CN117392837A - Expressway bottleneck point evacuation acceleration method based on Internet of vehicles - Google Patents

Expressway bottleneck point evacuation acceleration method based on Internet of vehicles Download PDF

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Publication number
CN117392837A
CN117392837A CN202311302334.XA CN202311302334A CN117392837A CN 117392837 A CN117392837 A CN 117392837A CN 202311302334 A CN202311302334 A CN 202311302334A CN 117392837 A CN117392837 A CN 117392837A
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vehicle
motorcade
bottleneck point
evacuation
vehicles
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陈大伟
陈君怡
陈叶
祝亚坤
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Nanjing Urban Transportation Planning And Design Co ltd
Southeast University
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Nanjing Urban Transportation Planning And Design Co ltd
Southeast University
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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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • 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
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching

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

Abstract

The invention discloses a highway bottleneck point evacuation acceleration method based on the internet of vehicles, which comprises the following steps: judging a blocking state corresponding to the motorcade according to the state information of the motorcade, and feeding back the blocking state to each vehicle in the motorcade; based on the state information of the front vehicles of the motorcade, whether evacuation signs appear at the bottleneck point or not is monitored, the time for each vehicle in the motorcade to drive away from the bottleneck point is predicted based on the state information of the motorcade, and each vehicle driver in the motorcade is reminded through the internet of vehicles, so that each vehicle driver in the motorcade upstream of the bottleneck point of the expressway starts the vehicle before the time for each vehicle driver to drive away from the bottleneck point. The invention solves the problem that the sight of the driver is blocked when blocking and queuing, ensures that each vehicle driver in a vehicle team grasps more accurate starting time, reduces vehicle starting delay, accelerates bottleneck point evacuation, and provides effective assistance for evacuating highway traffic jams, enhancing vehicle driving safety, improving the elasticity of a system for handling emergency events and creating a higher-efficiency highway network.

Description

Expressway bottleneck point evacuation acceleration method based on Internet of vehicles
Technical Field
The invention belongs to the technical fields of highway bottleneck point management, intelligent traffic technology, automatic driving and the like, and particularly relates to a highway bottleneck point evacuation acceleration method based on the Internet of vehicles.
Background
In recent years, along with the continuous increase of expressway mileage, expressway traffic volume is continuously increased, and road condition complexity and crowding degree are also increased. Under the background, once traffic accidents or emergencies occur, or traffic lane reduction, tunnel entering, toll stations and the like occur, bottlenecks are very easy to form, and traffic jams are caused. After the blockage event is solved, the bottleneck begins to evacuate, and then the sight of a driver of the rear vehicle is often blocked by the front vehicle, and higher starting delay exists, so that how to relieve the sight blockage of the driver, reduce the starting delay and accelerate the evacuation of bottleneck points of the expressway is one of the problems to be solved in the present urgent need in the expressway operation management field.
With the intensive research of the intelligent transportation and automatic driving fields, the technology of the internet of vehicles realizes continuous progress and mature development, and the vehicle is used as an information sensing object in the running process, and the connection and communication between the vehicle and a plurality of terminals such as vehicles, pedestrians, roads, networks, system platforms and the like are realized by means of the related information communication technology. At present, the internet of vehicles technology is widely applied in aspects such as collision risk alarm, green wave speed suggestion, road speed limit reminding and the like, but the application of the internet of vehicles technology in aspects such as real-time road traffic guidance, bottleneck point vehicle team management and the like is less, the advantages of interconnection and intercommunication are needed to be exerted, the problem of blocking the sight of a rear vehicle driver is solved by focusing a microscopic level through a communication network sharing view angle between vehicles, starting delay is reduced, bottleneck point evacuation is accelerated, and a more efficient and sustainable intelligent expressway network is created.
The invention of the patent number CN106408956B discloses a rapid evacuation method and a control system for tunnel traffic jams, when vehicles cannot normally pass due to sudden traffic accidents on roads in a tunnel, all vehicles reaching the upstream of an accident point start to be queued, a plurality of roads with smaller accident influence are opened to serve as emergency traffic lanes, N control points are arranged in the queuing length of the queued vehicles, the vehicles on the whole road are divided into N parts, and the queued vehicles intermittently pass through the accident point according to the control point marks. The invention can solve the congestion situation of tunnel traffic and save a great amount of time for the traffic of vehicles; however, evacuation by means of external control is still required, and it is not possible to achieve bottleneck point evacuation by optimizing the driving state of the vehicle itself.
Disclosure of Invention
The technical problems to be solved are as follows: the invention provides a highway bottleneck point evacuation acceleration method based on the internet of vehicles, which focuses on microscopic level and refinement problems, and provides an effective and feasible solution for highway bottleneck point evacuation through intelligent traffic such as inter-vehicle communication, the internet of vehicles and the like and related technologies in the automatic driving field from the aspect of methodology.
The technical scheme is as follows:
the invention discloses a highway bottleneck point evacuation acceleration method based on the internet of vehicles, which comprises the following steps:
step A, taking a vehicle j on a highway as a center, forming all vehicles in the coverage area of an interval into a vehicle team Z, and continuously acquiring the state information of the vehicle team Z through the vehicle networking;
step B, judging a blocking state corresponding to the motorcade Z according to the state information of the motorcade Z, and feeding back the blocking state to each vehicle in the motorcade Z;
and C, taking the head of the blocking motorcade as a bottleneck point of the motorcade, monitoring whether evacuation signs appear at the bottleneck point based on the state information of the front vehicles of the motorcade Z, predicting the time for each vehicle in the motorcade Z to leave the bottleneck point based on the state information of the motorcade Z, reminding each vehicle driver in the motorcade Z through a vehicle network, and enabling each vehicle driver in the motorcade bottleneck point upstream of the motorcade to start the vehicle before the time for each vehicle driver to leave the bottleneck point.
Further, in step a, the coverage of the section of the vehicle j is: the width a of the lane is wide, the distance b between the front and rear of the vehicle j is long, and both a and b are positive numbers.
Further, in step a, the status information of the fleet Z includes: total number of vehicles n in fleet, travel speed s of vehicle j at time t j (t) position P of vehicle j at time t j (t); speed difference deltas between vehicle j+1 and preceding vehicle j j+1 (t), head distance between vehicle j+1 and vehicle jTime of the head->Vehicle j is the lead vehicle of vehicle j+1, wherein:
Δs j+1 (t)＝s j+1 (t)-s j (t)；
wherein s is j+1 (t) is the running speed of the vehicle j+1 at time t; p (P) j+1 And (t) is the position of the vehicle j+1 at time t.
Further, in the step A,with Euclidean distance, the head distance between the vehicle j+1 and the vehicle j is +.>Time of the head->Expressed as:
in the method, in the process of the invention,is the longitude and latitude coordinates of the vehicle j at the moment t, < >>Is the longitude and latitude coordinates of the vehicle j+1 at the time t.
Further, in step B, the process of determining the blocking state corresponding to the fleet Z according to the state information of the fleet Z includes the following steps:
step B1, calculating and obtaining the average running speed of the motorcade Z at the moment t based on the state information of the motorcade ZAnd average head distance>
Wherein n is the total number of vehicles in the fleet Z, s j (t) is the travel speed of the vehicle j at time t;the distance between the vehicle j and the vehicle j-1 at the moment t is the distance between the vehicle j and the vehicle j-1, wherein the vehicle j-1 is the front vehicle of the vehicle j;
step B2, setting the average running speed blocking threshold value of the motorcade as s min The average head space blockage threshold value isJudgment condition gamma of bottleneck point blocking state congestion The method comprises the following steps:
wherein event C representsEvent D represents->When gamma is congestion When=0, the fleet Z is in a non-blocking state, when γ congestion When=1, the vehicle group Z is traveling slowly or is blocked, and is in a blocked state.
Further, in step C, a judgment criterion γ of the evacuation sign is calculated based on the state information of the front vehicles of the vehicle group Z and the state information of the front vehicles of the vehicle group Z mitigation ：
Wherein event E representsEvent F represents-> For the front vehicle j of the fleet 1 Driving speed at time t, < >>For the front vehicle j of the fleet 2 At time t and with preceding vehicle j 1 Is arranged between the vehicle headsA distance; s is(s) mitigation A threshold value of evacuation for the driving speed of the vehicle, h gmitigation A head interval evacuation threshold; when gamma is mitigation When=0, no sign of evacuation of fleet Z occurs in bottleneck point, and the fleet Z is still in a blocking state, when γ mitigation At=1, the head of fleet Z in bottleneck point showed signs of evacuation, and the blocked state began evacuation.
Further, in step C, the following formula is used to predict the time for each vehicle in the fleet Z to leave the bottleneck point:
wherein T is j (t) is the total time of vehicles j in the highway bottleneck point vehicle team Z at the moment t to leave the bottleneck point after the front evacuation sign appears;the time delay caused by the response and starting of the vehicles for the drivers from the head vehicle of the motorcade Z to the vehicle j at the moment t; />The travel time taken for the vehicle j to travel from the time t to the departure from the bottleneck point.
Further, in step C, the following formula is adopted for calculationKnow->
Wherein τ i (t) the starting delay time of the ith vehicle in the motorway bottleneck point vehicle team Z at the moment t;the distance between the vehicle i and the head of the front vehicle at the moment t; the I omega I is the blockage dissipation speed of a bottleneck point, the unit is km/h, and the calculation formula is as follows according to traffic flow and traffic flow wave theory:
omega is the wave speed of the blockage dispersion wave of the bottleneck point, and the unit is km/h; q (Q) upstream And K upstream The flow and the density of the vehicle at the upstream of the bottleneck point are respectively in units of veh/h and veh/km; q (Q) downstream And K downstream And the flow and the density of the vehicle downstream of the bottleneck point are respectively.
The beneficial effects are that:
according to the expressway bottleneck point evacuation acceleration method based on the Internet of vehicles, microscopic level and refinement problems are focused, from the perspective of methodology, vehicle team state information is continuously acquired, the bottleneck point blocking state of the expressway is monitored, the bottleneck point evacuation signs are monitored, evacuation conditions are timely informed, the time for reminding to leave the bottleneck point is predicted, the problem that sight of drivers is blocked when blocking and queuing is solved, and therefore each vehicle driver in the motorcade can grasp more accurate starting time after receiving evacuation prompt information, vehicle starting delay is reduced, bottleneck point evacuation is accelerated, and effective assistance is provided for evacuating expressway traffic jams, enhancing vehicle driving safety, improving the elasticity of a system for coping with sudden events and creating more efficient expressway networks.
Drawings
Fig. 1 is a flowchart of a highway bottleneck point evacuation acceleration method based on internet of vehicles according to an embodiment of the present invention.
Detailed Description
The following examples will provide those skilled in the art with a more complete understanding of the invention, but are not intended to limit the invention in any way.
Referring to fig. 1, the invention discloses a highway bottleneck point evacuation acceleration method based on internet of vehicles, which comprises the following steps:
and step A, taking the vehicle j on the expressway as a center, forming all vehicles in the coverage area of the section into a vehicle team Z, and continuously acquiring the state information of the vehicle team Z through the Internet of vehicles.
And B, judging the blocking state corresponding to the motorcade Z according to the state information of the motorcade Z, and feeding back the blocking state to each vehicle in the motorcade Z.
And C, monitoring whether a bottleneck point (blocking the head of the motorcade) has evacuation signs or not based on the state information of the front vehicles of the motorcade Z, predicting the time for each vehicle in the motorcade Z to leave the bottleneck point based on the state information of the motorcade Z, reminding each vehicle driver in the motorcade Z through the Internet of vehicles, and enabling each vehicle driver in the motorcade bottleneck point upstream of the motorcade to start the vehicle before the respective time for each vehicle driver to leave the bottleneck point.
In the step A, the construction process of the motorcade Z is as follows: taking a vehicle j as a center, and forming a vehicle team Z from all vehicles within the coverage range of the vehicle j; the section range of the vehicle j is specifically a rectangle having a wide lane width a and a long distance b (i.e., a length of 2 b) between the front and rear of the vehicle j.
In the step a, the obtained fleet status information is status information of all vehicles in the fleet Z, including: total number of vehicles n in the fleet, travel speed sj (t) of a certain vehicle j at time t, and position (longitude and latitude) of the vehicle j at time tAnd can calculate and acquire the speed difference delta s between the vehicle j+1 and the front vehicle j j+1 (t) the head distance of the vehicle j+1 from the preceding vehicle j->Distance from the head of a vehicleWherein:
Δs j+1 (t)＝s j+1 (t)-s j (t)；
wherein,the Euclidean distance is used, expressed as:
in step B, the process of determining the blocking state corresponding to the fleet Z (the section length is 2B) according to the state information of the fleet Z includes the following steps:
step B1, calculating and obtaining the average running speed of the motorcade Z at the moment t based on the state information of the motorcade ZAnd average head distance>
Wherein n is in the fleet ZTotal number of vehicles s j (t) is the travel speed of the vehicle j at time t;the distance between the vehicle j and the vehicle j-1 at the moment t is the distance between the vehicle j and the vehicle j-1, wherein the vehicle j-1 is the front vehicle of the vehicle j;
step B2, setting the average running speed blocking threshold value of the motorcade as s min The average head space blockage threshold value isJudgment condition gamma of bottleneck point blocking state congestion The method comprises the following steps:
wherein event C representsEvent D represents->When gamma is congestion When=0, the fleet Z is in a non-blocking state, when γ congestion When=1, the vehicle group Z is traveling slowly or is blocked, and is in a blocked state. In other words, when->And->I.e. < ->In the case of non-blocking state, the fleet Z is considered to be running smoothly within the interval length 2b, Y congestion The value is 0; when->And/or +.>Namely C ∈D, and in CVD, it is considered that the vehicle group Z is running slowly or is blocked within the section length 2b, and is in a blocked state, Y congestion The value is 1.
In step C, a criterion γ for the sign of evacuation is calculated based on the state information of the front vehicles of the vehicle group Z mitigation ：
Wherein event E representsEvent F represents-> For the front vehicle j of the fleet 1 Driving speed at time t, < >>For the front vehicle j of the fleet 2 At time t and with preceding vehicle j 1 Is arranged at the distance between the vehicle heads; s is(s) mitigation For the vehicle driving speed evacuation threshold, < > for>A head interval evacuation threshold; when gamma is mitigation When=0, no sign of evacuation of fleet Z in bottleneck point is present, and the fleet Z is still in a blocking state, when Y mitigation At=1, the head of fleet Z in bottleneck point showed signs of evacuation, and the blocked state began evacuation. In other words, when->And->I.e.In the case of no sign of evacuation of fleet Z in the bottleneck point, the fleet Z is still in a non-blocking state, Y mitigation The value is 0, and the state of the blocking motorcade is continuously monitored: when->And/or +.>Namely E ∈F, EVF, the head of the motorcade Z in the bottleneck point is considered to have evacuation signs, and the blockage state starts evacuation, Y mitigation And taking a value of 1, and entering the next stage, namely predicting the time when each vehicle in the motorcade Z leaves the bottleneck point based on the state information of the motorcade Z.
In step C, the following formula is used to predict the time for each vehicle in the fleet Z to leave the bottleneck point:
wherein T is j (t) is the total time of vehicles j in the highway bottleneck point vehicle team Z at the moment t to leave the bottleneck point after the front evacuation sign appears;the time delay caused by the response and starting of the vehicles for the drivers from the head vehicle of the motorcade Z to the vehicle j at the moment t; />The travel time taken for the vehicle j to travel from the time t to the departure from the bottleneck point.
In the present embodiment of the present invention, in the present embodiment,know->The calculation formula of (2) is as follows:
wherein τ i (t) the starting delay time of the ith vehicle in the motorway bottleneck point vehicle team Z at the moment t;the distance between the vehicle i and the head of the front vehicle at the moment t; the I omega I is the blockage dissipation speed of a bottleneck point, the unit is km/h, and the calculation formula is as follows according to traffic flow and traffic flow wave theory:
omega is the wave speed of the blockage dispersion wave of the bottleneck point, and the unit is km/h; q (Q) upstream And K upstream The flow and the density of the vehicle at the upstream of the bottleneck point are respectively in units of veh/h and veh/km; q (Q) downstream And K downstream And the flow and the density of the vehicle downstream of the bottleneck point are respectively.
After predicting the time of each vehicle in the vehicle team Z to leave the bottleneck point, reminding the front bottleneck point vehicle team of each vehicle driver in the vehicle team to start evacuating through the vehicle networking technology, displaying the passing time of the predicted vehicle to leave the bottleneck point, and enabling each vehicle driver in the vehicle team to grasp more accurate starting time after receiving evacuation prompt information, thereby reducing vehicle starting delay and accelerating the evacuation of the bottleneck point.
Examples
The technical scheme of the invention is further described below by taking a highway with a speed limit of 120km/h as an example.
The invention relates to a highway bottleneck point evacuation acceleration method based on the internet of vehicles, which mainly comprises the following steps:
and (1) continuously acquiring the state information of the motorcade through the internet of vehicles technology.
For a fleet within a rectangular section of length 1km (2 km total) in front and rear of a vehicle, each with a standard lane width of 3.5m, a number of vehicles in the section of 150 was detected, and the number of vehicles j=55, at t 0 The state information is obtained at the moment: travel speed s 55 (t 0 ) 20km/h, the position P of the vehicle 55 (t 0 ) Longitude and latitude coordinates of (a)Is (118.921224, 31.921391); for vehicle number j=56, at t o The state information is obtained at the moment: travel speed s 56 (t o ) 22km/h, the position P of the vehicle 56 (t 0 ) Longitude and latitude coordinates>Is (118.921174, 31.921486); speed difference deltas between vehicle number 56 and vehicle number 55 56 (t 0 ) 22-20=2 km/h, head space +.>Is thatDistance between head and time->1.89s.
And (2) judging the blocking state and timely informing each vehicle in the motorcade. For this 2km interval, a fleet of vehicles is detected at t 0 Average speed of travel at time25km/h, average locomotive spacing +.>15m according to related regulations and documents such as road traffic jam assessment method (GA/T115-2020) and road traffic safety law>Is less than 30km/h,less than 50m, in a severe blockage state, gamma congestion 1.
And (3) monitoring whether evacuation signs appear at the bottleneck points, predicting the time for the vehicle to leave the bottleneck points based on the state information of the motorcade, and reminding drivers of the vehicles in the motorcade through the technology of the internet of vehicles. The method comprises the following specific steps:
step (31) of monitoring whether the bottleneck point presents evacuation signs:
at t 1 At this time, the vehicle travel speed of the fleet front number j=1 is detectedAt 45km/h, the head distance between the rear vehicle number j=2 and the front vehicle number j=1 is +.>50m, the bottleneck point motorcade presents evacuation signs, the blockage state starts evacuation, Y mitigation 1.
Step (32), predicting the vehicle driving-away bottleneck point time based on the fleet status information:
bottleneck point upstream vehicle flow Q upstream 1000veh/h, density K upstream 100veh/km, bottleneck point downstream vehicle flow Q downstream 1600veh/h, density K downstream The wave speed omega of the blocking evanescent wave at the bottleneck point is calculated to be 60veh/km according to the traffic flow and traffic flow wave theoryTaking the vehicle with the tail end number j=150 as an example, evacuation tracks appear in the front section of the fleet at the bottleneck pointTime t of image 2 The sum of the head distances of vehicles in front of the vehicle j=150 is 1.2km, and the vehicle number 150 is from t 2 The estimated driving time taken from the moment of driving to the departure from the bottleneck point +.>Is that
Under the condition of no evacuation prompt information, the average starting delay time of each vehicle in the vehicle team is 2.45s, and the total delay time is367.5s, total time T of driving away bottleneck point * 150 (t 2 ) 367.5+288= 655.5s; under the condition that evacuation starting prompt information is displayed through the technology of the Internet of vehicles, the average starting delay time of each vehicle in a vehicle team is 1.15s, and the total delay time is +.>172.5s, total time T of driving away bottleneck point 150 (t 2 ) 172.5+288=460.5 s, evacuation acceleration time Δt 150 (t 2 )＝T * 150 (t 2 )-T 150 (t 2 ) 655.5-460.5=195 s=3.25 min, and the other vehicle evacuation acceleration times in the bottleneck point are calculated in the same way, and the whole vehicle evacuation acceleration time of the fleet is +.>In conclusion, the method has obvious highway bottleneck point evacuation acceleration effect on the whole vehicle and the motorcade.
And (33) reminding drivers of vehicles in the motorcade that the front bottle neck points of all vehicles start to evacuate through the internet of vehicles technology, and displaying the passing time of the estimated driving away from the bottle neck points.
And (4) each vehicle driver in the vehicle team upstream of the bottleneck point of the expressway reacts in advance, starting delay is reduced, and bottleneck point evacuation is accelerated.
As can be seen from the above description of the specific implementation of the drawings, the embodiment of the invention utilizes the internet of vehicles technology to realize real-time monitoring of the evacuation signs at the bottleneck point of the expressway, timely reminds drivers of vehicles of relevant evacuation start prompt information, relieves the situation that the sight of the drivers of vehicles at the upstream of the bottleneck point of the expressway is blocked, accelerates the evacuation of the bottleneck point by shortening the vehicle start delay time, and provides effective assistance for evacuating traffic jams of the expressway, enhancing the elasticity of the expressway network and improving the driving safety of the vehicles.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the invention without departing from the principles thereof are intended to be within the scope of the invention as set forth in the following claims.

Claims (8)

1. The highway bottleneck point evacuation acceleration method based on the Internet of vehicles is characterized by comprising the following steps of:
step A, taking a vehicle j on a highway as a center, forming all vehicles in the coverage area of an interval into a vehicle team Z, and continuously acquiring the state information of the vehicle team Z through the vehicle networking;
step B, judging a blocking state corresponding to the motorcade Z according to the state information of the motorcade Z, and feeding back the blocking state to each vehicle in the motorcade Z;
and C, taking the head of the blocking motorcade as a bottleneck point of the motorcade, monitoring whether the bottleneck point has evacuation signs based on the state information of the front vehicles of the motorcade Z, predicting the time for each vehicle in the motorcade Z to leave the bottleneck point based on the state information of the motorcade Z, reminding each vehicle driver in the motorcade Z through the Internet of vehicles, and enabling each vehicle driver in the motorcade bottleneck point upstream of the motorcade to start the vehicle before the time for each vehicle driver to leave the bottleneck point.
2. The method for accelerating the bottleneck point evacuation of the expressway based on the internet of vehicles according to claim 1, wherein in the step a, the coverage area of the section of the vehicle j is: the width a of the lane is wide, the distance b between the front and rear of the vehicle j is long, and both a and b are positive numbers.
3. The method for accelerating the bottleneck point evacuation of the expressway based on the internet of vehicles according to claim 1, wherein in the step a, the status information of the motorcade Z includes: total number of vehicles n in fleet, travel speed s of vehicle j at time t j (t) position P of vehicle j at time t j (t); speed difference deltas between vehicle j+1 and preceding vehicle j j+1 (t), head distance between vehicle j+1 and vehicle jTime of the head->Vehicle j is the lead vehicle of vehicle j+1, wherein:
Δs j+1 (t)＝s j+1 (t)-s j (t)；
wherein s is j+1 (t) is the running speed of the vehicle j+1 at time t; p (P) j+1 And (t) is the position of the vehicle j+1 at time t.
4. The method for accelerating the bottleneck point evacuation of the expressway based on the Internet of vehicles according to claim 3, wherein in the step A,by European distanceDistance from vehicle j+1 to the head of vehicle j +.>Time of the head->Expressed as:
in the method, in the process of the invention,is the longitude and latitude coordinates of the vehicle j at the moment t, < >>Is the longitude and latitude coordinates of the vehicle j+1 at the time t.
5. The method for accelerating the bottleneck point evacuation of the expressway based on the internet of vehicles according to claim 1, wherein in the step B, the process of judging the blocking state corresponding to the motorcade Z according to the state information of the motorcade Z comprises the following steps:
step B1, calculating and obtaining the average running speed of the motorcade Z at the moment t based on the state information of the motorcade ZAnd average head distance>
Wherein n is the total number of vehicles in the fleet Z, s j And (t) is the running speed of the vehicle j at the moment t:the distance between the vehicle j and the vehicle j-1 at the moment t is the distance between the vehicle j and the vehicle j-1, wherein the vehicle j-1 is the front vehicle of the vehicle j;
step B2, setting the average running speed blocking threshold value of the motorcade as s min The average head space blockage threshold value isJudgment condition gamma of bottleneck point blocking state congestion The method comprises the following steps:
wherein event C representsEvent D represents->When gamma is congestion When=0, the fleet Z is in a non-blocking state, when γ congestion When=1, the vehicle group Z is traveling slowly or is blocked, and is in a blocked state.
6. The internet-of-vehicles-based highway bottleneck point evacuation acceleration method of claim 1, wherein in the step C, the state information of the front vehicles of the fleet Z is based on the state of the front vehicles of the fleet ZStatus information, calculation of judgment criteria gamma for signs of evacuation mitigation ：
Wherein event E representsEvent F represents-> For the front vehicle j of the fleet 1 Driving speed at time t, < >>For the front vehicle j of the fleet 2 At time t and with preceding vehicle j 1 Is arranged at the distance between the vehicle heads; s is(s) mitigation For the vehicle driving speed evacuation threshold, < > for>A head interval evacuation threshold; when gamma is mitigation When=0, no sign of evacuation of fleet Z occurs in bottleneck point, and the fleet Z is still in a blocking state, when γ mitigation At=1, the head of fleet Z in bottleneck point showed signs of evacuation, and the blocked state began evacuation.
7. The method for accelerating the evacuation of bottleneck points of an expressway based on the internet of vehicles according to claim 1, wherein in the step C, the following formula is adopted to predict the time when each vehicle in the fleet Z leaves the bottleneck point:
wherein T is j (t) is the total time of vehicles j in the highway bottleneck point vehicle team Z at the moment t to leave the bottleneck point after the front evacuation sign appears;the time delay caused by the response and starting of the vehicles for the drivers from the head vehicle of the motorcade Z to the vehicle j at the moment t; />The travel time taken for the vehicle j to travel from the time t to the departure from the bottleneck point.
8. The method for accelerating the bottleneck point evacuation of the expressway based on the Internet of vehicles according to claim 7, wherein in the step C, the following formula is adopted for calculationAnd->
Wherein τ i (t) the starting delay time of the ith vehicle in the motorway bottleneck point vehicle team Z at the moment t;the distance between the vehicle i and the head of the front vehicle at the moment t; the I omega I is the blockage dissipation speed of a bottleneck point, the unit is km/h, and the calculation formula is as follows according to traffic flow and traffic flow wave theory:
omega is the wave speed of the blockage dispersion wave of the bottleneck point, and the unit is km/h; q (Q) upstream And K upstream The flow and the density of the vehicle at the upstream of the bottleneck point are respectively in units of veh/h and veh/km; q (Q) downstream And K downstream And the flow and the density of the vehicle downstream of the bottleneck point are respectively.
CN202311302334.XA 2023-10-09 2023-10-09 Expressway bottleneck point evacuation acceleration method based on Internet of vehicles Pending CN117392837A (en)

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