CN116403406B - Guidance system and method for urban elevated expressway vehicle confluence - Google Patents

Guidance system and method for urban elevated expressway vehicle confluence Download PDF

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Publication number
CN116403406B
CN116403406B CN202310586535.0A CN202310586535A CN116403406B CN 116403406 B CN116403406 B CN 116403406B CN 202310586535 A CN202310586535 A CN 202310586535A CN 116403406 B CN116403406 B CN 116403406B
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vehicle
confluence
vehicles
main road
guidance
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CN116403406A (en
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任传祥
徐云瑞
尹唱唱
丁富江
任英伟
刘丹
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Shandong University of Science and Technology
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Shandong University of Science and Technology
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • 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
    • 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
    • G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
    • 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
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map

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  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a guidance system and a guidance method for merging of urban overhead expressway vehicles, wherein the guidance system comprises a merging guidance device and a vehicle-mounted device, the merging guidance device is arranged at the edge of a merging area which does not affect normal traffic, the vehicle-mounted device is arranged in a vehicle, the vehicle-mounted device is used for acquiring the running speed and the position of a vehicle in main road traffic and the speed and the position of a branch vehicle and transmitting the running speed and the position to the merging guidance device, the branch vehicle is merged into the main road traffic by combining with vehicle video information acquired by the merging guidance device, safe and efficient guidance is carried out on merging of the branch vehicle into the main road traffic according to a vehicle merging guidance related algorithm, and the voice module and the display module of the vehicle-mounted device are used for displaying the merging guidance to a driver of the branch road traffic and reminding related merging information of the driver of the main road traffic.

Description

Guidance system and method for urban elevated expressway vehicle confluence
Technical Field
The invention belongs to the technical field of intelligent transportation, and particularly relates to a guidance system and method for merging of urban overhead expressway vehicles.
Background
With the rapid development of economy, the process of urbanization is continuously accelerated, and the quantity of automobile maintenance is rapidly increased. The problem is that urban traffic roads are increasingly congested, and urban overhead roads are increasingly popular to solve the problem of traffic congestion. In the process of driving an overhead on a vehicle, when converging from a branch road to a main road, a driver mainly judges whether the vehicle can perform converging according to own subjective experience, and selects proper converging time. However, due to insufficient experience of drivers and different complex conditions of traffic environments, traffic accidents often occur, and when the traffic accidents bring about vehicle damage and casualties, overhead road traffic jams are caused, so that the traffic efficiency is greatly influenced.
With the increasing importance of the country on traffic safety, how to make drivers safely and efficiently merge from branches to overhead main roads becomes one important point of attention of research and technical engineering staff in the traffic field. At present, a guiding method is applied to optimization of vehicle confluence, but the optimization method is single, and can only guide the confluence under specific conditions. In particular, in a period of high traffic flow, the branches of the overhead road are converged to the main road, and a driver cannot obtain safe, effective and real-time converging guidance advice, so that the actual application effect of the converging optimization guidance method is poor.
Disclosure of Invention
The invention provides a merging guidance system and method for urban elevated expressway vehicles, which can provide merging guidance for branch merging vehicles by obtaining information such as vehicle speed, position from a merging area and the like, so that the branch vehicles can safely and efficiently merge.
The invention is realized by adopting the following technical scheme: the guidance system for the confluence of the urban overhead expressway vehicles comprises a confluence guidance device and a vehicle-mounted device, wherein the confluence guidance device and the vehicle-mounted device realize information interaction through a communication module, and the confluence guidance device is arranged at the edge of a confluence area which does not affect normal traffic and comprises a first microcontroller, and a first storage module and a video module which are connected with the first microcontroller; the vehicle-mounted device is arranged in a vehicle and comprises a second microcontroller, and a second storage module, a positioning module, a display module and a voice module which are connected with the second microcontroller.
The method comprises the steps of acquiring running speed and position information of a main road vehicle and a branch road vehicle through a vehicle-mounted device, transmitting the running speed and position information to a converging guiding device, acquiring video information of a vehicle entering the branch road through a video module by the converging guiding device, calculating relevant parameters required by converging guiding according to the speed and position information of the vehicle, carrying out safety guiding on converging of the branch road vehicle to the main road vehicle flow according to a vehicle converging guiding method, and reminding drivers of the branch road vehicle and the main road vehicle through a voice module and a display module of the vehicle-mounted device.
Further, the first microcontroller is used for generating confluence guidance information, the confluence guidance information comprises confluence guidance voice, a confluence guidance electronic map and a confluence prompt electronic map, and the first microcontroller comprises a parameter calculation module and a confluence electronic map generation module.
The parameter calculation module is used for calculating the distance and time of the vehicles in the branch road reaching the merging area and the distance and time of the vehicles in the main road traffic reaching the merging area by combining the speed and position information of the vehicles; the merging electronic map generation module is used for generating a merging instruction electronic map of the road vehicle and a merging prompt electronic map of the main road vehicle.
The process of generating the confluence guidance electronic map is as follows:
(1) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(2) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(3) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(4) Setting a confluence guidance arrow as an arrow layer, wherein the arrow layer comprises a directional green arrow and a directional red arrow;
overlapping the layers to obtain a confluence guidance electronic map; the confluence guidance electronic map changes in real time according to the vehicle flow layer, the vehicle layer and the arrow layer; the main road vehicle intervals at which the joining can be performed are indicated by green arrows, and the main road vehicle intervals at which the joining cannot be performed are indicated by red arrows;
The process of generating the confluence prompt electronic map is as follows:
(1) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(2) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(3) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(4) Setting a yellow arrow with a bypass vehicle confluence prompt as an arrow layer;
and superposing the layers formed by the layers to obtain the bypass vehicle confluence prompting electronic map, wherein the bypass vehicle confluence prompting electronic map changes in real time according to the vehicle flow layer, the vehicle layer and the arrow layer.
Further, the video module is used for judging whether the vehicles drive in on the branch road or not, and triggering and starting the confluence guidance work of the confluence guidance device according to the vehicle drive-in information on the branch road.
Further, the second microcontroller receives the confluence guidance information, broadcasts the confluence guidance information through the voice module, and displays the confluence guidance electronic map or the confluence prompt electronic map through the display module.
The invention further provides a guiding method of the guiding system for the urban elevated expressway vehicle confluence, which comprises the following steps:
Step 1, judging whether vehicles exist on a main road, and if the vehicles do not exist on the main road, guiding the safety confluence of the branch vehicles according to a voice prompt of 'please speed or accelerate the safety confluence' and a confluence guiding electronic map displayed on a branch vehicle display module; if the vehicle runs on the main road, executing the step 2;
step 2, if the traffic flow on the main road is driven to the converging area, a converging guiding device P is arranged to detect that n vehicles are on the main road, real-time information of the branch vehicles and traffic flow information of the main road vehicles are obtained through the converging guiding device, and the real-time information of the branch vehicles comprises speeds of the branch vehiclesAnd the position of the by-pass vehicleThe traffic information of the main road vehicles comprises the number n of the main road vehicles and the speed of the main road vehiclesAnd the position of the host vehicle；K=1, 2, …, n for the kth vehicle in the main road traffic;
(1) Calculating distance of the bypass vehicle A to the confluence regionAnd time ofVehicle in main road trafficDistance to confluence regionAnd time of；
(2) Calculating the time difference between two adjacent vehicles in the main road traffic flow reaching the confluence region, namely the time interval of the head, and setting as，，...，；
(3) Determining the maximum value of all the headway in the main road traffic flow, and setting the maximum value as Thereby obtaining the maximum time interval of the vehicle headFront and rear vehicles in the main road traffic flow are respectively set as、Wherein N is<=n；
Step 21, if > =，The minimum time for safe confluence of the vehicles is carried out;
at this time, the by-pass vehicle a may be a vehicle in the main-pass vehicle flowBefore reaching the merging area, the vehicles A safely merge according to the merging voice prompt information 'uniform safe merging' and the merging guidance electronic map, wherein the merging guidance electronic map comprises the positions of the overhead main road and the branches and the relation thereof, and the vehicles B on the main road 1 And green merge guide arrow, by-road vehicle position; main road vehicleAccording to attention-! The voice prompt information of vehicle entering and the confluence prompt electronic map are arranged in front to drive;
step 22, if < Description of vehicles with road vehicle A in Main road trafficThe safe confluence cannot be carried out before reaching the confluence region, and the maximum headway in the traffic flow is selectedAs the time interval of the merging of the branch vehicles A, the vehicles in the main road traffic flow are correspondingly detected at the moment、The following steps are:
step 221, ifThen it is explained that the road-branching vehicle A can be in the main road vehicle flowAfter passing through the merging region, vehicles in main road streamsCarrying out safe confluence before reaching the confluence region;
The bypass vehicle A carries out safe confluence according to the voice prompt information of 'please decelerate confluence' and the confluence guidance electronic map, wherein the confluence guidance electronic map comprises the positions of an overhead main road and a bypass and the relation of the positions, and the traffic flow and the vehicle B on the main road N-1 、B N Green merge guide arrow and red no merge guide arrow, and by-road vehicle position; main road vehicleAnd vehicle B N-1 Then according to attention-! The front part is provided with voice prompt information of vehicle entering and confluence prompt electronic map running;
step 222, ifThen it is indicated that the road vehicle A cannot be at the maximum headway of the main road trafficAt the moment, the branch vehicle A waits for the safe confluence according to the voice prompt information of confluence and the confluence guidance electronic map according to the 'please slow down and stop' sent by the confluence guidance device P;
the merging guidance electronic map comprises positions and relations of an overhead main road and a branch road, traffic flow on the main road, red merging guidance arrows and branch road vehicle position information.
Further, in the step 2:
(1) Calculating distance of the bypass vehicle A to the confluence regionSum time of：
（1）；
/ （2）；
wherein ,as the position of the confluent region, The inclination angle between the overhead branch and the ground is the inclination angle between the overhead branch and the ground;
(2) Calculating and calculating vehicles in main road trafficDistance to confluence regionAnd time of：
（3）；
/ （4）；
wherein ,is a vehicle in the main road trafficThe distance to the confluent region is set,is the position of the confluent region.
Further, in step 221, the merging guidance device P is sent the real-time speed and the position of the own vehicle after deceleration while the by-pass vehicle a decelerates and merges, and the real-time speed after deceleration is set as' the position after deceleration is'A'; the first microcontroller of the merging guide device P recalculates the time for reaching the merging region after the deceleration of the vehicle a' and vehicle at this timeTime to confluence regionAt this time, the merging vehicles are further guided, including the following casesConditions are as follows:
(1) If it is’Sending a voice prompt of 'please continue to slow down to carry out confluence' and a corresponding confluence guidance electronic map to the bypass vehicle A;
(2) If it is’Sending a voice prompt of accelerating to merge to the vehicle A and a corresponding merge guidance electronic map;
(3) If it is’And sending a voice prompt of requesting uniform speed to merge to the vehicle A and a corresponding merge guidance electronic map.
Further, in step 222, when the bypass vehicle a is parked and waiting for merging, the merging guiding device detects the newly entered traffic on the main road in real time, and sets the newly entered traffic as K=1, 2,3 once again, m is chosen, calculating the time difference of reaching the confluence area of all the front and rear adjacent vehicles of the vehicle flow, i.e. the headway, and is set asObtaining the maximum value of all the headway of the traffic flow by comparisonThereby obtaining the maximum value of the generated headwayIs a main road traffic stream of (1)The front and rear vehicles in the vehicle are、Wherein M is<=m；
(1) When (when)When the vehicle is in a road, the converging guiding device P sends voice prompt information of accelerating to finish converging and a corresponding converging guiding electronic map to the road vehicle A, wherein the converging guiding electronic map comprises positions of an overhead main road and a branch road and the relationship between the positions of the main road, the traffic flow on the main road and the vehicle C M-1 、C M Green merge guide arrow and red no merge guide arrow, and by-road vehicle position;
(2) When (when)When the vehicle is in a road, the merging guiding device P sends voice prompt information of 'please continue waiting' and a corresponding merging guiding electronic map to the road vehicle A, wherein the merging guiding electronic map comprises positions and relations of an overhead main road and a road, traffic on the main road, red traffic on the main road and a red traffic guiding arrow can not merge, and position information of the road vehicle;
the converging guiding device continues to detect new traffic continuously appearing on the main road, calculates and judges the headway of the vehicles in the traffic until the vehicles A on the branches finish converging and enter the main road.
Compared with the prior art, the invention has the advantages and positive effects that:
according to the scheme, the merging guidance device and the vehicle-mounted device are designed, merging guidance is given to the branch merging vehicles by sensing the branch vehicles and the traffic flow of the main road in real time and combining information such as the speed of the vehicles and the position of the distance merging area, and the merging guidance method is innovated, particularly, the branches of the overhead road merge into the main road in a period of high traffic flow, so that a driver can obtain safe, effective and real-time merging guidance advice, the safe and efficient merging of the branch vehicles is guaranteed, and reasonable guidance is given to the operation of the driver in time through voice broadcasting and screen display.
Drawings
Fig. 1 is a schematic block diagram of a confluence guidance device according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of the in-vehicle apparatus according to the embodiment of the present invention.
Fig. 3 is an application schematic diagram of the confluence guidance system according to the embodiment of the invention.
Fig. 4 is a schematic diagram of a merging guidance electronic map according to an embodiment of the invention.
Fig. 5 is a schematic diagram of a merging guidance electronic map according to an embodiment of the present invention.
Fig. 6 is a schematic diagram III of a confluence guidance electronic map according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a merge guidance electronic map according to an embodiment of the invention.
Fig. 8 is a schematic diagram of a merge guidance electronic map according to an embodiment of the invention.
Fig. 9 is a schematic diagram of a merging guidance electronic map according to an embodiment of the present invention.
Fig. 10 is a schematic diagram seven of a confluence guidance electronic map according to an embodiment of the present invention.
Fig. 11 is a schematic diagram eight of a confluence guidance electronic map according to an embodiment of the present invention.
Fig. 12 is a schematic flow chart of a confluence guidance method according to an embodiment of the invention.
Fig. 13 is a schematic diagram of a merging guidance electronic map according to an embodiment of the present invention.
Fig. 14 is a schematic diagram of a merging guidance electronic map according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be more readily understood, a further description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as described herein, and therefore the present invention is not limited to the specific embodiments disclosed below.
The embodiment 1, this embodiment proposes a guidance system for urban elevated highway vehicle confluence, including a confluence guidance device and a vehicle-mounted device, where the confluence guidance device and the vehicle-mounted device implement information interaction through a communication module, and the confluence guidance device is installed at an edge of a confluence area that does not affect normal traffic, as shown in fig. 1, and the confluence guidance device includes a first microcontroller, and a first communication module, a first storage module, a video module, and a first power module that are connected to the first microcontroller; the vehicle-mounted device is arranged in a vehicle, and as shown in fig. 2, comprises a second microcontroller, and a second storage module, a positioning module, a second communication module, a display module, a voice module and a second power module which are connected with the second microcontroller.
The functions of each module of the confluence guidance device are introduced as follows:
the first microcontroller is firstly responsible for collecting real-time vehicle information on a main road and a branch road in a communication range, and the collected information comprises: the merging guiding device stores the acquired information in the first storage module, such as the running speed and the position of the vehicle in the main road traffic and the vehicle position and the speed of the branch vehicles to be merged. In addition, the first microcontroller is also responsible for calculating real-time vehicle information in the first storage module, gives guidance information (including voice prompt information and an electronic map) of the merging of the branch vehicles according to a merging guidance method, and the merging guidance device transmits the merging guidance information to the branch vehicles through the first communication module so as to finish guiding a driver of the branch vehicles to carry out safe and efficient merging; and simultaneously, the prompting information of the occurrence of the confluence of the branch vehicles is also transmitted to a vehicle driver in the main road traffic flow through the first communication module. The video module is mainly used for providing a converging guiding device for judging whether a vehicle enters the branch, and automatically starting converging guiding work of the converging guiding device in time.
The functions of each module of the vehicle-mounted device are introduced as follows:
The second microcontroller is responsible for receiving the converging guide information transmitted by the converging guide device and managing the converging guide information, displaying an electronic map through the display module and playing voice through the voice module; the positioning module is arranged at a position where the vehicle is not easy to shade, errors are prevented from being caused to the acquired vehicle information due to shielding, the positioning module mainly acquires the real-time position of the vehicle, and meanwhile, the real-time running speed of the vehicle can be obtained. The second communication module is responsible for realizing real-time communication between the vehicle and the confluence guiding device. The second storage module is mainly responsible for storing relevant information of the vehicle, such as position, speed and the like. The voice module comprises a voice box, a voice synthesis module and a voice signal transmission module, wherein the voice signal transmission module is connected with the voice synthesis module, and the voice synthesis module is connected with the voice box. The voice module can guide the road vehicles to carry out safe and efficient confluence in real time, and provide voice prompt with warning effect for the main road vehicles in real time when the road vehicles want to carry out confluence. The display module is responsible for displaying an electronic map in the converging guide information transmitted by the converging guide device during converging on the road vehicle; and the main road vehicle is responsible for displaying the prompt information of the occurrence of the confluence of the branch vehicles, which is transmitted by the confluence guiding device.
By combining the design of the merging guiding device and the vehicle-mounted device, the efficient merging of the branch vehicles is achieved, the vehicle-mounted device is used for acquiring the running speed and the position of the vehicles in the main road traffic and the speed and the position of the branch vehicles, then the acquired speed and position information is transmitted to the merging guiding device through the second communication module, the merging guiding device is started to guide after acquiring the video information of the vehicles entering the branch road through the video module, and then the acquired speed and position information of the vehicles in the main road traffic and the branch vehicles are combined to calculate relevant data required by the merging guiding, such as the distance from the main road vehicles and the branch vehicles to a merging area. And the vehicle converging guiding device guides the converging of the branch vehicles to the main road traffic safely and efficiently according to the vehicle converging guiding related algorithm, displays the converging information to the driver of the branch converging vehicles through the voice module and the display module of the vehicle-mounted device, and reminds the driver of the main road vehicles of the relevant converging information at the same time, so that the safe and efficient converging is realized.
Example 2, finger presented based on example 1The guiding system, the embodiment provides a corresponding guiding method, and the application schematic diagram of the whole confluence guiding system is shown in fig. 3. In FIG. 3, there is included an overhead main road and branch road, and lanes adjacent to the branch road on the main road and traffic on the lanes, a series of vehicles represented by black rectangles, and labeled vehicle B 1 , B 2 , …, B n . Regarding the number of vehicles in the main road traffic flow, the number is given from the near to the far according to the distance from the converging guiding device P, such as B 1 Is the nearest vehicle to the merge guide device. The rectangular square on the branch represents the vehicle from the branch into the overhead main road, and is labeled vehicle a. The direction of main and branch traffic is also indicated by arrows in fig. 3.
The vehicle merging guidance system provides guidance by detecting the information of the merging vehicles of the branch road and the information of the traffic flow of the main road, as shown in fig. 12, and the specific process is as follows.
(one) Start-up
And starting the confluence guidance system and acquiring related information. The converging guiding device detects the conditions of the vehicles on the branch road through the video module, and when the condition that the vehicles on the branch road drive in is detected, the converging guiding system is started. The merging guiding device obtains real-time information of the vehicles entering the branch road, including the speed and the position of the vehicles, and is respectively set as(the branch entering vehicle is denoted by A (shown in FIG. 3)), and main road traffic information including the number, speed and position of vehicles is acquired, wherein the vehicles in the main road traffic are set as(k=1, 2, …, n), n representing the number of vehicles, the vehicle speed in the vehicle flow being set to (k=1, 2, …, n), the vehicle position in the traffic is set to（k=1,2,…,n）。
(II) calculating the related parameters
And calculating the distance and time parameters from the branch road vehicles to the merging area of the main road vehicles. The merging guidance device calculates the distance from the vehicle A to the merging area according to the position of the branch vehicle A, and sets asThe calculation formula is as follows:
(1)；
wherein As the position of the confluent region,the inclination angle between the overhead branch and the ground is an acute angle.
In the present embodiment, X A The vehicle-mounted device is obtained by a positioning module of the vehicle-mounted device, and the positioning module is generally a Beidou or GPS positioning module, so that the vehicle-mounted device is in longitude and latitude coordinates; the merging region is the joint part of the outermost lane of the main road and the branch road, xp is the central position of the merging region, represents the merging region, can be obtained through a positioning module, and is also longitude and latitude coordinates. The distance from the branch vehicle A to the confluence region is calculated by the formula (1), and the essence of the distance is the calculation of the distance between two points of longitude and latitude coordinates;
thus, the time for the bypass merging vehicle A to reach the merging region can be obtainedThe calculation formula is as follows:
/ （2）；
the confluence guidance device calculates the main road traffic flow according to the obtained main road traffic flow informationThe distance between each vehicle and the merging area is set as (k=1, 2, 3..n), the calculation formula of which is:
(3)；
the distance from each vehicle in the main road traffic flow to the merging area can be obtained through the formula, namely the distance between the longitude and latitude coordinate points of each vehicle in the main road and the longitude and latitude coordinate points of the central position of the merging area is basically equal to the distance between each vehicle in the main road and the point by taking the center of the merging area as a reference.
Thereby obtaining the vehicles in the main road trafficTime taken to reach confluence regionThe calculation formula is as follows:
/ （4）。
generating a confluence guidance electronic map and a confluence prompt electronic map of the vehicles with the generation branches
1. Confluence guidance electronic map and generation method thereof
The confluence guidance electronic map comprises positions and relations of an overhead main road and a branch road, positions of a main road traffic flow and a branch road vehicle and confluence guidance arrows. The positions of the overhead main road and the branch road and the relation thereof are stored in the storage unit by the converging guiding device, and can be acquired at any time. The converging guide arrow indicates the main road vehicle interval which can be converged by the branch driver and the main road vehicle interval which can not be converged, the main road vehicle interval which can be converged is indicated by a green arrow, and the main road vehicle interval which can not be converged is indicated by a red arrow.
The process of generating the confluence guidance electronic map is as follows:
(5) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(6) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(7) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(8) Setting a confluence guidance arrow as an arrow layer, wherein the arrow layer comprises a directional green arrow and a directional red arrow;
(9) Overlapping the layers to obtain a confluence guidance electronic map;
the confluence guidance electronic map will change in real time according to the traffic layer, the vehicle layer and the arrow layer.
2. Electronic map with prompt of confluence of vehicles in generation branch and generation method thereof
The electronic map for prompting the confluence of the vehicles on the generation branch comprises the positions and the relations of the main road and the branches of the overhead, the positions of the traffic flow on the main road and the vehicles on the branches, and yellow arrows for prompting the confluence of the vehicles on the generation branch.
The positions of the overhead main road and the branch road and the relation thereof are stored in the storage unit by the converging guiding device, and can be acquired at any time.
The yellow arrow of the junction prompt of the branch vehicles prompts the driver of the main road vehicles, the front part of the yellow arrow is a junction area, and the junction vehicles entering from the branch vehicles are noticed to safely pass through the junction area.
The process of generating the junction prompting electronic map of the vehicles with the generation branches is as follows:
(1) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(2) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(3) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(4) Setting a yellow arrow with a bypass vehicle confluence prompt as an arrow layer;
(5) And overlapping the layers to obtain the road junction prompting electronic map.
The bypass vehicle confluence prompting electronic map changes in real time according to the vehicle flow layer, the vehicle layer and the arrow layer.
(IV) confluence guidance
1. If the merging guidance device does not detect that the vehicle on the main road is driving to the merging area all the time in the process that the sub-road vehicle A reaches the main road merging area, the merging guidance device P sends safety merging guidance information to the sub-road vehicle A through the communication module.
The safe confluence guidance information comprises confluence voice prompt information 'please uniformly speed or accelerate safe confluence' and a confluence guidance electronic map.
As shown in fig. 4, the merging guidance electronic map is shown by an arrow displayed on the main road in fig. 4, that is, a vehicle interval at which merging is possible, and in this case, only the arrow is displayed since there is no vehicle on the main road.
After receiving the safety confluence guidance information, the by-pass vehicle A firstly sends a voice prompt of 'please speed or accelerate safety confluence' to a driver through a vehicle-mounted voice module; then, a merge guide electronic map is displayed on the in-vehicle display module as shown in fig. 4. And then, the driver of the bypass vehicle completes the confluence from the bypass to the main road according to the voice prompt and the electronic map displayed on the vehicle.
2. If the merging guiding device detects that the traffic on the main road flows to the merging area when the branch vehicle A reaches the main road merging area, P is distinguished as follows, and then safety merging guiding information is sent to the branch vehicle A.
If the merging guiding device detects that n traffic flows which travel to the merging area on the main road are detected, the microcontroller of the merging guiding device P obtains the time for the bypass vehicle A to reach the merging area through the calculation formulas (1), (2), (3) and (4) respectivelyAll vehicles in main road traffic flow(k=1, 2,3, …, n) time to reach the confluence region（k=1,2,3，…，n）。
Then calculating the time difference between two adjacent vehicles in the traffic flow reaching the confluence region, namely the time interval of the head, and setting as，，...，。
Finally, calculating the maximum value of all the headway time distances of the traffic flow on the main road, and setting the maximum value as Thereby obtaining the maximum time interval of the vehicle headFront and rear vehicles in the main road traffic flow are respectively set as、Wherein N is<=n。
(1) If it is > =，Can be safely combined for the road-supporting vehicleThe minimum time of the flow is calculated according to the minimum distance which the vehicles must keep in front and back and the combination speed;
then it is explained that the road-side vehicle a can be a vehicle in the main road trafficThe safe confluence is performed before reaching the confluence region, in which case the microcontroller will send safe confluence instruction information to the vehicle a through the communication module. The safe confluence guidance information comprises confluence voice prompt information 'safe confluence capable of being at uniform speed' and a confluence guidance electronic map, the confluence guidance electronic map is shown in fig. 5, the electronic map comprises positions and relations of an overhead main road and branches, and traffic flow B on the main road 1 And green merge guide arrow, and by-road vehicle location.
After receiving the safety confluence guidance information, the vehicle A sends a voice prompt of uniform speed safety confluence to a driver through a vehicle-mounted voice module, and a confluence guidance electronic map shown in fig. 5 is displayed on a vehicle-mounted display module in real time. And then, the driver of the bypass vehicle completes the merging from the bypass to the main road according to the voice prompt and the merging instruction electronic map displayed on the vehicle.
At the same time, the converging guiding device microcontroller transmits the converging guiding device to the vehicles on the main road through the communication moduleAnd sending prompt information of the confluence of the vehicles of the immediately preceding branch. The information contains "attention-! The front part is provided with voice prompt information of vehicle import and a bypass vehicle confluence prompt electronic map. The electronic map for prompting the occurrence of the merging of the vehicles by the bypass is shown in fig. 6, and the map comprises yellow arrows for prompting the occurrence of the merging of the vehicles by the bypass.
When the vehicle isAfter receiving the branch vehicle confluence prompt information sent by the confluence guiding device, the vehicle-mounted device sends out to a driver through the vehicle-mounted voice module: "attention-! The front is provided with a voice prompt of the vehicle converging in, and the voice prompt is displayed on the vehicle-mounted display module in real time as shown in figure 6And the indicated occurrence branch vehicle confluence prompts the electronic map so as to assist the driver of the main road vehicle to safely pass through the confluence region.
(2) If it is < The method comprises the steps of carrying out a first treatment on the surface of the Then the vehicle of the road vehicle A in the main road traffic is describedIf the safe confluence cannot be carried out before reaching the confluence region, selecting the maximum headway in the traffic flowAs the time interval of the merging of the branch vehicles A, the vehicles in the main road traffic flow are correspondingly detected at the moment、。
Step 1): if it isThen it is indicated that the road-holding vehicle A can be at the maximum headway of the main road vehicle flow The corresponding front and rear vehicles are converged, that is to say, the vehicles of the road vehicle in the main road traffic flowAfter passing through the merging region, vehicles in main road streamsSafe confluence can be performed before reaching the confluence region.
In this case, the microcontroller in the merge guide device P transmits the safe merge guide information to the sub-vehicle a through the communication module. The safe confluence guidance information packageIncludes a voice prompt message of 'please slow down and merge' and a merge guidance electronic map. The confluence guidance electronic map is shown in FIG. 7, and the electronic map of FIG. 7 contains the positions and the relations of the main road and the branches of the overhead, and the traffic flow and the vehicle B on the main road N-1 、B N Green and red no merging guide arrows, and by-road vehicle position.
After receiving the safety confluence guidance information, the vehicle A sends out a voice prompt of 'please slow down confluence' to a driver through a vehicle-mounted voice module, and a confluence guidance electronic map shown in fig. 7 is displayed on a vehicle-mounted display module in real time.
At the same time, the vehicle a transmits the decelerated real-time speed and the position of the own vehicle to the merging guidance device P through the communication module, and the decelerated real-time speed is set as the following ' the position after deceleration is'. The first microcontroller of the confluence guiding device P is obtained by calculation according to formulas (1), (2), (3) and (4): the time for the vehicle A to reach the merging region after deceleration is set as' and vehicle at this timeThe time to reach the confluence region is set as. The merging vehicles are further guided by distinguishing the following cases.
(1) If it is’Then a voice prompt of 'please continue to slow down to merge' is sent to the vehicle A, and the electricity is as shown in FIG. 7A sub map; after receiving the safety confluence guidance information, the vehicle A carries out voice prompt of 'please continue to decelerate to carry out confluence' to the driver through voice, and displays a confluence guidance electronic map comprising the main road traffic situation and the position of the vehicle A on a branch road in real time on a vehicle-mounted display module as shown in fig. 7.
（2）’Then a voice prompt of accelerating to merge is sent to the vehicle A, and an electronic map of merging guidance is shown in FIG. 7; after receiving the safety confluence guidance information, the vehicle A carries out voice prompt of 'please accelerate for confluence' to the driver through voice, and displays a confluence guidance electronic map comprising the main road traffic state and the position of the vehicle A on a branch road in real time on a vehicle-mounted display module as shown in fig. 7.
（3）’Then sending out voice prompt of requesting to join at constant speed and a joining guidance electronic map shown in fig. 7 to the vehicle A; after receiving the safety confluence guidance information, the vehicle A carries out voice prompt of 'please carry out confluence at a constant speed' to a driver through voice, and displays a confluence guidance electronic map comprising the main road traffic situation and the position of the vehicle A on a branch road in real time on a vehicle-mounted display module as shown in fig. 7.
At the same time, the converging guiding device guides the vehicles on the main road through the communication moduleAnd a vehicleAnd sending prompt information of the confluence of the vehicles of the immediately preceding branch. The information contains "attention-! Words with vehicle tandem in frontAnd the voice prompt information and the occurrence branch vehicle confluence prompt electronic map. The electronic map for prompting the occurrence of the merging of the vehicles by the bypass is shown in fig. 8, and the electronic map in fig. 8 contains yellow arrows for prompting the merging of the vehicles by the bypass.
Vehicle with a vehicle body having a vehicle body supportAnd a vehicleAfter receiving the branch vehicle confluence prompt information sent by the confluence guiding device, sending the information to a driver through the vehicle-mounted voice module: "attention-! The voice prompt of vehicle entering is arranged in front, and an electronic map of the occurrence branch vehicle merging prompt shown in fig. 8 is displayed on the vehicle-mounted display module so as to assist a driver of a main road vehicle to safely pass through the merging area.
Step 2): if it isThen it is indicated that the road vehicle A cannot be at the maximum headway of the main road trafficThe corresponding front and rear vehicles are converged, that is, the road-supporting vehicles do not have a time interval for carrying out safe converging in the current traffic flow of the main road.
In this case, the microcontroller of the merging instruction device P transmits the safety merging instruction information to the sub vehicle a through the communication module. The safe confluence guidance information comprises voice prompt information of 'please slow down and stop, waiting for confluence' and a confluence guidance electronic map. The merging guidance electronic map is shown in fig. 9, and fig. 9 includes the positions of the overhead main road and the branch road and the relation thereof, and the main road traffic flow, the red impossible merging guidance arrow and the branch road vehicle position.
After receiving the safety confluence guidance information, the vehicle A sends a voice prompt of 'please slow down to stop and wait for confluence' to a driver through a vehicle-mounted voice module, and a confluence guidance electronic map shown in fig. 9 is displayed on a vehicle-mounted display module in real time.
Step (a)3): when the vehicles on the branch road stop and wait for converging, the converging guiding device detects the newly entered traffic flow on the main road in real time through the communication module, and sets the traffic flow as(k=1, 2,3 m), calculating the time difference of reaching the confluence region of all the front and rear adjacent vehicles of the vehicle flow through formulas (3) and (4), i.e. the headway, and is set as (k=1, 2, 3..m-1), and the maximum value of all headway of the traffic flow obtained by comparison is set asThereby obtaining the maximum value of the generated headwayFront and rear vehicles in the main road traffic flow are respectively set as、Wherein M is<=m。
(1) When (when)And the microcontroller of the confluence guidance device P sends safety confluence guidance information to the branch vehicle A through the communication module, wherein the safety confluence guidance information comprises voice prompt information of 'please accelerate to finish confluence' and a confluence guidance electronic map. The confluence guidance electronic map is shown in FIG. 10, and FIG. 10 includes the positions and relations of the main road and the branches of the overhead, and the traffic flow and the C of the main road M-1 、C M The green merge guide arrow and the red cannot merge guide arrow, and the bypass vehicle position.
After receiving the safety confluence guidance information, the vehicle A sends a voice prompt of 'please accelerate to finish confluence' to a driver through a vehicle-mounted voice module, and the confluence guidance electronic map shown in fig. 10 is displayed on a vehicle-mounted display module in real time.
(2) When (when)And the microcontroller of the merging guidance device P sends safety merging guidance information to the branch vehicle A through the communication module, wherein the safety merging guidance information comprises voice prompt information of 'please continue waiting' and a merging guidance electronic map. The merging guidance electronic map is shown in fig. 11, and fig. 11 includes the positions of the main road and the branch road of the overhead and the relation thereof, and the traffic flow on the main road, the red impossible merging guidance arrow, and the position of the branch vehicle.
After receiving the safety confluence guidance information, the vehicle A sends a voice prompt of 'please continue waiting' to a driver through the vehicle-mounted voice module, and the confluence guidance electronic map shown in fig. 11 is displayed on the vehicle-mounted display module in real time.
And (3) the merging guiding device returns to the step (3) to continuously detect new traffic flow continuously appearing on the main road, calculate and judge the time interval of the vehicles in the traffic flow until the vehicles A on the branches finish merging and enter the main road.
For the clear understanding of the scheme of the invention, taking an overhead of a certain city as an example of unidirectional two lanes, assuming that the speed limit is 80 km/h, the length of a certain branch which is merged with the overhead is 200 meters, and the safe merging time is taken to be 3 seconds.
Scenario one: at the junction of the overhead and the junction, there is a vehicle A on the branch which will enter the main road of the overhead, at a distance from the junction regionIs obtained by the confluence guidance device when the speed is30km/h, and no other vehicles are within communication distance of the merging guiding device on the overhead main road.
In this scenario, the merge guidance device P calculates the safe merge guidance information, that is, the voice information of "please get uniform speed or accelerate safe merge" and the merge guidance electronic map as shown in fig. 4, according to the merge guidance method. Then, the merge guide device P transmits the safe merge guide information to the by-pass vehicle a through the communication module. After receiving the safe confluence information, the bypass vehicle A sends out a voice prompt of requesting uniform speed or accelerating safe confluence to a driver, and a confluence guidance electronic map shown in fig. 4 is displayed on the vehicle-mounted display module. And the driver of the bypass vehicle A completes the merging from the bypass to the main road according to the voice prompt and the displayed merging guidance electronic map.
Scenario two: at the junction of the overhead, there is a vehicle A on the branch which will enter the main road of the overhead, at a distance from the junction regionIs obtained by the confluence guidance device when the speed is36km/h, while the merge guiding device detects that there are n=3 vehicles on the main road, calculated asBefore reaching the junction point, the bypass vehicle A cannot perform safe junction, and whenAndobtaining the maximum time interval therebetweenAnd is compared to obtain. In this scenario, then, the vehicles of the by-pass vehicle a in the main-pass trafficAfter passing through the merging region, vehicles in main road streamsCan advance before reaching the confluent regionAnd the rows are merged safely.
Then, the confluence guidance device P obtains safe confluence guidance information according to the confluence guidance method. The safe confluence guidance information comprises a voice prompt message of 'please decelerate confluence' and a confluence guidance electronic map, as shown in fig. 13. The merge guidance electronic map shown in FIG. 13 includes the locations and relationships of the elevated main road and the branch road, and the main road traffic and the vehicle B 2 、B 3 The merging guide arrow may not merge with green and red, and the bypass vehicle position.
After receiving the safety confluence guidance information, the vehicle A sends out a voice prompt of 'please slow down confluence' to a driver through a vehicle-mounted voice module, and a confluence guidance electronic map shown in fig. 13 is displayed on a vehicle-mounted display module in real time. And the driver of the bypass vehicle A completes the merging from the bypass to the main road according to the voice prompt and the displayed merging guidance electronic map.
At the same time, the converging guiding device guides the vehicles on the main road through the communication moduleAnd vehicle B 2 And sending prompt information of the confluence of the vehicles of the immediately preceding branch. The information contains "attention-! The front part is provided with voice prompt information of vehicle import and a bypass vehicle confluence prompt electronic map. The electronic map for prompting the occurrence of the merging of the vehicles by the bypass is shown in fig. 14, and a yellow arrow for prompting the merging of the vehicles by the bypass is included in the map.
The present invention is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present invention without departing from the technical content of the present invention still belong to the protection scope of the technical solution of the present invention.

Claims (5)

1. The guidance method of the guidance system for the urban elevated highway vehicle confluence comprises a confluence guidance device and a vehicle-mounted device, wherein the confluence guidance device and the vehicle-mounted device realize information interaction through a communication module, and the confluence guidance device is arranged at the edge of a confluence area which does not influence normal traffic and comprises a first microcontroller, a first storage module and a video module, wherein the first storage module and the video module are connected with the first microcontroller; the vehicle-mounted device is arranged in a vehicle and comprises a second microcontroller, a second storage module, a positioning module, a display module and a voice module, wherein the second storage module, the positioning module, the display module and the voice module are connected with the second microcontroller; the second microcontroller receives the confluence guidance information, broadcasts the confluence guidance information through the voice module, and displays a confluence guidance electronic map or a confluence prompt electronic map through the display module;
The video module is used for judging whether vehicles drive in on the branch road, triggering and starting the converging guiding operation of the converging guiding device according to the vehicle driving in information on the branch road, acquiring the driving speed and the position information of the main road vehicle and the branch road vehicle through the vehicle-mounted device, transmitting the driving speed and the position information to the converging guiding device, acquiring the video information of the vehicles entering the branch road through the video module, combining the speed and the position information of the vehicles, calculating related parameters required by converging guiding, carrying out safety guiding on the converging of the branch road vehicles to the main road vehicle flow according to the vehicle converging guiding method, and reminding drivers of the branch road vehicle and the main road vehicle through the voice module and the display module of the vehicle-mounted device, and is characterized in that the guiding method comprises the following steps:
step 1, judging whether vehicles exist on a main road, and if the vehicles do not exist on the main road, guiding the safety confluence of the branch vehicles according to a voice prompt of 'please speed or accelerate the safety confluence' and a confluence guiding electronic map displayed on a branch vehicle display module; if the vehicle runs on the main road, executing the step 2;
step 2, if the traffic flow on the main road is driven to the converging area, a converging guiding device P is arranged to detect that n vehicles are on the main road, real-time information of the branch vehicles and traffic flow information of the main road vehicles are obtained through the converging guiding device, and the real-time information of the branch vehicles comprises the speed v of the branch vehicles A And position X of the by-pass vehicle A The traffic information of the main road vehicles comprises the number n of the main road vehicles and the speed of the main road vehiclesAnd the position of the host-road vehicle->B k K=1, 2, …, n for the kth vehicle in the main road traffic;
(1) Calculating distance L from the road vehicle A to the confluence region A And time t A Vehicle B in main road traffic k Distance to confluence regionAnd time->
(2) Calculating the time difference between two adjacent vehicles in the main road traffic flow reaching the confluence region, namely the time interval of the head, and setting the time interval as h 1 ，h 2 ，...，h n-1 ；
(3) Determining the maximum value of all the headway in the main road traffic flow, and setting the maximum value asThereby obtaining the maximum time interval of the headFront and rear vehicles in the main road traffic flow are respectively set as B N-1 、B N Wherein N is<＝n；
Step 21, if t B1 -T>＝t A T is the minimum time for the bypass vehicles to safely merge;
at this time, the by-pass vehicle a may be a vehicle B in the main-pass vehicle flow 1 Before reaching the converging region, safe converging is carried out, and the bypass vehicle A can perform uniform safe converging and converging guidance electronic according to converging voice prompt informationThe map is used for carrying out safe confluence, the confluence guidance electronic map comprises the positions and the relations of the main road and the branches of the overhead, and the traffic flow B on the main road 1 And green merge guide arrow, by-road vehicle position; main road vehicle B 1 According to attention-! The voice prompt information of vehicle entering and the confluence prompt electronic map are arranged in front to drive;
step 22, if t B1 -T<t A Description of a vehicle B with a road vehicle A in a main road traffic 1 The safe confluence cannot be carried out before reaching the confluence region, and the maximum headway in the traffic flow is selectedAs the time interval of the merging of the branch vehicles A, the corresponding vehicles B in the main road traffic flow N-1 、B N The following steps are:
step 221, ifThen it is explained that the road-holding vehicle a can be the vehicle B in the main road traffic N-1 After passing through the merging region, the vehicle B in the main road vehicle flow N Carrying out safe confluence before reaching the confluence region;
the bypass vehicle A carries out safe merging according to the voice prompt information of 'please slow down merging' and the merging guidance electronic map, and the vehicle B on the main road N And vehicle B N-1 According to attention-! The front part is provided with voice prompt information of vehicle entering and confluence prompt electronic map running;
step 222, ifIt is stated that the road vehicle A cannot be at the maximum headway of the main road vehicle flow +.>At this time, the sub-vehicle A waits for the confluence according to the voice prompt information and the confluence according to the 'please slow down and stop' sent by the confluence guiding device PAnd guiding the electronic map to carry out safe confluence.
2. A guidance method for guidance systems for urban elevated highway vehicle confluence according to claim 1, characterized in that: the first microcontroller is used for generating confluence guidance information, the confluence guidance information comprises confluence guidance voice, a confluence guidance electronic map and a confluence prompt electronic map, and the first microcontroller comprises a parameter calculation module and a confluence electronic map generation module;
the parameter calculation module is used for calculating the distance and time of the vehicles in the branch road reaching the merging area and the distance and time of the vehicles in the main road traffic reaching the merging area by combining the speed and position information of the vehicles; the converging electronic map generation module is used for generating a converging guidance electronic map of the road vehicle and a converging prompt electronic map of the main road vehicle;
the process of generating the confluence guidance electronic map is as follows:
(1) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(2) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(3) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(4) Setting a confluence guidance arrow as an arrow layer, wherein the arrow layer comprises a directional green arrow and a directional red arrow;
Overlapping the layers to obtain a confluence guidance electronic map; the confluence guidance electronic map changes in real time according to the vehicle flow layer, the vehicle layer and the arrow layer; the main road vehicle intervals at which the joining can be performed are indicated by green arrows, and the main road vehicle intervals at which the joining cannot be performed are indicated by red arrows;
the process of generating the confluence prompt electronic map is as follows:
(1) Setting the positions and the relations of the main road and the branches of the overhead as road layers of the electronic map;
(2) Setting traffic vehicles on a main road as traffic layers, wherein the traffic layers comprise all main road vehicles in the main road traffic;
(3) Setting the branch vehicles as a vehicle layer, wherein the vehicle layer comprises branch converging vehicles;
(4) Setting a yellow arrow with a bypass vehicle confluence prompt as an arrow layer;
and superposing the layers formed by the layers to obtain the bypass vehicle confluence prompting electronic map, wherein the bypass vehicle confluence prompting electronic map changes in real time according to the vehicle flow layer, the vehicle layer and the arrow layer.
3. A guidance method for guidance systems for urban elevated highway vehicle confluence according to claim 1, characterized in that: in the step 2:
(1) Calculating distance L from the road vehicle A to the confluence region A And the sum time is t A ：
L A ＝(X A -X P )/cosα (1)
t A ＝L A /v A (2)
wherein ,XP Alpha is the inclination angle between the overhead branch and the ground;
(2) Calculating vehicle B in main road traffic k Distance to confluence regionAnd time->
wherein ,is vehicle B in main road traffic k Distance to confluence region, X P Is the position of the confluent region.
4. The guidance method for guidance systems for urban elevated highway vehicle confluence according to claim 1, characterized in that: in step 221, the by-pass vehicle a decelerates and merges while transmitting the decelerated real-time speed and position of the own vehicle to the merge guidance device P, and the decelerated real-time speed is v A ' the position after deceleration is X A 'A'; the first microcontroller of the merging guide P recalculates the time t' when the vehicle a reaches the merging region after deceleration, and the vehicle B at this time N-1 Time t to reach confluence region N-1 At this time, guidance is further given to the merging vehicles of the branch road, including the following cases:
(1) if t'<t N-1 +T, sending a voice prompt of 'please continue to slow down to carry out confluence' and a corresponding confluence guidance electronic map to the by-pass vehicle A;
(2) if t' > t N-1 +T, sending a voice prompt of requesting acceleration to merge into the vehicle A and a corresponding merge guiding electronic map;
(3) If t' =t N-1 And +T, sending a voice prompt of requesting to merge at a uniform speed to the vehicle A and a corresponding merge guidance electronic map.
5. A guidance method for guidance systems for urban elevated highway vehicle confluence according to claim 1, characterized in that: in the step 222, when the vehicles a in the branch road stop waiting for the merging, the merging guiding device detects the newly entered traffic flow on the main road in real time, and sets the newly entered traffic flow as C k K=1, 2,3 once again, m is chosen, calculating the time difference of reaching the confluence area of all the front and rear adjacent vehicles of the vehicle flow, i.e. the headway, and is set asObtained by comparisonMaximum value of all the headway of the vehicle flow +.>Further, the maximum value of the headway is obtained +.>The front and rear vehicles in the main road traffic flow are C M-1 、C M Wherein M is<＝m；
(1) When (when)When the vehicle is in a parking state, the converging guiding device P sends voice prompt information of 'please accelerate to finish converging' and a corresponding converging guiding electronic map to the road vehicle A;
(2) when (when)When the vehicle is in a parking state, the converging guiding device P sends voice prompt information of 'please continue waiting' and a corresponding converging guiding electronic map to the road vehicle A;
the converging guiding device continues to detect new traffic continuously appearing on the main road, calculates and judges the headway of the vehicles in the traffic until the vehicles A on the branches finish converging and enter the main road.
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