/081—Plural intersections under common control
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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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- 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
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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Abstract
The invention provides a new lane layout, a new traffic rule and an intelligent traffic system by taking road intelligence as the core of intelligent traffic and aiming at the multi-direction driving capability of vehicles and the high-efficiency collaboration of the interconnection of everything. The intelligent traffic system can disperse traffic flow at the intersection according to new traffic rules by controlling the intelligent vehicles by using multifunctional lanes (lane II, lane III and lane III), and simultaneously the traffic flow passes through the intersection in sections with staggered time, thereby realizing the continuity of intelligent traffic. The invention can effectively improve the traffic efficiency of a traffic system, reduce congestion, reduce the energy consumption of vehicles and increase temporary parking areas.
Description
Technical Field
The invention belongs to the technical fields of traffic rules, intelligent vehicles, intelligent traffic and the like, and particularly relates to a new traffic rule and a corresponding urban traffic control system.
Background
The current traffic system is designed in a human-centered manner, wherein both the road layout and the traffic regulations are designed according to human senses and handling capabilities. At present, intelligent automobiles are vigorously developed and relevant strategies are made, and at present, automobile intellectualization is mostly developed towards intelligent automobiles/unmanned driving, and the intelligent automobiles are taken as main bodies and assisted by roads and relevant equipment. The intelligent automobile/unmanned driving is characterized in that electronic equipment replaces a person to drive a vehicle, and traffic information such as signal lamps is optimized to improve the overall efficiency of traffic.
The future is the world of the Internet of things, but the future urban traffic system is designed by taking the characteristics of objects as the basis and solving the urban traffic defects such as low unidirectional utilization rate of lanes, traffic jam, low traffic efficiency, difficult parking and the like. To accommodate two revolutionary features of urban intelligent traffic: the highly efficient cooperative ability is coupled with the multi-directional traveling ability of the vehicle.
Disclosure of Invention
Technical problem to be solved
The invention aims to provide an urban intelligent traffic control system, which is not limited to the intellectualization of individual vehicles, emphasizes the integrity of urban traffic and the cooperation between intelligent vehicles, improves the overall operation efficiency of an urban traffic system, and solves the problems of traffic jam, low lane utilization rate, difficult parking and the like.
Technical scheme
In order to solve the technical problems, the invention provides a new lane layout, a new traffic rule and an intelligent traffic system.
The lane layout comprises general road lane layout and intersection lane layout, the lane comprises at least one passing lane and at least one multifunctional lane, the passing lane is the same as the existing lane, vehicles can pass in one direction, the multifunctional lane has bidirectional passing capacity, the multifunctional lane can be used as a temporary vehicle parking area, a vehicle turning driving area and a temporary vehicle passing area, the general passing lane and the multifunctional lane are virtual lanes, and conversion can be carried out according to actual conditions. The width of the intersection is preset to be S Making a business The lanes between intersections are divided into even-numbered sections, wherein the length of one section of lane is S Gauge As planning driving area, with S Gauge Adjacent section length is S Is prepared from Or S Making a business ，S Gauge The time spent by the passage and the contained vehicles passing through the intersection at one end of the lane is t Gauge And S Is prepared from Adjacent section length is S Gauge Or S Making a business ，S Is prepared from The time spent when the paragraphs all pass through the intersection at one end of the lane is t Is prepared from The planned traffic zones of two intersecting roads passing at staggered times (or t) Gauge And t Is prepared from Alternate passage), wherein S Is prepared from The intelligent vehicle speed-reducing device is used for intelligent vehicle access to the road, acceleration and deceleration and posture adjustment. And presetting a multifunctional lane symbol.
The traffic rules comprise that the intelligent vehicle enters and exits, runs (including straight running and right turning), stops and turns around: the intelligent vehicle enters a parking area containing the vehicle and is connected with an intelligent road, the intelligent vehicle enters and exits the intelligent traffic system in a right-turn or straight-going mode according to the connection mode of the parking area and the road, and when the intelligent vehicle enters the intelligent traffic system from the existing road, the intelligent vehicle enters and exits the intelligent traffic system in a right-turn or straight-going mode through the road; the intelligent vehicle runs according to the planned route and the vehicle state; the parking is that when the vehicle stops at the traffic lane, the multifunctional lane near the intelligent vehicle is preset as the traffic lane, so that other intelligent vehicles can conveniently pass; the intelligent vehicle turns around is that the vehicle enters the multifunctional lane and then runs in the reverse direction, and the front and back directions of the intelligent vehicle are not changed.
The intelligent traffic system comprises at least one traffic planner (1), at least one traffic controller (2) and at least one vehicle-mounted driving device (4). The traffic planner (1) and the traffic controller (2) are communicated through a limited or wireless network, the traffic controller (2) and the vehicle-mounted driving equipment (4) are communicated wirelessly through a wireless communication network (3), the vehicle-mounted driving equipment (4) transmits the state information and the traffic request of a vehicle to the traffic planner (2), the traffic planner (2) transmits the information to the traffic planner (4), and the traffic planner (1) plans a route and transmits the information to the relevant traffic manager (2); the traffic-through controller (2) receives information and controls vehicles entering a control area of the traffic-through controller, when the vehicles enter the control range of the traffic-through controller, the vehicle-mounted driver (4) sends vehicle states to the related traffic-through controller (2), the traffic-through controller (2) verifies the vehicle states and sends verification information of the vehicles and information required to be adjusted of the vehicles to the vehicle-mounted driver (4); the vehicle-mounted driving equipment (4) transmits the state information of the vehicle, receives the verification result of the traffic controller (2) and calculates vehicle adjustment information, and the vehicle-mounted driving equipment (4) sends the current state and adjusts the vehicle state according to the control information of the traffic controller (2).
According to a preferred embodiment of the present invention, the number of lanes in a certain direction can be adjusted according to the actual traffic demand to increase the traffic flow in the direction.
According to a preferred embodiment of the present invention, the multi-purpose lane can be used as an emergency lane when emergency vehicles (ambulances, police cars, fire trucks, etc.) are required to pass.
According to a preferred embodiment of the present invention, the intelligent vehicle is at t Gauge Within the time, the intelligent vehicle can safely drive to enter the next S Gauge In, and S is Gauge In the same section of common road lane, the intelligent vehicle can use the speed v > S Gauge /t Gauge At t Gauge Enter next S within time Gauge 。
According to a preferred embodiment of the invention, the containable vehicles in the lane planning area are fixed, and the traffic efficiency of other intelligent vehicles is not influenced along with the increase of the vehicles.
According to a preferred embodiment of the present invention, the lanes are virtual lanes, and the lanes in fig. 1, 2, 3 and 4 are only schematic.
The intelligent traffic system comprises at least one traffic planner (1), at least one traffic controller (2) and at least one vehicle-mounted driving device (4), wherein the traffic planner (1) and the traffic controller (2) are communicated through a limited or wireless network (14), the traffic controller (2) and the vehicle-mounted driving device (4) are in wireless communication through a wireless communication network (3), the vehicle-mounted driving device (4) transmits state information and travel information of vehicles to the traffic controller (2), the traffic controller (2) transmits the information to the traffic planner (1), the traffic planner (1) plans a route and transmits the information to the relevant traffic manager (2), and the traffic controller (2) receives the information and manages and controls the vehicles entering a control area of the traffic planner. When the vehicle enters the control range of the traffic controller, the vehicle-mounted driver (4) sends the vehicle state to the related traffic controller (2), the traffic controller (2) checks the vehicle state and sends the checking information of the vehicle and the information that the vehicle needs to be adjusted to the vehicle-mounted driver (4); the traffic control device (2) checks whether the vehicle state is consistent with the planned position, direction and speed according to the vehicle state information transmitted by the vehicle-mounted driving device (4), if an error exists, the traffic control device calculates vehicle adjustment information according to the vehicle state and transmits the vehicle adjustment information to the vehicle-mounted driving device (4) to change the direction and speed of the vehicle. The invention can improve the passing efficiency of the intelligent vehicle passing through the intelligent intersection.
According to a preferred embodiment of the invention, the traffic planner (1) comprises a vehicle travel planning module, a storage module and a communication module, wherein the vehicle travel planning module receives vehicle travel information sent by the traffic controller (2) through a network, and the traffic planner (1) plans intelligent vehicle route information and sends the intelligent vehicle route information to the related traffic controller (2).
According to a preferred embodiment of the invention, the traffic control device (2) comprises a traffic vehicle information checking module, an emergency module, a storage module and a communication module, the traffic control device receives and checks whether the vehicle state is consistent with the planned position, direction and speed or not, if an error exists, the traffic control device calculates vehicle adjustment information according to the vehicle state and sends the vehicle adjustment information to the vehicle-mounted driving device (4) through the communication module, and the vehicle-mounted driving device (4) changes the direction, speed, acceleration and the like of the vehicle.
According to a preferred embodiment of the invention, the traffic controller (2) further comprises a storage module, and the storage module stores map information of the intersection and the adjacent intersections, and vehicle information of planned routes and corresponding times of vehicles passing through all directions of the intersection.
According to a preferred embodiment of the invention, the traffic controller (2) further comprises an emergency module which can call a nearby controllable vehicle to assist the out-of-control vehicle to a safe position when the vehicle information has a large difference from the plan and cannot be controlled.
According to a preferred embodiment of the invention, the traffic controller (2) and the vehicle-mounted driving device (4) transmit and store the vehicle information in a file manner.
According to a preferred embodiment of the present invention, the vehicle-mounted driving apparatus (4) further includes a storage module for storing a map of the intersection and navigation information transmitted by the traffic controller.
According to a preferred embodiment of the invention, the vehicle-mounted driving device (4) can obtain information such as intelligent vehicle position, vehicle speed and acceleration and adjust vehicle state.
Advantageous effects
The invention is the upgrading of the existing traffic system, innovating lane layout according to the high-efficiency cooperation capability of future traffic and the multidirectional driving performance of intelligent vehicles, optimizing traffic rules, constructing a vehicle control system, improving urban traffic efficiency, improving lane utilization rate, reducing vehicle intelligent requirements and reducing vehicle energy consumption.
The invention cancels the function of left turn, disperses the requirement of left turn to the general road section, reduces the traffic flow at the intersection, provides better conditions for the time-sharing passing of the intersecting roads, simplifies the difficulty of travel planning and reduces the difficulty of vehicle control.
The invention integrates and utilizes the existing network, vehicle and road resources, greatly reduces the reconstruction cost and provides better service for the space of the pedestrian passageway.
The intelligent emergency vehicle can run on a multifunctional lane according to the speed v being more than S Gauge /t Gauge And the time for reaching the destination can be greatly shortened by driving.
The lane is a virtual lane, the lane direction attribute can be adjusted according to traffic flow requirements, the number of lanes in a certain direction is increased, and the vehicle passing efficiency in the certain direction is improved.
The invention has low requirement on vehicle intellectualization, and the existing vehicle can effectively position and control the vehicle state by additionally arranging the vehicle-mounted driving equipment.
The invention changes the lane layout, cancels the median barrier of the road, and is more beneficial to the taking off, landing and driving of the intelligent aircraft.
Drawings
FIG. 1 is a schematic diagram of the minimum unit of the urban intelligent traffic control system;
FIG. 2 is a schematic diagram of the intelligent vehicle parking and vehicle ingress and egress aspects of the present invention;
FIG. 3 illustrates the entrance and exit pattern of the intelligent vehicle intersection according to the present invention;
FIG. 4 is a schematic diagram of a lane layout of the intelligent road of the present invention engaged with an existing road;
FIG. 5 is a block diagram of an urban traffic control system according to the present invention;
FIG. 6 is a schematic diagram of a vehicle passing through an intersection speed change in accordance with the present invention;
FIG. 7 is a flow chart of the operation of the traffic management system of the present invention;
Detailed Description
The invention is applied to the urban intelligent traffic with vehicle-road coordination, so that the applied crossroad needs to be subjected to corresponding information data acquisition, and the method mainly comprises the geographic information of the crossroad, the states of vehicles and other objects on the crossroad. The speed of the vehicle in each direction at the intersection, etc. And managing and controlling the intelligent vehicle through the acquired information.
The results of unmanned vehicle/intelligent vehicle research at the present stage can be used as the basis of the invention, and mainly comprise autonomous driving functions of positioning and navigation of the unmanned vehicle, path planning, vehicle control and the like; the intelligent vehicle driving equipment and the vehicle road cooperate with a workshop communication technology and the like. The positioning and navigation functions are realized by high-precision combined position sensing of a vehicle-mounted GPS positioning system, an inertial navigator and a wheel speed sensor. The path planning function is realized by the functions of analyzing the road network file, calculating the shortest path and the like. The vehicle control function is realized by controlling the speed, acceleration and direction of the vehicle through an on-board driving controller.
Road layout
FIG. 1 is a plan view of a three-lane intersection of three roads, each consisting of two-way lanes and a multi-function lane, S Is prepared from 、S Gauge And S Making a business Is a section corresponding to the lane (c) and lane (c), S Making a business The length of the intersection is equal to the width of the lane crossed with the intersection, wherein S Gauge There may be a number of intelligent vehicles therein at a relatively steady speed t Gauge Passing through the intersection S within time Making a business +S Gauge ，S Is prepared from The intelligent vehicle parking system is used for temporary passing functions of intelligent vehicle entering and exiting, parking, accelerating and the like.
Traffic regulations
In the figure 2, the intelligent vehicle stops at the first position, and the multifunctional lane near the first position is converted into a general passing lane, so that the passing of the original passing lane is met. And the intelligent vehicle at the position B enters the gateway 2, enters the multifunctional lane according to the route 3, turns around and enters the gateway 2 in the time of t hours.
Various intersections of different shapes may exist in an actual road, and for convenience of description, an embodiment of the present invention will be described with reference to fig. 1. In figure 1, the general section of road lane three and lane five are shown, and the length of the planned driving area of the two lanes is S Gauge The length of unplanned driving area is S Is prepared from And the intersection width is S Making a business 。
As shown in fig. 1, the time for planning the right intersection is t Gauge The time spent by the fifth time passing through the intersection is t Is prepared from When the time T =0 in the figure 1, the automobile at the first position is in the figure, according to the route (9), when the time T = T is not available, the automobile arrives at the intersection, and when the time T ≧ T Gauge +t Is prepared from When the position is reached, the position B is reached, and when T is more than or equal to 2T Is prepared from +t Gauge When the automobile A arrives at the intersection again, when T is more than or equal to 2 (T) Gauge +t Is prepared from ) When the automobile passes through the intersection, the automobile reaches the T position; according to the route (6), when T =0, the automobile at the A position is in the figure, and when T = T Is prepared from When the automobile arrives at the intersection, when T is more than or equal to T Gauge +t Is prepared from When the automobile arrives at the third position, the T is more than or equal to 2T Is prepared from +t Gauge When the automobile arrives at the intersection again, when T is more than or equal to 2 (T) Gauge +t Is prepared from ) When the automobile A passes through the intersection, the automobile A reaches the position of the intersection. And in the process according to the route (9) and the route (6), the traffic controller (2) exchanges data, verifies and stores the data with the vehicle driving device through the communication module, so that the vehicle is ensured to run according to the planned route.
According to the figure 1, in the process of straight-ahead driving of the vehicle, the condition that riding comfort is guaranteed by considering different performance conditions of the vehicle, cooperation among automobiles is facilitated, the value of the acceleration is a, the optimal value of the acceleration can be determined according to different road section lengths, the total time of crossing the intersection is T, the length of an intersection section is S Making a business +S Gauge The average speed before entering the intersection is v, and the time for the vehicle to enter the intersection to accelerate is t. From fig. 2, it can be seen that the overall state is divided into an acceleration section and a linear uniform speed state section. According to the calculation formula of the speed:
s = vt + (at ^ 2)/2 and S = vt
Distance S of acceleration section 1 = v +0.5 a t2, distance S of uniform speed segment 2 = at (T-T), sa + sa = S 1 + S 2
Obtaining acceleration time
Since T is less than or equal to T, the acceleration time is shortened
For example, when v =10m/S, a =1m/S2, T =10S, S Making a business =9m,S Gauge =100m, found t =0.945 s.
In fig. 4, the method for entering the intelligent transportation system from the current road according to the invention is that the vehicle sends the vehicle information to the nearby traffic controller (4) near the intersection, the traffic controller sends the vehicle travel and the vehicle state to the traffic planner (1), and the traffic planner (1) plans the vehicleThe vehicle route is sent to a related traffic control device (4), and the traffic control device releases part of vehicles to enter a planned driving area in the route 6 according to the planning information, and at t Is prepared from Time right turns into intelligent traffic or straight through intelligent intersection, where straight through intersection vehicles enter turn around lane 12 at the next t Is prepared from And turning right the time to enter the intelligent transportation system. For further details, see the description of the invention.
Fig. 6 is a graph of vehicle speed as a function of time for a smart vehicle/drone vehicle entering an intersection.
Intelligent traffic system
Fig. 1 is a schematic diagram of minimum units of the urban intelligent traffic control system. As shown in fig. 1, the urban intelligent traffic control system of the invention comprises at least one traffic planner (1), at least one traffic controller (2) and at least one vehicle-mounted driving device (4). The traffic planner (1) and the traffic controller (2) are typically placed near an intersection, or near a road communicating with the intersection. The vehicle-mounted driving equipment (4) is located in the intelligent automobile passing through the intersection. And the traffic control device (2) and the vehicle-mounted driving equipment (4) positioned in the first intelligent automobile can carry out wireless communication through a wireless communication network (3). The vehicle-mounted driving equipment (4) is used for transmitting the state information of the vehicle to the traffic controller (2), adjusting the state of the vehicle and receiving the control information sent by the traffic controller (2), and the control information can be used for controlling the driving speed, the acceleration and the vehicle angle of the intelligent vehicle in the planned virtual lane. The traffic planner (1) is used for planning a virtual lane and a passing speed for the vehicle where the vehicle-mounted driving equipment (4) is located according to the state information and the travel information of the vehicle transmitted by the vehicle-mounted driving equipment (4), generating navigation information of the vehicle according to the planned virtual lane and the passing speed, and transmitting the navigation information to the vehicle-mounted driving equipment (4) of the vehicle.
The traffic planner (1) comprises a vehicle trip planning module, a storage module and a communication module.
The traffic planner shown in fig. 5 includes a vehicle travel planning module, an emergency module, a storage module and a communication module, wherein the planning module plans the vehicle entering time and the corresponding road travel information according to the travel information of the intelligent vehicle and the available lane information in the storage module, and sends the travel information to the corresponding traffic controller (2) through the communication module.
The traffic control device (2) comprises a vehicle information checking module, a storage module, a communication module and an emergency module.
The traffic controller illustrated in fig. 5 includes a vehicle information validation module, an emergency module, a storage module, and a communication module. The traffic manager (2) receives information of nearby intelligent vehicles and sends the information to the traffic planner (1), the traffic planner (1) sends planned vehicle travel information to the corresponding traffic manager (2), the traffic manager (2) checks the vehicle information of the intelligent vehicles and road and vehicle travel information in the storage module in sequence according to the vehicle travel information, and then sends the check sum vehicle adjustment information (or management and control information) to the vehicle-mounted driving equipment (4) through a wireless network.
The vehicle information verification module is used for comparing vehicle information with planning information in the storage module for verification, and if the vehicle information is different from the planning information in the storage module, adjustment information required by the intelligent vehicle is calculated according to the current state of the intelligent vehicle, wherein the adjustment information comprises information such as vehicle speed, vehicle acceleration, acceleration time and vehicle direction. If the vehicle information is consistent with the planning information, the state of the vehicle does not need to be adjusted.
The vehicle information verification module is also used for judging whether the vehicle is out of control according to the vehicle state information and the control information. And if the out-of-control vehicle exists, calling the emergency module to perform emergency operation, and calling nearby controllable vehicles to stop the out-of-control vehicle in a safety area under the condition of ensuring safety.
The communication module is used for receiving and transmitting intelligent vehicle travel information and vehicle states which are transmitted by vehicle-mounted driving equipment (4) of each vehicle or received and transmitted by the traffic planner (1).
The vehicle-mounted driving equipment (4) comprises a passing management and control module, a communication module and a storage module.
The communication module is used for sending vehicle state information to the traffic controller, and the navigation information and the control information sent by the traffic controller (2). And the management and control module adjusts the intelligent vehicle state according to the management and control information and sends the current intelligent vehicle state to the traffic manager (2) through the communication module again.
The storage module is used for storing maps of the intersections and the roads between adjacent intersections and navigation information sent by the traffic controller (2).
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The following describes the operation steps of the urban intelligent traffic control system during operation, so as to make the functional description of the system more clear.
Fig. 7 is a flowchart of the operation of the intersection assistance management and control system of the present invention. As shown in fig. 7, the urban intelligent traffic control system of the present invention is operated to perform the following steps:
and step S1, the vehicle-mounted driving equipment (4) of the intelligent vehicle sends the vehicle state and the travel information.
And step S2, the traffic planner (1) receives the vehicle travel information sent by the traffic controller (2), plans the vehicle route and the corresponding vehicle state, and sends the vehicle route and the corresponding vehicle state to the related traffic controller (2).
And step S3, the traffic controller (2) sends the planned vehicle route and corresponding vehicle state information to the vehicle-mounted driving equipment (4) of the related intelligent vehicle.
And step S4, the vehicle-mounted driving device (4) regulates the vehicle to adjust the vehicle state to the planned vehicle state. The vehicle state information comprises the position and the speed of the vehicle
And acceleration, etc.
And step S5, the traffic controller (2) receives the vehicle state information sent by the vehicle-mounted driving equipment (4), verifies whether the vehicle information is the same as the planning information of the vehicle in the storage module, and if the vehicle state information is different from the planning information of the vehicle in the storage module, calculates the vehicle control information through the verification device and sends the vehicle control information to the vehicle-mounted driving equipment (4).
And step S6, the vehicle-mounted driving device (4) adjusts the vehicle state according to the management and control information of the traffic controller (2), wherein the vehicle state comprises the vehicle speed, the vehicle direction, the vehicle acceleration and the like.
And step S7, through verification, the intelligent vehicle runs according to the planned state.
And S8, jumping to S1 if the intelligent vehicle does not reach the destination, and otherwise, ending.
In the actual implementation process, the lane layout, the traffic rules, the traffic planner (1), the traffic controller (2) and the vehicle-mounted driving device (4) may be independent hardware devices, or may be embedded in another system. The present invention can be implemented in various embodiments without departing from the gist of the present invention.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present invention, and it should be understood that the above-mentioned embodiments are only examples of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and scope of the present invention should be included in the present invention.
Claims (10)
1. The utility model provides an urban intelligent traffic management and control system, contains lane overall arrangement, traffic rules and intelligent transportation system, its characterized in that:
the lane layout comprises general road lane layout and intersection lane layout, the lane comprises at least one passing lane and at least one multifunctional lane, the passing lane is the same as the existing lane, the vehicle passing according to one direction is met, the multifunctional lane has bidirectional passing capacity and can be used as a temporary vehicle parking area, a vehicle turning area and a temporary vehicle passing area, the general passing lane and the multifunctional lane are virtual lanes and can be converted according to actual conditions, and the width of the preset intersection is S Making a business The lanes between intersections are divided into even-numbered sections, wherein the length of one section of lane is S Gauge As planning driving area, with S Gauge Adjacent section length is S Is prepared from Or S Making a business The S-gauge section and the contained vehicles all passing through the intersection at one end of the laneWhen used, is t Gauge And S Is prepared from Adjacent section length is S Gauge Or S Making a business ，S Is prepared from The time spent when the paragraphs all pass through the intersection at one end of the lane is t Is prepared from The planned traffic zones of two intersecting roads passing at staggered times (or t) Gauge And t Is prepared from Alternate passage), wherein S Is prepared from The intelligent vehicle lane mark is used for entering and exiting a road, accelerating, decelerating and adjusting the posture of the intelligent vehicle, and is preset with multifunctional lane marks;
the traffic rules comprise intelligent vehicle entering and exiting, running (including direct running and right turning), parking and turning, wherein the intelligent vehicle enters and exits the intelligent traffic system in a right turning or direct running mode according to the connection mode of the parking area and the road, when the intelligent vehicle enters the intelligent traffic system from the existing road, the intelligent vehicle enters and exits the intelligent traffic system in a right turning or direct running mode through the road, the intelligent vehicle runs according to a planned route and a vehicle state, the parking refers to that when the vehicle stops at the traffic lane, the multifunctional lane near the intelligent vehicle is preset as the traffic lane so as to facilitate the traffic of other intelligent vehicles, the turning of the intelligent vehicle refers to that the vehicle runs into the multifunctional lane and then runs reversely, and the front and back directions of the intelligent vehicle are not changed;
the intelligent traffic system comprises at least one traffic planner (1), at least one traffic controller (2) and at least one vehicle-mounted driving device (4), wherein the traffic planner (1) and the traffic controller (2) are communicated through a wired or wireless network, the traffic controller (2) and the vehicle-mounted driving device (4) are in wireless communication through a wireless communication network (3), the vehicle-mounted driving device (4) transmits the state information and the travel information of a vehicle to the traffic controller (2), the traffic controller (2) transmits the information to the traffic planner (1), the traffic planner (1) plans a route and transmits the information to the related traffic manager (2), the traffic controller (2) receives the information and manages and controls the vehicle entering a management and control area of the traffic controller, and when the vehicle enters the management and control range of the traffic controller, the vehicle-mounted driver (4) sends the vehicle state to the related traffic-through controller (2), the traffic-through controller (2) verifies the vehicle state and sends the verification result and the control information to the vehicle-mounted driver (4), the vehicle-mounted driving equipment (4) receives the verification result and the control information, if the verification is consistent, the vehicle-mounted driving equipment runs according to the existing planning information without adjusting the vehicle state, and meanwhile sends the vehicle state information to the traffic-through controller (2) for the next cycle, if the verification shows that the vehicle state is inconsistent with the planned position, direction and speed, the vehicle speed, acceleration, vehicle direction and the like are adjusted according to the control information, and meanwhile the vehicle state information is sent to the traffic-through controller (2) for the next cycle.
2. The lane layout of claim 1, comprising at least one traffic lane and at least one multi-purpose lane, wherein the multi-purpose lane can be at an intermediate position, and can be distributed or converted into a traffic lane according to the traffic flow.
3. The traffic rule of claim 1, wherein the intelligent vehicle left-turn function is cancelled, and the intelligent vehicle driving (including the intelligent vehicle going straight and turning right) and the multifunctional lane turning are used for realizing the left-turn function of the intelligent vehicle intersection and the passing lane.
4. A traffic planner (1) as claimed in claim 1, comprising: the system comprises a vehicle journey planning module, a storage module and a communication module.
5. The intelligent vehicle route can be planned according to the travel requirement of the intelligent vehicle and sent to the related traffic controller (2).
6. The traffic controller (2) of claim 1 comprising: the vehicle state is checked to be a planning state or not through comparing the vehicle state with the route and the vehicle information in the storage module, if an error exists, vehicle management and control information is calculated according to the vehicle state and sent to the vehicle-mounted driving device (4), and the direction and the speed of the vehicle are changed.
7. The vehicle-mounted driving device (4) as claimed in claim 1 comprises a management and control module, a storage module and a communication module, the vehicle-mounted driving device (4) sends vehicle information to the traffic controller (2), adjusts the state of the intelligent vehicle according to the verification result and the management and control information of the traffic controller (2), and sends the existing vehicle state to the traffic controller (2) again for the next information intercommunication and management and control cycle if the destination is not reached.
8. The parking according to claim 1 can use part of lanes as parking areas of intelligent vehicles according to traffic flow or time periods.
9. The lane layout of claim 1, intelligent vehicle at t Gauge Within the time, the intelligent vehicle can safely drive to enter the next S Gauge In, and S is Gauge In the same section of common road lane, the intelligent vehicle can use the speed v > S Gauge /t Gauge At t Gauge Enter next S within time Gauge 。
10. The city intelligent management and control system as claimed in claim 1 is suitable for intelligent aircraft which contains vehicle-mounted driving equipment and can perform effective management and control.
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|---|---|---|---|
| CN202110123607.9A CN114822052A (en) | 2021-01-29 | 2021-01-29 | Urban intelligent traffic management and control system |
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| CN202110123607.9A CN114822052A (en) | 2021-01-29 | 2021-01-29 | Urban intelligent traffic management and control system |
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