CN114822054B - Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area - Google Patents
Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area Download PDFInfo
- Publication number
- CN114822054B CN114822054B CN202210472431.2A CN202210472431A CN114822054B CN 114822054 B CN114822054 B CN 114822054B CN 202210472431 A CN202210472431 A CN 202210472431A CN 114822054 B CN114822054 B CN 114822054B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- equation
- dilemma
- expressed
- dilemma area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/096—Arrangements for giving variable traffic instructions provided with indicators in which a mark progresses showing the time elapsed, e.g. of green phase
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a vehicle speed guiding optimization method for avoiding a signal control intersection dilemma area, aiming at potential dilemma area risks of a vehicle in a signal control intersection during a yellow light signal period, and maximizing vehicle passing efficiency and smoothness on the basis of ensuring avoidance of the dilemma area. The vehicle speed guiding optimization method comprises the steps of judging whether vehicles fall into a dilemma area or not, then establishing a linear programming model for optimization by taking the maximum traffic efficiency and smoothness as an optimization target and considering constraint conditions of avoidance of the dilemma area, red light signals, safe head time distance, safe head space distance, vehicle acceleration, speed and the like for all the vehicles falling into the dilemma area. The method can synchronously optimize multiple factors such as avoidance of the dilemma area, vehicle passing efficiency, smoothness and a series of vehicle operation constraints, thereby ensuring the optimality of the generated guidance strategy, enabling the vehicle to efficiently avoid the dilemma area and improving the operation safety of the intersection.
Description
Technical Field
The invention belongs to the technical field of motor vehicle speed guiding methods, and particularly relates to a vehicle speed guiding optimization method for avoiding a signal control intersection dilemma area.
Background
The traffic accident zone is a zone in which vehicles can not pass through a stop line before a red light is turned on or stop before the stop line at a certain speed during yellow light at the intersection, so that accident potential hazards such as lateral collision, rear-end collision and the like can be caused, and the traffic safety of the signal control intersection is seriously influenced. In the past, a rule-based improvement method is mainly proposed from two aspects of signal control and vehicle speed guidance. However, the vehicle speed changes in real time, multiple factors such as vehicle performance, safety distance between vehicles and driving smoothness need to be considered, intersection vehicle speed guidance considered overall according to the factors is not found out in a targeted optimization setting method, and invention patents of the method are not searched.
The literature search in the prior art finds that the following technical methods are mainly used for avoiding the dilemma area of the signalized intersection:
1. and adjusting the green light time of the intersection signal control. The method comprises the steps of firstly obtaining vehicle state information of an intersection, then calculating the current time and the number of vehicles falling into a dilemma area in the prediction time according to the signal state of the current intersection, and determining whether to prolong the green time or not. The method is introduced in the invention patent 'a signalized intersection dilemma zone control method based on a real-time vehicle track' (patent number ZL 201410513065.6).
2. And adjusting the full red time of the intersection signal control. According to the method, the full red time is determined according to the distribution of the vehicles falling into the dilemma area and according to the state information such as the vehicle speed, the distance from a parking line and the like, so that the vehicles are prevented from falling into the dilemma area. The method is introduced in the invention patent of 'a full red signal control method facing a yellow light dilemma region' (patent number ZL201510218135. X) and 'a signal control method for improving road traffic safety' (application number CN 202111250363.7).
3. And setting vehicle-mounted intersection dilemma area warning. The method is embedded with a map system, can acquire the position of the vehicle in real time, predicts the possibility that the vehicle passes through a stop line before the red light is turned on according to the position information and the signal control information of the vehicle reaching the intersection, and provides corresponding passing or not suggestions for a driver. The method is introduced in the invention patent application 'a vehicle-mounted auxiliary navigation system applied to urban intersection dilemma areas' (application number CN 202022643645.0).
4. The vehicle road is cooperated with the vehicle speed guidance of the two-difficulty area at the lower intersection. According to the method, the working flow of the intersection dilemma area signal control problem improvement method under the cooperative environment of the vehicle and the road is determined by obtaining the vehicle running and signal control conditions of the intersection area, and the vehicle speed guiding suggestion is given based on the rule. Representative works include a signalized intersection dilemma area problem improvement method and a signalized intersection dilemma area dilemma protection optimization method.
The method 1 and the method 2 achieve elimination of dilemma of partial vehicles by adjusting signal control, have mature technical achievements at present, and are applied to the field of induction signal control.
The method 3 gives early warning for the risk of the dilemma area, but cannot guide the vehicle to avoid the dilemma area.
The method 4 gives vehicle speed guidance in the intersection dilemma area, but the current method makes a vehicle speed guidance strategy based on a flow rule, and cannot ensure the optimality of the guidance strategy.
The conventional intersection dilemma area vehicle speed guiding method does not comprehensively consider the complexity of vehicle driving targets and constraints in an intersection range, and avoids the intersection dilemma area and takes multiple factors such as vehicle passing efficiency, smoothness and a series of vehicle running constraints into consideration. Therefore, the prior art lacks a vehicle speed guiding optimization method for controlling an intersection dilemma area by avoiding signals under the dynamic influence of multiple factors on the intersection.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a vehicle speed guiding optimization method for avoiding avoidance signals to control an intersection dilemma area.
The technical scheme of the invention is as follows:
a vehicle speed guiding optimization method for avoiding a signal control intersection dilemma area is shown in a working flow chart of fig. 1.
Firstly, whether the vehicle falls into the dilemma area is judged T seconds before the yellow light is turned on, and if the initial position and speed of the vehicle meet the formula (1), the vehicle falls into the dilemma area.
X p +Tv 0 ＜x l -x 0 ＜X s +Tv 0 (1)
In the formula, x 0 Is the vehicle initial position, m; x is the number of l M is the position of the parking line; t is the time length from the initial time to the turning-on time of the yellow light, s; v. of 0 Is the initial speed, m/s; x p The length of the zone where the vehicle can pass the stop line at maximum acceleration during yellow light, i.e. the lower boundary of the dilemma zone, m, can be calculated according to equation (2); x s The distance at which the vehicle is stopped at the maximum deceleration, i.e., the upper boundary of the dilemma region, m, can be calculated by equation (3).
In the formula, a max Is the maximum acceleration, m/s 2 (ii) a Y is the yellow light duration; δ is the driver reaction time, s.
In the formula (d) max Is the maximum deceleration, m/s 2 。
For all vehicles falling into the dilemma area, a vehicle speed guiding strategy is given by solving the following optimization model. The optimization model is expressed by a linear programming model, the maximum driving distance and the minimum speed fluctuation are taken as optimization targets, and constraint conditions such as avoidance of a dilemma area, red light signals, safe headway between vehicles, vehicle acceleration, vehicle speed and the like are considered.
The objective function is the sum of the maximum driving distance and the negative number of the accumulated speed fluctuation, and is shown in the formula (4).
In the formula, n is a vehicle number falling into a dilemma area; n is the total number of vehicles falling into the dilemma area; i is the number of the optimization step; i is the total optimization step number; x is the number of ni The position of the vehicle n at the starting moment of the optimization step i, m, can be calculated by the formula (5) in a recursion mode; a. The ni For the speed change of vehicle n from optimization step i-1 to optimization step i, m/s can be calculated by equations (6) - (8).
In the formula, delta t is an optimized step length s; v. of ni The vehicle speed m/s of the vehicle n at the starting moment of the optimization step i; x is a radical of a fluorine atom n0 N vehicle initial position, m; v. of n0 Vehicle n is the vehicle initial speed, m/s.
A ni ＝λ ni (v ni -v n(i-1) )+(1-λ ni )(v n(i-1) -v ni ) (6)
v ni -v n(i-1 )≥-M(1-λ ni ) (7)
v n(i-1) -v ni ≥-Mλ ni (8)
In the formula, λ ni The acceleration and deceleration condition of the vehicle n in the optimization step i is determined when lambda ni When 1, acceleration is indicated; when lambda is ni When 0, it represents deceleration; m is a large enough normal number, and 10000 is preferable.
The dilemma area avoidance constraint condition requires that in each optimization step, the vehicle cannot fall into the dilemma area, and the judgment formula (1) corresponding to the vehicle falling into the dilemma area meets the requirements of the formula (9) and the formula (10).
x l -x ni ≤X pni +(T-iΔt)v ni +Mη ni (9)
x l -x ni ≥X sni +(T-iΔt)v ni -M(1-η ni ) (10)
In the formula, X pni Calculating m, which is the lower boundary of the dilemma area of the vehicle n in the optimization step i, according to the formula (11); x sni The boundary m of the vehicle n in the dilemma area of the optimization step i can be calculated according to the formula (12); eta ni For the decision that vehicle n is in the optimization step i, when eta ni When 1, it represents parking; when eta ni When 0, it indicates passage through the intersection.
In the formula, a nmax N maximum acceleration of the vehicle, m/s 2 。
In the formula (d) nmax For the maximum deceleration of the vehicle n, m/s 2 。
The red light signal constraint condition requires that if the vehicle does not pass through the stop line at the red light turning-on time, all the time in the optimized time domain cannot pass through the stop line, namely, the requirements of the formulas (13) and (14) are met.
x l -x ni ≥-Mβ n (14)
In the formula, beta n If the vehicle n passes the stop line at the time of red light turning on, when the vehicle n passes the stop line n When 1, denotes pass, when β n When 0, it means fail.
The safety headway constraint condition between the vehicles requires that the headway of front and rear vehicles in the driving process meets the safety requirement, namely the requirement of the formula (15) is met.
x (n-1)i -x ni ≥γv ni (15)
Wherein gamma is a safe headway time s.
The constraint condition of the safe headway distance between the vehicles requires that the headway distances of front and rear vehicles meet the safety requirement in the driving process, namely the requirement of a formula (16) is met.
x (n-1)i -x ni ≥d (16)
In the formula, d is a safe head clearance.
The vehicle acceleration constraint condition requires consideration of vehicle performance and driving smoothness, and the acceleration meets the maximum and minimum acceleration limits, namely meets the requirement of the formula (17).
The vehicle speed constraint condition requires consideration of vehicle performance and road conditions, and the speed meets the maximum speed limit and cannot be backed, namely meets the requirement of an equation (18).
0≤v ni ≤v nmax (18)
In the formula, v nmax Is the vehicle n maximum speed, m/s.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides an optimized vehicle speed guiding method for controlling an intersection dilemma area based on an avoidance signal, which can realize refined vehicle speed guiding on vehicles possibly trapped in the dilemma area under the condition of given intersection signal timing without changing intersection signal timing.
2. The method provided by the invention aims at the complexity of the driving target and the constraint of the vehicle in the intersection range, and gives an optimal guiding strategy comprehensively considering the vehicle passing efficiency, the smoothness and a series of operation constraints including the avoidance of a dilemma area by establishing an optimization model.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a vehicle speed guidance result chart according to embodiment 1 of the present invention.
Detailed Description
A more detailed description of the vehicle speed guidance optimization method for avoiding a blinked zone of an intersection according to the present invention will now be given, with reference to the accompanying schematic drawings, in which preferred embodiments of the present invention are shown, it being understood that persons skilled in the art may modify the invention described herein while still achieving the advantageous effects of the invention, and therefore the following description should be taken as being widely known to those skilled in the art, and not as limiting the invention.
Example 1:
in embodiment 1 of the present invention, the input conditions are that there are two vehicles in front and in back, where the front vehicle is denoted as vehicle 1, the back vehicle is denoted as vehicle 2, and the initial positions are x respectively 10 = -325m and x 20 = -405m, initial vehicle speed v respectively 10 =22m/s and v 20 =24m/s. Position x of parking line l =0m; starting from the initial time to the turning-on time of the yellow light, wherein T =10s; yellow light duration Y =3s; driver reaction duration δ =1s; maximum acceleration a 1max ＝a 2max ＝1m/s 2 (ii) a Maximum deceleration d 1max ＝d 2max ＝2m/s 2 (ii) a Maximum velocity v 1max ＝v 2max =25m/s; the safe headway gamma =3s; the space distance d =5m of the safe locomotive; the optimization step Δ t =1s. By adopting the method, whether the vehicle falls into the dilemma area or not is judged and guided. The specific process is briefly described as follows:
step 1: and judging whether the vehicle falls into the dilemma area or not. According to the formulas (1) to (3), the calculation results are as follows
Shown in table 1.
TABLE 1
And 2, step: as can be seen from Table 1, two vehicles both fall into the dilemma area, and the vehicle speed guidance is required to avoid the dilemma area, and input parameters are substituted into the following optimization model established by the invention.
s.t.
A ni ＝λ ni (v ni -v n(i-1) )+(1-λ ni )(v n(i-1) -v ni )
v ni -v n(i-1) ≥-M(1-λ ni )
v n(i-1) -v ni ≥-Mλ ni
x l -x ni ≤X pni +(T-iΔt)v ni +Mη ni
x l -x ni ≥X sni +(T-iΔt)v ni -M(1-η ni )
x l -x ni ≥-Mβ n
x (n-1)i -x ni ≥γv ni
x (n-1)i -x ni ≥d
0≤v ni ≤v nmax
And step 3: the model is a linear programming model, and a simplex method or optimization problem solving software (such as Cplex) is adopted for solving. The vehicle speed leads the front and rear trajectories as shown in fig. 2.
And 4, step 4: and (5) evaluating the optimization effect guided by the vehicle speed. In fig. 2, the broken line indicates the trajectory of the two vehicles guided by the vehicle speed absence, and the solid line indicates the trajectory of the two vehicles guided by the vehicle speed. It can be known from fig. 2 that when no vehicle speed is available for guidance, both the front and rear vehicles fall into a dilemma area, and the result is that the front vehicle passes through the intersection stop line after the yellow light finishes and the red light starts, and the rear vehicle stops after a certain distance of crossing the stop line. Under the guidance of the model optimized vehicle speed, both vehicles can avoid the dilemma area and stop the vehicles stably in front of the stop line. The optimization track calculated by the model can better adapt to the requirements of operation efficiency and smoothness on the basis of ensuring safety.
The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any way. It will be understood by those skilled in the art that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A vehicle speed guiding optimization method for avoiding a signal control intersection dilemma area is characterized by comprising the following steps:
s1: judging whether the vehicle falls into a dilemma area or not T seconds before the yellow light is turned on;
s2: for all vehicles falling into a dilemma area, taking the maximum driving distance and the minimum speed fluctuation as optimization targets, considering a plurality of operation constraint conditions to carry out synchronous optimization, and giving a vehicle speed guide strategy by using a linear programming model, thereby ensuring the optimality of the generated guide strategy; the objective function of the linear programming model is the sum of the maximum driving distance and the negative number of the accumulated speed fluctuation, and is expressed by an equation four:
in the fourth equation, n is the number of the vehicle falling into the dilemma area; n is the total number of vehicles falling into the dilemma area; i is the number of the optimization step; i is the total optimization step number; x is the number of ni The position of the vehicle n at the starting moment of the optimization step i is obtained; a. The ni Changing the speed of the vehicle n from the optimization step i-1 to the optimization step i; x is said ni Through the recursive calculation of equation five, the equation five is expressed as:
in the equation five, Δ t is an optimization step length; v. of ni The speed of the vehicle n at the starting moment of the optimization step i is obtained; x is a radical of a fluorine atom n0 N vehicle initial positions for the vehicle; v. of n0 N vehicle initial speed for vehicle;
a is described ni Through the recursive calculation of equation six, equation seven and equation eight, equation six is expressed as:
A ni = in ni (v ni -v n(i-1) ) + (1-in) ni )(v n(i-1) -v ni )；
The seventh equation is expressed as:
v ni -v n(i-1) >-M (1-in) ni )；
The equation eight is expressed as:
v n(i-1) -v ni >-M is into ni ；
In equations six to eight, λ ni For the acceleration and deceleration condition of the vehicle n in the optimization step i when lambda ni When 1, acceleration is indicated; when lambda is ni When 0, it represents deceleration; m is a large enough normal number, and 10000 is taken;
in S2, the plurality of operation constraint conditions comprise avoidance of a dilemma area, red light signals, safe headway time distance between vehicles, safe headway space distance between vehicles, vehicle acceleration and vehicle speed.
2. The vehicle speed guidance optimization method for avoiding the signal control intersection dilemma area according to claim 1, wherein in S1, when the initial position and speed of the vehicle satisfy a first equation, the vehicle will fall into the dilemma area, and the first equation is expressed as:
X p +Tv 0 ＜x l -x 0 ＜X s +Tv 0 ；
in the first equation, x 0 Is the initial position of the vehicle; x is the number of l Is the position of the parking line; t is the time length from the initial time to the turning-on time of the yellow light; v. of 0 Is the initial vehicle speed; x p The length of the area where the vehicle can pass the stop line at the maximum acceleration during the yellow light, i.e. the lower boundary of the dilemma zone; x s The distance for the vehicle to stop at the maximum deceleration, i.e., the upper boundary of the dilemma zone; wherein, X is p Calculated by equation two, the equation two is expressed as:
in the second equation, a max Is the maximum acceleration; y is the duration of the yellow light; delta is the driver reaction duration; said X is s Calculated by equation three, said equation three is expressed as:
in the third equation, d max Is the maximum deceleration.
3. The vehicle speed guiding optimization method for avoiding the dilemma zone of the signalized intersection as claimed in claim 2, wherein the constraint condition for avoiding the dilemma zone requires that the vehicle does not fall into the dilemma zone in each optimization step, and the requirement of equation nine and equation ten is satisfied corresponding to the equation one that the vehicle falls into the dilemma zone, and the equation nine is expressed as:
x l -x ni three X pni +(T-iAt)v ni +Mn ni ；
The equation ten is expressed as:
x l -x ni >X sni +(T-iAt)v ni -M(1-n ni )；
in the equation nine and the equation ten, X pni The vehicle n is at the lower boundary of the dilemma area of the optimization step i; x sni The vehicle n is bounded on the dilemma area of the optimization step i; eta ni For the decision that vehicle n is in the optimization step i, when eta ni When 1, indicating parking; when eta ni When 0, it represents passing through the intersection; said X pni Calculated by equation eleven, the equation eleven is expressed as:
in the equation eleven, a nmax N is the maximum acceleration of the vehicle; said X sni Calculated by equation twelve, the equation twelve is expressed as:
in the twelfth equation, d nmax Is the maximum deceleration of the vehicle n.
4. The vehicle speed guiding optimization method for avoiding the signal control intersection dilemma area according to claim 2, wherein the constraint condition of the red light signal requires that if the vehicle does not pass through the stop line at the red light turning-on time, all the time in the optimization time domain cannot pass through the stop line, that is, the requirements of equation thirteen and equation fourteen are satisfied, wherein equation thirteen is expressed as:
the fourteen equation is expressed as:
x l -x ni >-Mb n ；
in the thirteen and fourteen equations, β n If the vehicle n passes the stop line at the time of red light turning on, when the vehicle n passes the stop line n When 1, it means passing when β n When 0, it indicates failure.
5. The vehicle speed guiding optimization method for avoiding the signal control intersection dilemma area according to claim 2, wherein the constraint condition of the safe headway between the vehicles requires that the headways of front and rear vehicles meet the safety requirement in the driving process, namely the headway meets the requirement of equation fifteen, and the equation fifteen is expressed as:
x (n-1)i -x ni ＞Yv ni ；
in the above equation fifteen, γ is the safe headway.
6. The method for guiding and optimizing the vehicle speed in the area avoiding the difficulty in signalized intersections according to claim 2, wherein the constraint condition of the safe headway between the vehicles requires that the headway of the front and rear vehicles in the driving process meet the safety requirement, namely the requirement of equation sixteen, wherein the equation sixteen is expressed as follows:
x (n-1)i -x ni ＞d；
in the sixteenth equation, d is the safe headway distance.
7. The vehicle speed guiding optimization method for avoiding the signal control intersection dilemma area as claimed in claim 2, wherein the constraint condition of the vehicle acceleration requires consideration of vehicle performance and driving smoothness, and the acceleration meets the maximum and minimum acceleration limits, namely meets the requirement of a seventeenth equation, wherein the seventeenth equation is expressed as:
8. the vehicle speed guiding optimization method for avoiding the dilemma area of the signalized intersection as claimed in claim 2, wherein the constraint condition of the vehicle speed requires to consider vehicle performance and road conditions, the speed meets the maximum speed limit and cannot be backed, namely, meets the requirement of an eighteen equation, and the eighteen equation is expressed as:
0≤v ni ≤v nmax ；
in the eighteenth equation, v nmax Is the maximum speed of the vehicle n.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210472431.2A CN114822054B (en) | 2022-04-29 | 2022-04-29 | Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210472431.2A CN114822054B (en) | 2022-04-29 | 2022-04-29 | Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114822054A CN114822054A (en) | 2022-07-29 |
| CN114822054B true CN114822054B (en) | 2023-03-10 |
Family
ID=82512350
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210472431.2A Active CN114822054B (en) | 2022-04-29 | 2022-04-29 | Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114822054B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115346384B (en) * | 2022-08-19 | 2024-02-09 | 西北工业大学 | Traffic intersection-oriented vehicle safe passing guiding method, device and system |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006139707A (en) * | 2004-11-15 | 2006-06-01 | Sumitomo Electric Ind Ltd | Safe speed providing method, speed control method, and on-vehicle apparatus |
| CN103198686A (en) * | 2013-03-26 | 2013-07-10 | 东南大学 | Vehicle speed induction control method for reducing probability that vehicle breaks yellow light |
| CN106448194A (en) * | 2016-10-28 | 2017-02-22 | 清华大学 | Traffic signal in crossroad and vehicle coordinated control method, device and vehicle |
| CN108765982A (en) * | 2018-05-04 | 2018-11-06 | 东南大学 | Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings |
| CN108831143A (en) * | 2018-06-15 | 2018-11-16 | 合肥工业大学 | Signalized intersections fleet speed guiding method based on bus or train route coordination technique |
| CN108961753A (en) * | 2018-07-17 | 2018-12-07 | 重庆大学 | A kind of speed bootstrap technique based on bus or train route communication |
| CN111445713A (en) * | 2020-03-05 | 2020-07-24 | 苏州工业园区测绘地理信息有限公司 | Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation |
| CN111710176A (en) * | 2020-06-08 | 2020-09-25 | 同济大学 | Intersection signal-vehicle track cooperative control method under cooperative vehicle and road environment |
| CN113628443A (en) * | 2021-08-10 | 2021-11-09 | 哈尔滨工业大学 | Signal intersection speed guiding method based on driver finiteness |
-
2022
- 2022-04-29 CN CN202210472431.2A patent/CN114822054B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006139707A (en) * | 2004-11-15 | 2006-06-01 | Sumitomo Electric Ind Ltd | Safe speed providing method, speed control method, and on-vehicle apparatus |
| CN103198686A (en) * | 2013-03-26 | 2013-07-10 | 东南大学 | Vehicle speed induction control method for reducing probability that vehicle breaks yellow light |
| CN106448194A (en) * | 2016-10-28 | 2017-02-22 | 清华大学 | Traffic signal in crossroad and vehicle coordinated control method, device and vehicle |
| CN108765982A (en) * | 2018-05-04 | 2018-11-06 | 东南大学 | Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings |
| CN108831143A (en) * | 2018-06-15 | 2018-11-16 | 合肥工业大学 | Signalized intersections fleet speed guiding method based on bus or train route coordination technique |
| CN108961753A (en) * | 2018-07-17 | 2018-12-07 | 重庆大学 | A kind of speed bootstrap technique based on bus or train route communication |
| CN111445713A (en) * | 2020-03-05 | 2020-07-24 | 苏州工业园区测绘地理信息有限公司 | Intelligent internet vehicle driving speed guiding method based on vehicle-road cooperation |
| CN111710176A (en) * | 2020-06-08 | 2020-09-25 | 同济大学 | Intersection signal-vehicle track cooperative control method under cooperative vehicle and road environment |
| CN113628443A (en) * | 2021-08-10 | 2021-11-09 | 哈尔滨工业大学 | Signal intersection speed guiding method based on driver finiteness |
Non-Patent Citations (2)
| Title |
|---|
| Speed profile optimization for vehicles crossing an intersection under a safety constraint;Alexandros C. Charalampidis;《2014 European Control Conference (ECC)》;20140627;1-8 * |
| 车路协同下信号控制交叉口两难区问题改善方法;张存保等;《中国安全科学学报》;20120630;86-90 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114822054A (en) | 2022-07-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111750887B (en) | Unmanned vehicle track planning method and system for reducing accident severity | |
| CN109300306B (en) | Intersection variable guide lane, signal lamp and vehicle track collaborative optimization method under cooperative vehicle and road environment | |
| CN114822054B (en) | Vehicle speed guiding optimization method for avoiding signal control intersection dilemma area | |
| CN111391833A (en) | Method and auxiliary system for preparing and/or carrying out lane changes | |
| CN104766486B (en) | All red signal control method towards the awkward area of amber light | |
| CN114973733B (en) | Network-connected automatic vehicle track optimization control method under mixed flow at signal intersection | |
| CN111915876B (en) | Road traffic control system and control method thereof | |
| CN103632551A (en) | Double-signal control line motor vehicle traffic control system | |
| CN108470448A (en) | A kind of awkward area's methods of risk assessment of amber light | |
| CN111932910A (en) | Real-time dynamic variable lane safety control method under intelligent vehicle-road cooperative environment | |
| CN111710191B (en) | Ramp confluence control method for urban expressway | |
| CN113628443B (en) | Signal intersection speed guiding method based on driver finiteness | |
| CN113257007A (en) | Signal control method and system for intersection to share automatic driving lane | |
| CN108922211B (en) | BRT bus speed optimization recommendation method considering station, signal lamp and front vehicle constraints | |
| CN113823076B (en) | Instant-stop and instant-walking road section blockage relieving method based on networked vehicle coordination control | |
| CN116895163A (en) | Multi-vehicle cooperative control method and system based on signal lamp active communication | |
| CN115083164A (en) | Signal intersection double-layer optimization method for mixed traffic flow | |
| CN113034955B (en) | Method and device for self-adaptive cruise fleet to pass through signal intersection | |
| CN110364003A (en) | Intersection double-circuit tramcar signal priority control method based on car networking | |
| CN107393316A (en) | Intelligent road auxiliary control method and system | |
| US11634132B2 (en) | Vehicle deceleration control system | |
| CN117133119A (en) | Time prediction-based priority driving control method for bus without special lane | |
| CN114399922B (en) | Intersection internet connection automatic driving vehicle track control method considering bus priority | |
| Yan et al. | Coordinated control of vehicle lane change and speed at intersection under V2X | |
| CN116142231A (en) | Multi-factor-considered longitudinal control method and system for automatic driving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |