CN116013076A - Dynamic control method for main line vehicle track changing in rapid transit confluence region - Google Patents
Dynamic control method for main line vehicle track changing in rapid transit confluence region Download PDFInfo
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Abstract
The invention discloses a dynamic control method for changing tracks of a main line vehicle in a rapid road merging area, which comprises the following steps: 1. acquiring information of a road and a vehicle through intelligent road side equipment; 2. transmitting the acquired data to a control center; 3. calculating the density of each lane of the confluence region road section at the time t+1 through an algorithm; 4. comparing the densities of different lanes with the optimal density, and determining a control scheme; 5. and circulating the steps to determine the control scheme at the next moment. According to the invention, the intelligent road side detector is used for acquiring the information of the road and the vehicle, then the density of each lane of the road section of the converging region is calculated, and different control schemes are dynamically determined according to different densities, so that unnecessary lane changing times can be reduced, the traffic flow on the lane can be averaged, the delay time of the vehicle can be reduced, the running efficiency of the vehicle can be improved, the accident rate of the road section of the converging region is further reduced, and the safety level of the road is improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic control, in particular to a dynamic control method for changing tracks of a main line vehicle in a rapid transit merging area.
Background
The urban expressway bears the increasing motor vehicle flow, serves the needs of citizens for long-distance travel, and plays an important role in solving the traffic jam of the city. In an urban traffic travel system, an expressway interchange junction area is a main node for connecting an expressway with other roads. The running characteristics of the motor vehicles in the converging region are complex, and the vehicles are easy to influence each other; and the construction forms are different, and traffic accidents are often easy to occur. In urban traffic systems, expressway junction areas are the primary nodes connecting expressways with other roads. It is noted that the split-merging region is a main region for judging whether or not the traffic flow is stable, and the merging region is a region where the traffic flows merge, and has the greatest influence on the traffic flow.
Before entering the main line, the ramp vehicles all pass through the acceleration lane, and the speed reaches the regulated speed of the main line, and meanwhile, the running condition of the main line vehicles is noted. When the traffic is merged and enters the main line, the overall speed of the traffic flow is reduced, so that the density of the traffic is increased, and the probability of traffic collision is further improved. Each confluence region has different geometric structures and traffic flow, and traffic safety is different, so that the traffic jam can be caused by disordered traffic order, and accidents can be seriously and even caused.
Disclosure of Invention
The invention provides a dynamic control method for changing tracks of a main line vehicle in a converging zone of a rapid transit, which aims to reduce unnecessary track changing times and average traffic flow on a lane, thereby reducing delay time of the vehicle, improving running efficiency of the vehicle, reducing accident rate of a road section in the converging zone and improving safety level of the road.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention relates to a dynamic control method for changing tracks of a main line vehicle in a rapid transit confluence region, which is characterized by comprising the following steps of:
dividing a rapid road merging area at a ramp into 3 sections and numbering the sections in sequence, wherein any section number is defined as i, i=1, 2 and 3, when i=1 represents an upstream section of the rapid road merging area, i=2 represents a middle section of the rapid road merging area and is communicated with the ramp, when i=3 represents a downstream section of the rapid road merging area, the lanes on the i section are numbered sequentially from outside to inside, and the number of any lane is defined as j, j=1, 2 and 3;
intelligent luminous road lines are respectively arranged on two sides of a road traffic marking between every two lanes of the 2 nd road section; the intelligent luminous road line on one side of the road traffic marking between the 1 st lane and the 2 nd lane of the 2 nd road section is marked as L 1,2 The intelligent luminous track line on the other side is marked as R 1,2 The intelligent luminous road line at one side of the road traffic marking between the 2 nd lane and the 3 rd lane of the 2 nd road section is marked as L 2,3 The intelligent luminous track line on the other side is marked as R 2,3 ；
Let any one time be t, the interval between two adjacent times be Deltat, and the length of the ith road section be l i ；
Step 2, acquiring the number of vehicles on each lane and ramp at the moment t by using intelligent road side detectors arranged on each road section and ramp, wherein the number of vehicles on the jth lane at the moment t on the ith road section is recorded as n i,j (t), the number of vehicles on the ramp at time t is recorded as n R (t), rampThe length of (2) is denoted as l R ；
Step 3, calculating the density of each lane on the middle road section of the expressway junction area;
step 3.1, calculating the density K of the jth lane on the ith road section at the time t according to the step (1) i,j (t)；
Step 3.2, calculating the flow Q of the jth lane on the ith road section at the time t according to the step (2) i,j (t)；
Step 3.3, calculating the flow Q of the ramp at the time t according to the step (3) R (t)；
Step 3.4, calculating the congestion wave speed omega of the jth lane at the moment t on the ith road section according to the step (4) i,j (t)；
In the formula (4), Q i+1,j (t) represents the flow of the jth lane on the (i+1) th road section at the time t; k (K) i+1,j (t) represents the density of the jth lane on the (i+1) -th road section at the time t;
step 3.5, calculating the traffic flow q transmitted by the jth lane on the ith road segment to the downstream road segment at the time t according to the step (5) i,j (t)；
q i,j (t)＝min{V f ×K i,j (t),ω i,j (t)×(q i+1,jam (t)-K i+1,j (t))}(5)
In the formula (5), V f The free flow speed of the road segment is represented,q i+1,jam (t) represents the blocking density of the i+1th road segment, i+.3;
step 3.6, calculating the density K of the 3 rd lane on the 2 nd road section at the time t+1 according to the step (6) 2,3 (t+1)；
In the formula (6), K 2,3 (t) represents the density of the 3 rd lane on the 2 nd road section at the time t, q 1,3 (t) represents the traffic flow of the 3 rd lane on the 1 st road segment transmitted to the downstream road segment at the time t, q 2,3 (t) represents the traffic flow of the 3 rd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, l 2 Representing the length of the i-th road segment;
step 3.7, calculating the density K of the 2 nd lane on the 2 nd road section at the time t+1 according to the step (7) 2,2 (t+1)；
In the formula (6), K 2,2 (t) represents the density of the 2 nd lane on the 2 nd road section at the time t, q 2,2 (t) represents the traffic flow of the 2 nd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, q 1,2 (t) represents the flow of traffic transmitted from the 2 nd lane on the 1 st section to the downstream section at the time t;
step 3.8, calculating the density K of the 1 st lane on the 2 nd road section at the time t+1 according to the step (8) 2,1 (t+1)；
In the formula (8), lambda (t) represents the vehicle afflux rate K on the time t ramp 2,1 (t) represents the density of the 1 st lane on the 2 nd road section at the time t, q 1,1 (t) represents the traffic flow of the 1 st lane on the 1 st road segment transmitted to the downstream road segment at time t, q 2,1 (t) represents the 2 nd wayThe 1 st lane on the segment transmits the traffic flow to the downstream road segment at the time t;
step 4, dynamically determining a track changing scheme of the main line vehicle;
judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m All intelligent luminous road lines do not emit light at the moment;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 And L 2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 1 st lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And L 2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 And R is 1,2 The light is used for prompting the vehicle on the 3 rd lane to prohibit the lane change to the 2 nd lane, the vehicle on the 2 nd lane to prohibit the lane change to the 1 st lane,vehicles on the 1 st lane are prohibited from changing lanes to the 2 nd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 And R is 2,3 The light is used for prompting that the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 、L 2,3 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 、R 1,2 And R is 2,3 The light is used for prompting that all lanes are forbidden to change lanes;
and 5, assigning t+1 to t, returning to the step 2 for sequential execution, and continuing to judge the condition that the road section of the confluence region is forbidden to change the road at the next moment.
The electronic device of the invention comprises a memory and a processor, wherein the memory is used for storing a program for supporting the processor to execute the dynamic control method, and the processor is configured to execute the program stored in the memory.
The invention relates to a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, performs the steps of the dynamic control method.
Compared with the prior art, the invention has the beneficial technical effects that:
1. according to the invention, the intelligent road side detector is used for acquiring data, calculating the density of each lane of the road section of the converging region, comparing the density of each lane with the optimal density, determining a scheme for prohibiting lane changing, reducing unnecessary lane changing times, averaging the flow on the lanes, reducing the delay time of vehicles, improving the running efficiency of the vehicles, reducing the accident rate of the road section of the converging region and improving the safety level of the road.
2. The invention divides the road section into three sections, considers the difference between each lane, and further considers all possible schemes, so that the proposed algorithm is more practical, and the applicability of the intelligent luminous track line algorithm for dynamically determining the main line section of the rapid road is improved.
3. The invention dynamically changes the lane changing rule according to whether the intelligent luminous lane line emits light or not, and the dynamic change of the intelligent luminous lane line considers the direction change, thereby avoiding the lane changing of the vehicle on the low-density lane to the high-density lane and providing a certain theoretical basis for setting the road mark in the rapid transit junction region.
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FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a control loop diagram of the present invention;
FIG. 3 is a schematic diagram of a control road according to the present invention.
Detailed Description
In this embodiment, as shown in fig. 1, a dynamic control method for changing tracks of a main line vehicle in a rapid transit merging area includes the following steps:
dividing a rapid road merging area at a ramp into 3 sections and numbering the sections in sequence, wherein any section number is defined as i, i=1, 2 and 3, when i=1 represents an upstream section of the rapid road merging area, i=2 represents a middle section of the rapid road merging area and is communicated with the ramp, when i=3 represents a downstream section of the rapid road merging area, the lanes on the i section are numbered sequentially from outside to inside, and the number of any lane is defined as j, j=1, 2 and 3;
intelligent luminous road lines are respectively arranged on two sides of a road traffic marking between every two lanes of the 2 nd road section; 1 st of the 2 nd road sectionOne side intelligent luminous road line of the road traffic marking between the lane and the 2 nd lane is marked as L 1,2 The intelligent luminous track line on the other side is marked as R 1,2 The intelligent luminous road line at one side of the road traffic marking between the 2 nd lane and the 3 rd lane of the 2 nd road section is marked as L 2,3 The intelligent luminous track line on the other side is marked as R 2,3 ；
Let any one time be t, the interval between two adjacent times be Deltat, and the length of the ith road section be l i ；
Step 2, acquiring the number of vehicles on each lane and ramp at the moment t by using intelligent road side detectors arranged on each road section and ramp, wherein the number of vehicles on the jth lane at the moment t on the ith road section is recorded as n i,j (t), the number of vehicles on the ramp at time t is recorded as n R (t) the length of the ramp is denoted as l R ；
Step 3, calculating the density of each lane on the middle road section of the expressway junction area;
step 3.1, calculating the density K of the jth lane on the ith road section at the time t according to the step (1) i,j (t)；
Step 3.2, calculating the flow Q of the jth lane on the ith road section at the time t according to the step (2) i,j (t)；
Step 3.3, calculating the flow Q of the ramp at the time t according to the step (3) R (t)；
Step 3.4, calculating the congestion wave speed omega of the jth lane at the moment t on the ith road section according to the step (4) i,j (t)；
In the formula (4), Q i+1,j (t) represents the flow of the jth lane on the (i+1) th road section at the time t; k (K) i+1,j (t) represents the density of the jth lane on the (i+1) -th road section at the time t;
step 3.5, calculating the traffic flow q transmitted by the jth lane on the ith road segment to the downstream road segment at the time t according to the step (5) i,j (t)；
q i,j (t)＝min{V f ×K i,j (t),ω i,j (t)×(q i+1,jam (t)-K i+1,j (t))}(5)
In the formula (5), V f Represents the free flow speed of the road section, q i+1,jam (t) represents the blocking density of the i+1th road segment, i+.3;
step 3.6, calculating the density K of the 3 rd lane on the 2 nd road section at the time t+1 according to the step (6) 2,3 (t+1)；
In the formula (6), K 2,3 (t) represents the density of the 3 rd lane on the 2 nd road section at the time t, q 1,3 (t) represents the traffic flow of the 3 rd lane on the 1 st road segment transmitted to the downstream road segment at the time t, q 2,3 (t) represents the traffic flow of the 3 rd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, l 2 Representing the length of the i-th road segment;
step 3.7, calculating the density K of the 2 nd lane on the 2 nd road section at the time t+1 according to the step (7) 2,2 (t+1)；
In the formula (6), K 2,2 (t) represents the density of the 2 nd lane on the 2 nd road section at the time t, q 2,2 (t)Representing the traffic flow of the 2 nd lane on the 2 nd road segment transmitted to the downstream road segment at time t, q 1,2 (t) represents the flow of traffic transmitted from the 2 nd lane on the 1 st section to the downstream section at the time t;
step 3.8, calculating the density K of the 1 st lane on the 2 nd road section at the time t+1 according to the step (8) 2,1 (t+1)；
In the formula (8), lambda (t) represents the vehicle afflux rate K on the time t ramp 2,1 (t) represents the density of the 1 st lane on the 2 nd road section at the time t, q 1,1 (t) represents the traffic flow of the 1 st lane on the 1 st road segment transmitted to the downstream road segment at time t, q 2,1 (t) represents the traffic flow of the 1 st lane on the 2 nd road segment transmitted to the downstream road segment at the time t;
step 4, dynamically determining a track changing scheme of the main line vehicle;
as shown in fig. 2, for the cycle chart of the control, it is determined whether the main line intelligent light-emitting track line emits light (this is that the intelligent light-emitting track line emits light indicating that the vehicle can allow the track change, and that the intelligent light-emitting track line does not emit light indicating that the vehicle does not allow the track change).
Judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m All intelligent luminous road lines do not emit light at the moment; the lane changing is allowed for all lanes;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 And L 2,3 The light is used for prompting the vehicle on the 3 rd lane to prohibit changing to the 2 nd lane, and the vehicle on the 2 nd lane is prohibitedStopping the lane change to the 1 st lane; intelligent luminous lane line R 1,2 And R is 2,3 No light is emitted, vehicles on the 1 st lane are allowed to change to the 2 nd lane, and the vehicles on the 2 nd lane are allowed to change to the 3 rd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And L 2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane; intelligent luminous lane line L 1,2 And R is 2,3 No light is emitted, vehicles on the 2 nd lane are allowed to change to the 1 st lane, and the vehicles on the 2 nd lane are allowed to change to the 3 rd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane; intelligent luminous lane line L 1,2 And L 2,3 No light is emitted, vehicles on the 2 nd lane are allowed to change to the 1 st lane, and vehicles on the 3 rd lane are allowed to change to the 2 nd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 And R is 1,2 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane; intelligent luminous lane line R 2,3 No light is emitted, and the vehicle on the 2 nd lane is allowed to change to the 3 rd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 And R is 2,3 The luminous device is used for prompting the vehicle on the 2 nd lane to prohibit lane changing to the 1 st lane, and the 2 nd vehicleVehicles on the lane are prohibited from changing lanes to the 3 rd lane; intelligent luminous lane line R 1,2 And L 2,3 No light is emitted, vehicles on the 1 st lane are allowed to change to the 2 nd lane, and vehicles on the 3 rd lane are allowed to change to the 2 nd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 、L 2,3 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane; intelligent luminous lane line L 1,2 No light is emitted, and the vehicle on the 2 nd lane is allowed to change to the 1 st lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 、R 1,2 And R is 2,3 The light is used for prompting that all lanes are forbidden to change lanes;
and 5, assigning t+1 to t, returning to the step 2 for sequential execution, and continuing to judge the condition that the road section of the confluence region is forbidden to change the road at the next moment.
In this embodiment, an electronic device includes a memory for storing a program for supporting the processor to execute the dynamic control method described above, and a processor configured to execute the program stored in the memory.
In this embodiment, a computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the dynamic control method described above.
As shown in fig. 3, this embodiment 1: in K m For example, =50/km, K is calculated by the algorithm above 2,1 (t+1) =40/km, K 2,2 (t+1) =60/km and K 2,3 (t+1) =30/km.
Judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
K 2,1 (t+1)＝40＜K m ＝50，K 2,2 (t+1)＝60＞K m =50 and K 2,3 (t+1)＝30＜K m =50, then the intelligent light-emitting track line R is controlled 1,2 And L 2,3 And the light is emitted, vehicles on the 1 lane are prohibited from changing lanes to the 2 lanes, vehicles on the 3 lanes are prohibited from changing lanes to the 2 lanes, and other lanes can be changed normally.
This example 2:
in K m For example, =50/km, K is calculated by the algorithm above 2,1 (t+1) =40/km, K 2,2 (t+1) =20/km and K 2,3 (t+1) =30/km.
Judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
K 2,1 (t+1)＝40＜K m ＝50，K 2,2 (t+1)＝20＜K m =50 and K 2,3 (t+1)＝30＜K m =50, at which time each road is clear, at which time no control is performed.
This example 3:
in K m For example, =50/km, K is calculated by the algorithm above 2,1 (t+1) =60/km, K 2,2 (t+1) =70/km and K 2,3 (t+1) =30/km.
Judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
K 2,1 (t+1)＝60＞K m ＝50，K 2,2 (t+1)＝70＞K m =50 and K 2,3 (t+1)＝30＜K m =50, then the intelligent light-emitting track line L is controlled 1,2 、L 2,3 And R is 1,2 And the light is emitted, the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, the vehicle on the 3 rd lane is forbidden to change to the 1 st lane and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, and other lanes can be changed normally.
This example 4: in K m For example, =50/km, K is calculated by the algorithm above 2,1 (t+1) =60/km, K 2,2 (t+1) =70/km and K 2,3 (t+1) =60/km.
Judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between: k (K) 2,1 (t+1)＝60＞K m ＝50，K 2,2 (t+1)＝70＞K m =50 and K 2,3 (t+1)＝60＞K m =50, then the intelligent light-emitting track line L is controlled 1,2 、L 2,3 、R 1,2 And R is 2,3 And (5) emitting light, and prohibiting lane changing of all lanes.
Claims (3)
1. A dynamic control method for changing tracks of a main line vehicle in a rapid transit merging area is characterized by comprising the following steps:
dividing a rapid road merging area at a ramp into 3 sections and numbering the sections in sequence, wherein any section number is defined as i, i=1, 2 and 3, when i=1 represents an upstream section of the rapid road merging area, i=2 represents a middle section of the rapid road merging area and is communicated with the ramp, when i=3 represents a downstream section of the rapid road merging area, the lanes on the i section are numbered sequentially from outside to inside, and the number of any lane is defined as j, j=1, 2 and 3;
intelligent luminous road lines are respectively arranged on two sides of a road traffic marking between every two lanes of the 2 nd road section; one side intelligent luminous road marking of road traffic marking between the 1 st lane and the 2 nd lane of the 2 nd road sectionIs L 1,2 The intelligent luminous track line on the other side is marked as R 1,2 The intelligent luminous road line at one side of the road traffic marking between the 2 nd lane and the 3 rd lane of the 2 nd road section is marked as L 2,3 The intelligent luminous track line on the other side is marked as R 2,3 ；
Let any one time be t, the interval between two adjacent times be Deltat, and the length of the ith road section be l i ；
Step 2, acquiring the number of vehicles on each lane and ramp at the moment t by using intelligent road side detectors arranged on each road section and ramp, wherein the number of vehicles on the jth lane at the moment t on the ith road section is recorded as n i,j (t), the number of vehicles on the ramp at time t is recorded as n R (t) the length of the ramp is denoted as l R ；
Step 3, calculating the density of each lane on the middle road section of the expressway junction area;
step 3.1, calculating the density K of the jth lane on the ith road section at the time t according to the step (1) i,j (t)；
Step 3.2, calculating the flow Q of the jth lane on the ith road section at the time t according to the step (2) i,j (t)；
Step 3.3, calculating the flow Q of the ramp at the time t according to the step (3) R (t)；
Step 3.4, calculating the congestion wave speed omega of the jth lane at the moment t on the ith road section according to the step (4) i,j (t)；
In the formula (4), Q i+1,j (t) represents the flow of the jth lane on the (i+1) th road section at the time t; k (K) i+1,j (t) represents the density of the jth lane on the (i+1) -th road section at the time t;
step 3.5, calculating the traffic flow q transmitted by the jth lane on the ith road segment to the downstream road segment at the time t according to the step (5) i,j (t)；
q i,j (t)＝min{V f ×K i,j (t),ω i,j (t)×(q i+1,jam (t)-K i+1,j (t))}(5)
In the formula (5), V f Represents the free flow speed of the road section, q i+1,jam (t) represents the blocking density of the i+1th road segment, i+.3;
step 3.6, calculating the density K of the 3 rd lane on the 2 nd road section at the time t+1 according to the step (6) 2,3 (t+1)；
In the formula (6), K 2,3 (t) represents the density of the 3 rd lane on the 2 nd road section at the time t, q 1,3 (t) represents the traffic flow of the 3 rd lane on the 1 st road segment transmitted to the downstream road segment at the time t, q 2,3 (t) represents the traffic flow of the 3 rd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, l 2 Representing the length of the i-th road segment;
step 3.7, calculating the density K of the 2 nd lane on the 2 nd road section at the time t+1 according to the step (7) 2,2 (t+1)；
In the formula (6), K 2,2 (t) represents the density of the 2 nd lane on the 2 nd road section at the time t, q 2,2 (t) represents the firstTraffic flow, q, carried by the 2 nd lane on the 2 nd road segment at time t to the downstream road segment 1,2 (t) represents the flow of traffic transmitted from the 2 nd lane on the 1 st section to the downstream section at the time t;
step 3.8, calculating the density K of the 1 st lane on the 2 nd road section at the time t+1 according to the step (8) 2,1 (t+1)；
In the formula (8), lambda (t) represents the vehicle afflux rate K on the time t ramp 2,1 (t) represents the density of the 1 st lane on the 2 nd road section at the time t, q 1,1 (t) represents the traffic flow of the 1 st lane on the 1 st road segment transmitted to the downstream road segment at time t, q 2,1 (t) represents the traffic flow of the 1 st lane on the 2 nd road segment transmitted to the downstream road segment at the time t;
step 4, dynamically determining a track changing scheme of the main line vehicle;
judging the density K of the 1 st lane on the 2 nd road section at the time t+1 2,1 (t+1), the density K of the 2 nd lane at the time t+1 2,2 Density K of (t+1) and 3 rd lanes at time t+1 2,3 (t+1) optimum Density K with road m Relationship between:
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m All intelligent luminous road lines do not emit light at the moment;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 And L 2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 1 st lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And L 2,3 Luminous for prompting on the 3 rd laneThe vehicle on the 1 st lane is prohibited from changing lanes to the 2 nd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)≤K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 And R is 1,2 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)≤K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 And R is 2,3 The light is used for prompting that the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)≤K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m Then the intelligent light-emitting track line R is controlled at the moment 1,2 、L 2,3 And R is 2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;
if K 2,1 (t+1)＞K m ，K 2,2 (t+1)＞K m And K 2,3 (t+1)＞K m At this time, the intelligent light-emitting track line L is controlled 1,2 、L 2,3 、R 1,2 And R is 2,3 The light is used for prompting that all lanes are forbidden to change lanes;
and 5, assigning t+1 to t, returning to the step 2 for sequential execution, and continuing to judge the condition that the road section of the confluence region is forbidden to change the road at the next moment.
2. An electronic device comprising a memory and a processor, wherein the memory is configured to store a program that supports the processor to perform the dynamic control method of claim 1, the processor being configured to execute the program stored in the memory.
3. A computer readable storage medium having a computer program stored thereon, characterized in that the computer program when run by a processor performs the steps of the dynamic control method according to claim 1.
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