CN115035733B - Dynamic control method for special entrance way of signalized intersection in hybrid driving environment - Google Patents

Dynamic control method for special entrance way of signalized intersection in hybrid driving environment Download PDF

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CN115035733B
CN115035733B CN202210386225.XA CN202210386225A CN115035733B CN 115035733 B CN115035733 B CN 115035733B CN 202210386225 A CN202210386225 A CN 202210386225A CN 115035733 B CN115035733 B CN 115035733B
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turn
signal lamp
current signal
intersection
network
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CN115035733A (en
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张卫华
王昌胜
丁恒
马辛歆
柏海舰
汪雪松
刘冉冉
韦丝平
熊立军
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Hefei University of Technology
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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/085—Controlling traffic signals using a free-running cyclic timer
    • 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
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control

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Abstract

The invention discloses a dynamic control method of a special entrance road of a signalized intersection in a hybrid driving environment, which comprises the following steps: 1. acquiring the saturation flow of an entrance road, the internet-connected vehicle proportion and the green light time in each direction in the current signal period T; 2. the method comprises the steps of distributing the number of special entrance ways for left turning, straight running and right turning of the net-linked vehicle; 3. solving the queuing length of a special entrance way for left turning, straight going and right turning of the net-linked vehicle; 4. calculating the safety position of a waiting area for driving and parking of a person; 5. judging the number of the intelligent luminous spike line in the current signal period T; 6. and judging the signal lamp phase sequence in the current signal period T. According to the invention, the number of the special entrance ways for the left-turn, straight-turn and right-turn net-connected vehicles can be dynamically and evenly distributed in real time according to the number of the net-connected vehicles which are expected to turn left, expected to go straight and expected to turn right in the upstream road section of the intersection in the current signal period T, so that the queuing length of the net-connected vehicles is reduced, the delay of the vehicles is reduced, and the traffic capacity of the intersection is improved.

Description

Dynamic control method for special entrance way of signalized intersection in hybrid driving environment
Technical Field
The invention belongs to the field of urban road traffic organization control, and particularly relates to a dynamic management and control method of a special entrance road of a signalized intersection in a mixed driving environment.
Background
Under the background of cooperative development of the vehicle and the road, the scientific operation organization of the mixed traffic flow in the network environment becomes one of the hot problems of the current traffic field research. Research shows that in the mixed traffic flow, the speed and the acceleration of each vehicle in a vehicle team formed by the networked automatic driving vehicles are relatively consistent, the following distance between the vehicles is smaller and relatively uniform, and the utilization rate of road resources and the traffic capacity of the vehicles are improved. However, in the mixed traffic flow, interaction interference between the network-connected automatic driving vehicles and the human driving vehicles influences performance of the network-connected automatic driving vehicles, so that a vehicle team is difficult to form, expected traffic capacity is reduced, and possibility of traffic accidents is increased. In order to fully exert the advantages of the internet-connected automatic driving vehicle, students propose a method for setting the internet-connected automatic driving vehicle special road, but most of researches are currently set by the internet-connected automatic driving vehicle special road on a basic road section.
In urban traffic systems, traffic conditions at signalized intersections are critical to the overall traffic system operating efficiency. Under the condition that the special road of the net automatic driving vehicle is arranged on the basic road section, when the special road is connected to the intersection, how to design the special entrance road of the net automatic driving vehicle so as to ensure smooth running of the mixed traffic flow becomes a problem to be solved. At present, the research on the special entrance way of the networked automatic driving vehicle is static on one hand, and the real-time change of the arrival quantity of the networked automatic driving vehicle in each direction in different periods cannot be fully considered; on the other hand, the special straight-going entrance way setting for the internet-connected automatic driving vehicle is mainly aimed at, the demands of the left-turning internet-connected automatic driving vehicle and the right-turning internet-connected automatic driving vehicle are not considered, and the traffic capacity of the intersection can not be improved to the maximum extent.
Disclosure of Invention
The invention provides a dynamic control method for special entrance ways of a signal intersection in a hybrid driving environment, which aims to dynamically and uniformly distribute the number of entrance ways in all directions according to the number of net-linked vehicles expected to turn left, straight and right in an upstream road section of the intersection in a current signal period T in real time, reduces the queuing length of the net-linked vehicles, reduces the overall delay of the vehicles and further improves the overall traffic capacity of the intersection.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention relates to a dynamic control method of a special entrance way of a signalized intersection in a mixed driving environment, which is characterized in that a traffic signal lamp is arranged on the intersection; setting the leftmost lane of the upstream section of the intersection as a special channel for network connection; the internet-connected vehicle is an internet-connected automatic driving vehicle; a parking line is arranged at the intersection, and luminous spike lines are arranged in parallel at equal intervals on an upstream road section behind the parking line; the rear part of the parking line is a network-connected vehicle parking waiting area, and the rear part of the network-connected vehicle parking waiting area is a human driving parking waiting area; the dynamic control method comprises the following steps:
step 1, acquiring the number of Internet-connected vehicles and the number of total vehicles on the upstream road section of the signalized intersection, which are respectively recorded as C T 、Q T The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a left-turn inlet channel saturated flow of a signal intersection, and marking the saturated flow as G z The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the saturated flow of a straight inlet channel of a signal intersection, and marking the saturated flow as G s The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a right turn inlet road saturation flow of a signal intersection, and marking the saturation flow as G r The method comprises the steps of carrying out a first treatment on the surface of the Acquiring left-turn green light time, straight-turn green light time and right-turn green light time of a signal intersection in a current signal lamp period T, and respectively marking the left-turn green light time, the straight-turn green light time and the right-turn green light time as T z 、T s 、T r ；
Step 2, calculating the internet surfing and vehicle connection proportion of the upstream road section of the signalized intersection
Figure BDA0003593818650000021
Calculating the left-turn green light time of the intranet train in the current signal lamp period T>
Figure BDA0003593818650000022
Calculating the green light time of the current signal lamp period T in-network train straight running +.>
Figure BDA0003593818650000023
Calculating the right turn green light time of the intranet train in the current signal lamp period T>
Figure BDA0003593818650000024
Step 3, collecting the number of net vehicles expected to turn left, expected to go straight and expected to turn right in the upstream road section of the intersection in the current signal lamp period T, and respectively recording as
Figure BDA0003593818650000025
Step 4, distributing the number of special entrance ways required by the network-connected vehicles with expected left turn, expected straight run and expected right turn at the intersection in the current signal lamp period T;
step 4.1, calculating the average quantity q of net vehicles entering each entrance road of the intersection in the current signal lamp period T by using the step (1) T ；
Figure BDA0003593818650000026
In the formula (1), n represents the number of entrance ways of an intersection, wherein n is more than or equal to 4;
step 4.2, calculating the number of special entrance ways which are allocated to the expected left-turn network coupling for the first time in the current signal lamp period T
Figure BDA0003593818650000027
First time to the expected straight runSpecial import channel number of internet-connected vehicles>
Figure BDA0003593818650000028
The number of special entrances which are allocated for the first time to the desired right-turn network train>
Figure BDA0003593818650000029
Wherein (1)>
Figure BDA00035938186500000210
Is a downward rounding function;
step 4.3 calculating the number of remaining entrance tracks in the current signal lamp period T by using the method (2)
Figure BDA00035938186500000211
Figure BDA00035938186500000212
If it is
Figure BDA00035938186500000213
Define the first intermediate parameter +.>
Figure BDA00035938186500000214
If it is
Figure BDA0003593818650000031
Make->
Figure BDA0003593818650000032
Wherein (1)>
Figure BDA0003593818650000033
For the number of special entrance ways of the expected left turn of the intranet train in the signal lamp period T, let +.>
Figure BDA0003593818650000034
Wherein (1)>
Figure BDA0003593818650000035
For the number of special entrance ways for the expected straight running of the network-connected vehicles in the signal lamp period T, the following is made
Figure BDA0003593818650000036
Wherein (1)>
Figure BDA0003593818650000037
The number of special entrance ways for the expected right turn of the network vehicle in the signal lamp period T;
if it is
Figure BDA0003593818650000038
Make->
Figure BDA0003593818650000039
Let->
Figure BDA00035938186500000310
Let->
Figure BDA00035938186500000311
If it is
Figure BDA00035938186500000312
Make->
Figure BDA00035938186500000313
Let->
Figure BDA00035938186500000314
Let->
Figure BDA00035938186500000315
If it is
Figure BDA00035938186500000316
Make->
Figure BDA00035938186500000317
/>
If it is
Figure BDA00035938186500000318
Defining a second intermediate parameter->
Figure BDA00035938186500000319
If it is
Figure BDA00035938186500000320
Make->
Figure BDA00035938186500000321
Let->
Figure BDA00035938186500000322
Let->
Figure BDA00035938186500000323
If it is
Figure BDA00035938186500000324
Make->
Figure BDA00035938186500000325
Let->
Figure BDA00035938186500000326
Let->
Figure BDA00035938186500000327
If it is
Figure BDA00035938186500000328
Make->
Figure BDA00035938186500000329
Let->
Figure BDA00035938186500000330
Let->
Figure BDA00035938186500000331
If it is
Figure BDA00035938186500000332
Defining a third intermediate parameter->
Figure BDA00035938186500000333
If it is
Figure BDA00035938186500000334
Make->
Figure BDA00035938186500000335
Let->
Figure BDA00035938186500000336
Let->
Figure BDA00035938186500000337
If it is
Figure BDA00035938186500000338
Make->
Figure BDA00035938186500000339
Let->
Figure BDA00035938186500000340
Let->
Figure BDA00035938186500000341
If it is
Figure BDA00035938186500000342
Make->
Figure BDA00035938186500000343
Let->
Figure BDA00035938186500000344
Let->
Figure BDA00035938186500000345
Step 5, solving the queuing length of each special entrance way of the network-connected vehicle in the parking waiting area of the network-connected vehicle;
step 5.1, calculating the queuing length of a special entrance way for the expected left turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (3)
Figure BDA00035938186500000346
Figure BDA0003593818650000041
In the formula (3), l represents the length of the internet-connected vehicle, S c Representing the safety distance of the internet-connected vehicle when the vehicle is parked;
step 5.2, calculating the queuing length of a special entrance way for the network-connected vehicle to expect straight running in the network-connected vehicle parking waiting area in the current signal lamp period T by using the step (4)
Figure BDA0003593818650000042
Figure BDA0003593818650000043
Step 5.3 calculating the queuing length of the special entrance way for the expected right turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (5)
Figure BDA0003593818650000044
Figure BDA0003593818650000045
Step 6, calculating the safe position of the people driving and parking waiting area in the current signal lamp period T by using the step 6Distance from the stopping line
Figure BDA0003593818650000046
Figure BDA0003593818650000047
In the formula (6), w is a safety gap when the network-connected vehicle changes from a network-connected vehicle special channel to other entrance channels;
step 7, judging the number k of the luminous spike line in the current signal lamp period T by using the step 7:
Figure BDA0003593818650000048
in the formula (7), a represents the interval distance between the luminous spike lines;
step 8, lighting a kth luminous spike line in a current signal lamp period T and taking the kth luminous spike line as a stopping line of the starting position of the waiting area for driving and stopping of the person;
step 9, determining the lighting phase sequence of the traffic lights in the current signal light period T so as to release the vehicles at the intersection:
if it is
Figure BDA0003593818650000049
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, straight-going phase and right-turn phase;
if it is
Figure BDA00035938186500000410
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, right-turn phase and straight-going phase;
if it is
Figure BDA0003593818650000051
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially straight-going phase and left-turning phaseRight turn phase;
if it is
Figure BDA0003593818650000052
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially a straight phase, a right turn phase and a left turn phase;
if it is
Figure BDA0003593818650000053
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, left-turn phase and straight-going phase;
if it is
Figure BDA0003593818650000054
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, straight-going phase and left-turn phase.
Compared with the prior art, the invention has the beneficial technical effects that:
1. the invention provides a dynamic control method of a special entrance road for a signalized intersection in a mixed driving environment by utilizing a vehicle-road cooperation technology under the mixed driving environment of a network-connected vehicle and a person driving vehicle, wherein the number of the entrance road for the left turn, the straight run and the right turn can be dynamically and uniformly distributed according to the number of the network-connected vehicles for the left turn, the straight run and the right turn which are expected to be turned to be in an upstream road section of the intersection in a current signal period T in real time, road resources can be utilized to the greatest extent, the queuing length of the vehicle is reduced, the vehicle delay is reduced, and the traffic capacity of the intersection is improved.
2. According to the invention, a dual-parking-line control idea is adopted, a parking line at an intersection is used as a network-connected vehicle parking line, the queuing length of the network-connected vehicle at a special entrance road for left turning, straight running and right turning in a current signal period T is calculated to further calculate an intelligent luminous spike line number k, and the intelligent luminous spike line k is lightened as the parking line of the network-connected vehicle at the intersection in the period, so that the network-connected vehicle can be ensured to rapidly start in a queue when green light is generated, and the network-connected vehicle can be simultaneously started when empty, so that the green light loss time caused by the starting of the network-connected vehicle when green light is generated is counteracted, the overall delay of the vehicle is reduced, and the traffic capacity of the intersection is improved.
3. According to the intelligent luminous spike wires, the parking line position information of the driving vehicles is transmitted to the driving vehicle drivers through the intelligent luminous spike wires which are arranged in parallel at equal intervals on the road section at the upstream of the intersection, so that the driving vehicles running on the road can more intuitively and timely receive the parking line position information of the driving vehicles, the mutual interference between the networked vehicles and the driving vehicles caused by untimely and inaccurate information transmission is avoided, and the traffic flow running safety and the road passing efficiency are improved.
4. The invention determines the phase release sequence according to the quantity of the entrance tracks distributed in each direction, so that the network-connected vehicles occupying the most entrance tracks at each period are released first, more space is reserved for driving vehicles by later people, and the traffic efficiency is further improved.
Drawings
FIG. 1 is a general flow chart of the present invention;
fig. 2 is a schematic diagram of the arrangement of the special entrance way of the internet-enabled vehicle.
Detailed Description
In this embodiment, as shown in fig. 2, a method for dynamically controlling a special entrance road of a signalized intersection in a hybrid driving environment is to provide traffic lights on the intersection; setting the leftmost lane of the upstream section of the intersection as a special channel for network connection; the internet-connected vehicle is an internet-connected automatic driving vehicle; a parking line is arranged at the intersection, and luminous spike lines are arranged in parallel at equal intervals on the upstream road section behind the parking line; the rear part of the parking line is a network-connected vehicle parking waiting area, and the rear part of the network-connected vehicle parking waiting area is a human driving parking waiting area;
as shown in fig. 1, a method for dynamically controlling a special entrance road of a signalized intersection in a hybrid driving environment is performed according to the following steps:
step 1, acquiring the number of Internet-connected vehicles and the total vehicles on the upstream road section of the signalized intersection by using intelligent road side equipment and geomagnetic vehicle detectors which are arranged on the upstream road section of the signalized intersectionThe numbers are respectively marked as C T 、Q T The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a left-turn inlet channel saturated flow of a signal intersection, and marking the saturated flow as G z The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the saturated flow of a straight inlet channel of a signal intersection, and marking the saturated flow as G s The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a right turn inlet road saturation flow of a signal intersection, and marking the saturation flow as G r The method comprises the steps of carrying out a first treatment on the surface of the Acquiring left-turn green light time, straight-turn green light time and right-turn green light time of a signal intersection in a current signal lamp period T, and respectively marking the left-turn green light time, the straight-turn green light time and the right-turn green light time as T z 、T s 、T r ；
Step 2, calculating the internet surfing and vehicle connection proportion of the upstream road section of the signalized intersection
Figure BDA0003593818650000061
Calculating the left-turn green light time of the intranet train in the current signal lamp period T>
Figure BDA0003593818650000062
Calculating the green light time of the current signal lamp period T in-network train straight running +.>
Figure BDA0003593818650000063
Calculating the right turn green light time of the intranet train in the current signal lamp period T>
Figure BDA0003593818650000064
Step 3, using intelligent road side equipment installed on the road to interact with a vehicle-road communication system arranged on the network-connected vehicles in a short-range wireless communication mode, so as to collect the number of the network-connected vehicles which are expected to turn left, expected to go straight and expected to turn right in the upstream road section of the intersection in the current signal lamp period T, and respectively recording as follows
Figure BDA0003593818650000065
Step 4, taking the shortest queuing length of the net-linked vehicles at the intersection as an optimization target, taking the number of the net-linked vehicles which are expected to turn left, expected to go straight and expected to turn right in an upstream road section of the intersection in the current period T as a basis, reasonably distributing the number of special entrance ways for the expected left turn of the net-linked vehicles, the expected straight run of the net-linked vehicles and the expected right turn of the net-linked vehicles at the intersection by utilizing corresponding algorithms, wherein the specific algorithms are carried out according to the following steps;
step 4.1, calculating the average quantity q of net vehicles entering each entrance road of the intersection in the current signal lamp period T by using the step (1) T ；
Figure BDA0003593818650000071
In the formula (1), n represents the number of entrance ways of an intersection, wherein n is more than or equal to 4;
step 4.2, calculating the number of special entrance ways which are allocated to the expected left-turn network coupling for the first time in the current signal lamp period T
Figure BDA0003593818650000072
The number of special entrances which are allocated for the first time to the desired network train>
Figure BDA0003593818650000073
The number of special entrances which are allocated for the first time to the desired right-turn network train>
Figure BDA0003593818650000074
Wherein (1)>
Figure BDA0003593818650000075
Is a downward rounding function;
step 4.3 calculating the number of remaining entrance tracks in the current signal lamp period T by using the method (2)
Figure BDA0003593818650000076
Figure BDA0003593818650000077
If it is
Figure BDA0003593818650000078
Define the first intermediate parameter +.>
Figure BDA0003593818650000079
If it is
Figure BDA00035938186500000710
Make->
Figure BDA00035938186500000711
Wherein (1)>
Figure BDA00035938186500000712
For the number of special entrance ways of the expected left turn of the intranet train in the signal lamp period T, let +.>
Figure BDA00035938186500000713
Wherein (1)>
Figure BDA00035938186500000714
For the number of special entrance ways for the expected straight running of the network-connected vehicles in the signal lamp period T, the following is made
Figure BDA00035938186500000715
Wherein (1)>
Figure BDA00035938186500000716
The number of special entrance ways for the expected right turn of the network vehicle in the signal lamp period T;
if it is
Figure BDA00035938186500000717
Make->
Figure BDA00035938186500000718
Let->
Figure BDA00035938186500000719
Let->
Figure BDA00035938186500000720
If it is
Figure BDA00035938186500000721
Make->
Figure BDA00035938186500000722
Let->
Figure BDA00035938186500000723
Let->
Figure BDA00035938186500000724
If it is
Figure BDA00035938186500000725
Make->
Figure BDA00035938186500000726
If it is
Figure BDA00035938186500000727
Defining a second intermediate parameter->
Figure BDA00035938186500000728
If it is
Figure BDA00035938186500000729
Make->
Figure BDA00035938186500000730
Let->
Figure BDA00035938186500000731
Let->
Figure BDA00035938186500000732
If it is
Figure BDA00035938186500000733
Make->
Figure BDA00035938186500000734
Let->
Figure BDA00035938186500000735
Let->
Figure BDA00035938186500000736
If it is
Figure BDA0003593818650000081
Make->
Figure BDA0003593818650000082
Let->
Figure BDA0003593818650000083
Let->
Figure BDA0003593818650000084
/>
If it is
Figure BDA0003593818650000085
Defining a third intermediate parameter->
Figure BDA0003593818650000086
If it is
Figure BDA0003593818650000087
Make->
Figure BDA0003593818650000088
Let->
Figure BDA0003593818650000089
Let->
Figure BDA00035938186500000810
If it is
Figure BDA00035938186500000811
Make->
Figure BDA00035938186500000812
Let->
Figure BDA00035938186500000813
Let->
Figure BDA00035938186500000814
If it is
Figure BDA00035938186500000815
Make->
Figure BDA00035938186500000816
Let->
Figure BDA00035938186500000817
Let->
Figure BDA00035938186500000818
Step 5, solving the queuing length of each special entrance way of the network-connected vehicle in the network-connected vehicle parking waiting area;
step 5.1, calculating the queuing length of a special entrance way for the expected left turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (3)
Figure BDA00035938186500000819
Figure BDA00035938186500000820
In the formula (3), l represents the length of the internet-connected vehicle, S c Representing the safety distance of the internet-connected vehicle when the vehicle is parked;
step 5.2, calculating the queuing length of a special entrance way for the network-connected vehicle to expect straight running in the network-connected vehicle parking waiting area in the current signal lamp period T by using the step (4)
Figure BDA00035938186500000821
Figure BDA00035938186500000822
Step 5.3 calculating the queuing length of the special entrance way for the expected right turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (5)
Figure BDA00035938186500000823
Figure BDA00035938186500000824
Step 6, calculating the distance between the safe position of the driver driving and parking waiting area and the parking line in the current signal lamp period T by using the step 6
Figure BDA00035938186500000825
Figure BDA00035938186500000826
In the formula (6), w is a safety gap when the network-connected vehicle changes from a network-connected vehicle special channel to other entrance channels;
step 7, judging the number k of the luminous spike line in the current signal lamp period T by using the step 7:
Figure BDA0003593818650000091
in the formula (7), a represents the interval distance between the luminous spike lines;
step 8, lighting a kth luminous spike line in a current period light period T and taking the kth luminous spike line as a stopping line of a starting position of a driving and stopping waiting area of a person so as to prompt the driving of the person who will reach an intersection to wait for a green light to pass at the position;
step 9, determining the lighting phase sequence of the traffic lights in the current signal light period T so as to release vehicles at the intersection:
if it is
Figure BDA0003593818650000092
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, straight-going phase and right-turn phase;
if it is
Figure BDA0003593818650000093
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, right-turn phase and straight-going phase;
if it is
Figure BDA0003593818650000094
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially a straight phase, a left turn phase and a right turn phase;
if it is
Figure BDA0003593818650000095
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially a straight phase, a right turn phase and a left turn phase;
if it is
Figure BDA0003593818650000096
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, left-turn phase and straight-going phase;
if it is
Figure BDA0003593818650000097
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, straight-going phase and left-turn phase.
Further described, the dynamic control method for the special entrance lane of the signalized intersection in the mixed driving environment is characterized in that when the green light in the current signal light period T is put, the network-connected vehicles which are additionally arrived in the green light release direction are queued on the special channel of the network-connected vehicles, and the green light in the current period is ended and then enters the special entrance lane to be queued for the green light release in the next period; the hybrid driving environment is that the network-connected automatic driving vehicle and the man driving vehicle are in hybrid driving.

Claims (1)

1. A dynamic control method of a special entrance road of a signalized intersection in a hybrid driving environment is characterized in that a traffic signal lamp is arranged on the intersection; setting the leftmost lane of the upstream section of the intersection as a special channel for network connection; the internet-connected vehicle is an internet-connected automatic driving vehicle; a parking line is arranged at the intersection, and luminous spike lines are arranged in parallel at equal intervals on an upstream road section behind the parking line; the rear part of the parking line is a network-connected vehicle parking waiting area, and the rear part of the network-connected vehicle parking waiting area is a human driving parking waiting area; the dynamic control method comprises the following steps:
step 1, acquiring the number of Internet-connected vehicles and the number of total vehicles on the upstream road section of the signalized intersection, which are respectively recorded as C T 、Q T The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a left-turn inlet channel saturated flow of a signal intersection, and marking the saturated flow as G z The method comprises the steps of carrying out a first treatment on the surface of the Obtaining the saturated flow of a straight inlet channel of a signal intersection, and marking the saturated flow as G s The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a right turn inlet road saturation flow of a signal intersection, and marking the saturation flow as G r The method comprises the steps of carrying out a first treatment on the surface of the Acquiring left-turn green light time, straight-turn green light time and right-turn green light time of a signal intersection in a current signal lamp period T, and respectively marking the left-turn green light time, the straight-turn green light time and the right-turn green light time as T z 、T s 、T r ；
Step 2, calculating the internet surfing and vehicle connection proportion of the upstream road section of the signalized intersection
Figure FDA0003593818640000011
Calculating the left-turn green light time of the intranet train in the current signal lamp period T>
Figure FDA0003593818640000012
Calculating the green light time of the current signal lamp period T in-network train straight running +.>
Figure FDA0003593818640000013
Calculating the right turn green light time of the intranet train in the current signal lamp period T>
Figure FDA0003593818640000014
Step 3, collecting the number of net vehicles expected to turn left, expected to go straight and expected to turn right in the upstream road section of the intersection in the current signal lamp period T, and respectively recording as
Figure FDA0003593818640000015
Step 4, distributing the number of special entrance ways required by the network-connected vehicles with expected left turn, expected straight run and expected right turn at the intersection in the current signal lamp period T;
step 4.1, calculating the average quantity q of net vehicles entering each entrance road of the intersection in the current signal lamp period T by using the step (1) T ；
Figure FDA0003593818640000016
In the formula (1), n represents the number of entrance ways of an intersection, wherein n is more than or equal to 4;
step 4.2, calculating the number of special entrance ways which are allocated to the expected left-turn network coupling for the first time in the current signal lamp period T
Figure FDA0003593818640000017
The number of special entrances which are allocated for the first time to the desired network train>
Figure FDA0003593818640000018
The number of special entrances which are allocated for the first time to the desired right-turn network train>
Figure FDA0003593818640000019
Wherein (1)>
Figure FDA00035938186400000110
Is a downward rounding function;
step 4.3 calculating the number of remaining entrance tracks in the current signal lamp period T by using the method (2)
Figure FDA0003593818640000021
Figure FDA0003593818640000022
If it is
Figure FDA0003593818640000023
Define the first intermediate parameter +.>
Figure FDA0003593818640000024
If it is
Figure FDA0003593818640000025
Make->
Figure FDA0003593818640000026
Wherein (1)>
Figure FDA0003593818640000027
For the number of special entrance ways of the expected left turn of the intranet train in the signal lamp period T, let +.>
Figure FDA0003593818640000028
Wherein (1)>
Figure FDA0003593818640000029
For the number of special import tracks of the expected straight running of the network train in the signal lamp period T, let +.>
Figure FDA00035938186400000210
Wherein (1)>
Figure FDA00035938186400000211
The number of special entrance ways for the expected right turn of the network vehicle in the signal lamp period T;
if it is
Figure FDA00035938186400000212
Make->
Figure FDA00035938186400000213
Let->
Figure FDA00035938186400000214
Let->
Figure FDA00035938186400000215
If it is
Figure FDA00035938186400000216
Make->
Figure FDA00035938186400000217
Let->
Figure FDA00035938186400000218
Let->
Figure FDA00035938186400000219
If it is
Figure FDA00035938186400000220
Make->
Figure FDA00035938186400000221
If it is
Figure FDA00035938186400000222
Defining a second intermediate parameter->
Figure FDA00035938186400000223
If it is
Figure FDA00035938186400000224
Make->
Figure FDA00035938186400000225
Let->
Figure FDA00035938186400000226
Let->
Figure FDA00035938186400000227
If it is
Figure FDA00035938186400000228
Make->
Figure FDA00035938186400000229
Let->
Figure FDA00035938186400000230
Let->
Figure FDA00035938186400000231
If it is
Figure FDA00035938186400000232
Make->
Figure FDA00035938186400000233
Let->
Figure FDA00035938186400000234
Let->
Figure FDA00035938186400000235
If it is
Figure FDA00035938186400000236
Defining a third intermediate parameter->
Figure FDA00035938186400000237
If it is
Figure FDA00035938186400000238
Make->
Figure FDA00035938186400000239
Let->
Figure FDA00035938186400000240
Let->
Figure FDA00035938186400000241
If it is
Figure FDA00035938186400000242
Make->
Figure FDA00035938186400000243
Let->
Figure FDA00035938186400000244
Let->
Figure FDA00035938186400000245
If it is
Figure FDA0003593818640000031
Make->
Figure FDA0003593818640000032
Let->
Figure FDA0003593818640000033
Let->
Figure FDA0003593818640000034
Step 5, solving the queuing length of each special entrance way of the network-connected vehicle in the parking waiting area of the network-connected vehicle;
step 5.1, calculating the queuing length of a special entrance way for the expected left turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (3)
Figure FDA0003593818640000035
Figure FDA0003593818640000036
In the formula (3), l represents the length of the internet-connected vehicle, S c Representing the safety distance of the internet-connected vehicle when the vehicle is parked;
step 5.2, calculating the queuing length of a special entrance way for the network-connected vehicle to expect straight running in the network-connected vehicle parking waiting area in the current signal lamp period T by using the step (4)
Figure FDA0003593818640000037
/>
Figure FDA0003593818640000038
Step 5.3 calculating the queuing length of the special entrance way for the expected right turn of the internet-enabled vehicle in the internet-enabled vehicle parking waiting area in the current signal lamp period T by using the step (5)
Figure FDA0003593818640000039
Figure FDA00035938186400000310
Step 6, calculating the distance between the safe position of the people driving and parking waiting area and the parking line in the current signal lamp period T by using the step 6
Figure FDA00035938186400000311
Figure FDA00035938186400000312
In the formula (6), w is a safety gap when the network-connected vehicle changes from a network-connected vehicle special channel to other entrance channels;
step 7, judging the number k of the luminous spike line in the current signal lamp period T by using the step 7:
Figure FDA00035938186400000313
in the formula (7), a represents the interval distance between the luminous spike lines;
step 8, lighting a kth luminous spike line in a current signal lamp period T and taking the kth luminous spike line as a stopping line of the starting position of the waiting area for driving and stopping of the person;
step 9, determining the lighting phase sequence of the traffic lights in the current signal light period T so as to release the vehicles at the intersection:
if it is
Figure FDA0003593818640000041
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, straight-going phase and right-turn phase;
if it is
Figure FDA0003593818640000042
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially left-turn phase, right-turn phase,A straight phase;
if it is
Figure FDA0003593818640000043
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially a straight phase, a left turn phase and a right turn phase;
if it is
Figure FDA0003593818640000044
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially a straight phase, a right turn phase and a left turn phase;
if it is
Figure FDA0003593818640000045
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, left-turn phase and straight-going phase;
if it is
Figure FDA0003593818640000046
The lighting sequence of the traffic signal lamp in the current signal lamp period T is sequentially right-turn phase, straight-going phase and left-turn phase. />
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