CN104916152B - The intersection vehicles right-hand rotation guiding system and its bootstrap technique cooperateed with based on bus or train route - Google Patents

Abstract

The present invention relates to a kind of intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route and its bootstrap technique, the guiding system includes roadside device and Surveillance center and at least one mobile unit, when vehicle enters the intersection communication range of roadside device, vehicle-mounted main control module is according to the static information of this car, vehicle run location information, intersection traffic status information residing for the travel direction and car speed of vehicle and this car carries out analysis judgement, if judging, motor vehicle and non-motor vehicle conflict or motor vehicle can occur in future time to conflict with motor vehicle, then the analysis of vehicle-mounted main control module draws safe speed needed for turning right to reminding module and speed control module, the safe speed needed for driver's right-hand rotation is pointed out by reminding module, vehicle-mounted main control module can monitor whether vehicle is travelled by institute to safe speed simultaneously, speed control module automatically controls the speed of vehicle if monitoring that vehicle is not travelled by safe speed.

Description

The intersection vehicles right-hand rotation guiding system and its bootstrap technique cooperateed with based on bus or train route

Technical field

The invention belongs to the collaboration of the bus or train route in intelligent transportation system and safety control technology, it is related to a kind of based on bus or train route collaboration Intersection vehicles right-hand rotation guiding system and its bootstrap technique.

Background technology

Special right-hand rotation phase is not provided with the most of signalized intersections in city, right-turning vehicles are driven a vehicle with adjacent straight , street pedestrian, non-motor vehicle interference conflict phenomenon it is very common, this had a strong impact on whole intersection traffic safety and Traffic efficiency.There is the potential safety hazard researched and proposed and set special right-hand rotation phase to be brought to solve vehicle to turn right in the past, but for handing over Through-current capacity certainly will cause the wasting of resources for smaller intersection.With developing rapidly for electronic information and wireless communication technology With application, " bus or train route collaboration " system Cooperative Vehicles based on car car, bus or train route communication Infrastructure System, hereinafter referred to as CVIS) turn into the effective means for solving traffic problems, bus or train route cooperative surroundings Under, car car, bus or train route carry out information exchange, greatly improve safety factor of travel, can be prevented effectively from various collision accidents, this makes to attain the Way The elimination of road Traffic Conflict has been possibly realized, and this also will thoroughly change traditional traffic administration and control mode.

Understand existing patent when being turned right primarily directed to intersection danger zone vehicle to car by retrieving existing patent , pedestrian, non-motor vehicle etc. carry out early warning, and can not fundamentally solve the problem of vehicle is turned right.Such as Chinese patent Shen Please No. 201410461619.2 disclose early warning system when a kind of lorry is turned right, it passes through vehicle-mounted and roadbed and set, and uses Zigbee network mode carries out data transmission instruction, so as to realize alerting drivers and pedestrian；Chinese patent application No. 201320171998.8 disclose a kind of lorry right-hand bend danger zone early warning system cooperateed with based on bus or train route, and it can be expert at When people, non-motor vehicle cross road, alarmed to the vehicle for driving into road, so as to avoid accident.

The device of presently disclosed intersection assisting vehicle travel safety is prior-warning device, and apparatus function is single, The generation that can not fundamentally avoid traffic accident, it is difficult to realize traffic safety truly.

The content of the invention

In order to solve the above technical problems, it is preventative strong it is an object of the invention to provide one kind, match somebody with somebody without changing crossbar signal When scheme, can improve traffic safety based on bus or train route cooperate with intersection vehicles right-hand rotation guiding system.

The present invention based on bus or train route cooperate with intersection vehicles right-hand rotation guiding system, including roadside device and Surveillance center and At least one mobile unit；Between the mobile unit and roadside device, mobile unit and mobile unit and roadside device with Information transmission is carried out by cordless communication network between Surveillance center；

Each mobile unit includes vehicle-mounted main control module and the car being connected respectively with the vehicle-mounted main control module signal Essential information storage module, d GPS locating module, driving intention acquisition module, speed data collection module, speed control module and carry Show module；The vehicle essential information storage module prestores the static information of this car；D GPS locating module collection vehicle is run Positional information；Driving intention acquisition module obtains the travel direction of vehicle in real time；The real-time collection vehicle speed of speed data collection module； Speed control module controls car speed；Safe speed needed for reminding module prompting driver vehicle's right-hand rotation, points out mould Block includes speed information display screen and voice playing module；

The roadside device includes trackside main control module, intersection essential information storage module, signal condition acquisition module And non-motor vehicle and pedestrian information acquisition module；Intersection essential information storage module prestores road conditions essential information；It is described Signal condition acquisition module obtains signal lamp state and count down time；Non-motor vehicle gathers non-machine with pedestrian information acquisition module Motor-car, pedestrian position and velocity information；The trackside main control module to signal lamp state and count down time and non-motor vehicle, OK People position and velocity information are analyzed to form intersection traffic status information；

When vehicle enters the intersection communication range of roadside device, between mobile unit and roadside device, mobile unit Information exchange is carried out between mobile unit, the vehicle-mounted main control module is according to fixed by vehicle essential information storage module, GPS The static information of this car that position module, driving intention acquisition module and speed data collection module are collected, vehicle run location information, Intersection traffic status information residing for the travel direction and car speed of vehicle and this car carries out analysis judgement, if judging future Motor vehicle and non-motor vehicle conflict can occur in time or motor vehicle conflicts with motor vehicle, then vehicle-mounted main control module analysis draws the right side Safe speed needed for turning passes through reminding module and points out driver's right-hand rotation required safety to reminding module and speed control module Speed, while vehicle-mounted main control module can monitor whether vehicle is travelled by institute to safe speed, if monitoring vehicle not by accident-free vehicle Speed travels the speed that then speed control module automatically controls vehicle.

Further, the vehicle-mounted main control module analyzes the safe speed drawn needed for turning right by the way that method is calculated as below, Including following several situations：

(1) when right-turning vehicles import direction be green light when, and on pavement without pedestrian by when, right-turning vehicles turn right needed for Safe speed v_RGComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication The distance between with stop line during scope, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GS Represent right-turning vehicles import direction green light remaining time, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device meeting Right-turning vehicles mobile unit is sent this information to, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

(2) when right-turning vehicles import direction is to have non-motor vehicle and pedestrian on green light and pavement, needed for vehicle is turned right Safe speed v_RGYComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles are logical into intersection region Believe initial velocity during scope, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles Into during the area communication scope of intersection the distance between with stop line, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, Roadside device can send this information to right-turning vehicles mobile unit, t_RZRepresent that right-turning vehicles sail out of people from intersection from starting to turn right to The time on trade, t_GXRepresent that last pedestrian of pavement or non-motor vehicle pass through the time of pavement danger zone, calculating side Method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or non-machine Motor-car is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-motor vehicle Apart from the distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

(3) when right-turning vehicles import direction is red light, the safe speed v needed for vehicle right-hand rotation_RRYComputational methods are as follows：

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents to turn right Vehicle is to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when and stop line The distance between, t_RXRepresent adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone when Between, computational methods are as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last Pedestrian or non-motor vehicle are remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement Or non-motor vehicle is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing Degree；

(4) after vehicle-bicycle conflict, the conflict of people's car is eliminated, the safe speed v needed for vehicle right-hand rotation_RComputational methods be divided into as Lower two kinds of situations：

If right-turning vehicles reach intersection prior to through vehicles, target equation is：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter to hand over The distance between with stop line during prong area communication scope, v_RRXWhen representing that right-turning vehicles sail out of intersection prior to through vehicles Required safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars Interflow completes the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-hand rotation car Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent car The max speed that can allow of traveling, a_maxAnd a_minThe peak acceleration that representing vehicle traveling can allow accelerates with minimum Degree；

If right-turning vehicles reach intersection after through vehicles, have

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles are reached to stop The time of fare, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZRepresent through vehicles Speed, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent through vehicles Length of wagon, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent right-turning vehicles after straight traffic Sail out of safe speed required during intersection, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle Travel the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.

Further, the mobile unit also includes the in-vehicle wireless communication mould being connected with the vehicle-mounted main control module signal Block, the roadside device also includes the trackside wireless communication module being connected with the trackside main control module signal, the vehicle-mounted nothing Line communication module, trackside wireless communication module carry out information transmission, each mobile unit by cordless communication network respectively To be sent to by the in-vehicle wireless communication module from car from truck position and movable information other vehicles mobile unit it is vehicle-mounted Wireless communication module.

Further, the mobile unit also includes the interface unit being connected on vehicle.

Further, the reminding module includes speed information display screen and/or voice playing module, wherein the speed Information display screen is connected to show the safe speed needed for vehicle right-hand rotation, the voice playing module with vehicle-mounted main control module signal It is connected to play the safe speed needed for vehicle is turned right with vehicle-mounted main control module signal.

Further, the static information includes model, size, the owner information of vehicle, and the road conditions are believed substantially Breath includes intersection geometry, physical dimension, road canalization, signal time distributing conception.

Further, the brake pedal of the speed control module control driving vehicle.

Further, the non-motor vehicle and pedestrian information acquisition module include non-motor vehicle and pedestrian's video detector and Non-motor vehicle and pedestrian's identification module, the non-motor vehicle carry out real with pedestrian's video detector to bicycle lane and pavement When monitoring to obtain monitor video, and the monitor video of acquisition is sent to non-motor vehicle and pedestrian's identification module, and by described Non-motor vehicle carries out motion estimate with pedestrian's identification module to monitor video, to obtain non-motor vehicle, pedestrian position and speed Spend information.

It is described present invention also offers a kind of bootstrap technique of the intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route Guiding system includes the roadside device and the mobile unit being mounted on motor vehicle, the bootstrap technique bag installed in intersection Include following steps：

Step 1: the mobile unit of right-turning vehicles gathers position and the movable information of vehicle in real time, intersect when entering During port communications region, receive at once signal lamp state, non-motor vehicle that roadside device and other right-turning vehicles mobile units send, Pedestrian and the information of other vehicles；

Step 2: the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, non-motor vehicle, Hang Renhe The information of other vehicles, the mobile unit of the right-turning vehicles judges the non-machine of right-turning vehicles import direction signal lamp state and pavement Motor-car, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step 5；

If Step 3: not having moving target presence on green light and pavement, then the mobile unit of right-turning vehicles is according to green Lamp remaining time calculates the safe speed v needed for vehicle is turned right_RG, right-turning vehicles are according to safe speed v at the end of green light_RG Intersection is sailed out of, step 4 is otherwise performed；

If Step 4: having non-motor vehicle and pedestrian on green light and pavement, then the mobile unit of right-turning vehicles is according to people The motion state of non-motor vehicle and pedestrian on trade calculates the safe speed v needed for vehicle is turned right_RGY, ensuring pedestrian's peace Full by right-turning vehicles under conditions of intersection quickly through sailing out of intersection；

Step 5: the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, non-motor vehicle, Hang Renhe The information of other vehicles, the mobile unit of right-turning vehicles judges right-turning vehicles import direction to have motor vehicle on red light and pavement Pass through with pedestrian, then the mobile unit of right-turning vehicles calculates car according to the non-motor vehicle and the motion state of pedestrian on pavement Turn right needed for safe speed v_RRYIf the mobile unit monitors vehicle not by safe speed v_RRYTraveling, then go to step eight Perform；

Step 6: the mobile unit of right-turning vehicles judge right-turning vehicles import direction on red light and pavement without motor vehicle Pass through with pedestrian, but can occur interflow with the through vehicles in adjacent direction and conflict, can be prior to straight traffic if detecting right-turning vehicles Reach conflict area, then the mobile unit of right-turning vehicles can be calculated according to the motion state of through vehicles vehicle turn right needed for Safe speed v_RRXIf the mobile unit monitors vehicle not by safe speed v_RRXTraveling, then go to step eight execution；

Step 7: if conflict area can be reached after through vehicles by detecting right-turning vehicles, the vehicle-mounted of right-turning vehicles sets It is standby that the safe speed v needed for vehicle is turned right can be calculated according to the motion state of through vehicles_RRHIf the mobile unit is detected Vehicle does not press safe speed v_RRHTraveling, then go to step eight execution；

If not travelled Step 8: detecting vehicle by safe speed, the mobile unit controls the braking of the vehicle by force Pedal reaches safe speed；

Step 9: judging whether vehicle sails out of intersection, if not having, an execution is gone to step, otherwise, terminates this vehicle Turn right and guide.

Further, in the step 3, the safe speed v_RGComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication The distance between with stop line during scope, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GS Represent right-turning vehicles import direction green light remaining time, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device meeting Right-turning vehicles mobile unit is sent this information to, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

In the step 4, the safe speed v_RGYComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles are logical into intersection region Believe initial velocity during scope, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles Into during the area communication scope of intersection the distance between with stop line, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, Roadside device can send this information to right-turning vehicles mobile unit, t_RZRepresent that right-turning vehicles sail out of people from intersection from starting to turn right to The time on trade, t_GXRepresent that last pedestrian of pavement or non-motor vehicle pass through the time of pavement danger zone, calculating side Method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or non-machine Motor-car is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-motor vehicle Apart from the distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

In the step 5, the safe speed v_RRYComputational methods are as follows：

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents to turn right Vehicle is to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when and stop line The distance between, t_RXRepresent adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone when Between, computational methods are as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last Pedestrian or non-motor vehicle are remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement Or non-motor vehicle is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing Degree；

In the step 6, the safe speed v_RRXComputational methods are as follows：If right-turning vehicles are reached prior to through vehicles Intersection, then target equation be：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter to hand over The distance between with stop line during prong area communication scope, v_RRXWhen representing that right-turning vehicles sail out of intersection prior to through vehicles Required safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars Interflow completes the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-hand rotation car Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent car The max speed that can allow of traveling, a_maxAnd a_minThe peak acceleration that representing vehicle traveling can allow accelerates with minimum Degree；

In the step 7, the safe speed v_RRHComputational methods are as follows：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles are reached to stop The time of fare, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZRepresent through vehicles Speed, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent through vehicles Length of wagon, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent right-turning vehicles after straight traffic Sail out of safe speed required during intersection, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle Travel the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.

By such scheme, the present invention at least has advantages below：

(1) vehicle right-hand rotation guiding system of the invention can be received in 100m-150m before right-turning vehicles enter intersection The dangerous information that roadside device is sent, including signal information and other vehicles, non-motor vehicle, pedestrian information, and can provide Safe speed is easy to driver to have time enough to take risk avoidance measures and ensure vehicle safety quickly through intersection to driver Mouthful, compared with conventional individually vehicle early warning system, the system preventative enhancing in terms of vehicle active safety；

(2) vehicle right-hand rotation guiding system of the invention can realize between vehicle and vehicle, vehicle and road infrastructure it Between information exchange, it is not necessary to change intersection signal timing scheme, technology is simple and reliable；

(3) needed for vehicle right-hand rotation guiding system of the invention and its bootstrap technique can provide vehicle right-hand rotation for driver Safe speed, greatly eliminates nervous psychology when vehicle driver enters intersection；And do not concentrated in driver's energy In the case of, vehicle can be controlled by force, it is to avoid occurred unnecessary collision accident, drastically increased the traffic safety water of intersection It is flat；

(4) vehicle right-hand rotation guiding system of the invention and its bootstrap technique are applied to vehicle under any road traffic state Early warning and speed guiding, be particularly suitable for use in No-shell culture and the bad intersection of sighting distance, and practicality is very strong, you can improve The level of security of intersection can improve traffic efficiency again, be contributed again for reduction intersection exhaust emission.

(5) vehicle right-hand rotation guiding system of the invention can realize and be seamlessly connected that administrative department is real-time with city management department Road traffic state and travel condition of vehicle information are obtained, Traffic monitoring is really realized, manage and is controlled in one.

Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention, And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.

Brief description of the drawings

Fig. 1 is intersection roadside device, mobile unit placement schematic diagram；

Fig. 2 is intersection vehicle right-hand rotation guiding system architecture diagram；

Fig. 3 is the vehicle-mounted guide device interface display schematic diagram of intersection right-turning vehicles；

Fig. 4 is the step flow chart of intersection vehicle right-hand rotation bootstrap technique of the present invention；

Fig. 5 calculates for right-turning vehicles in step 6 of the embodiment of the present invention prior to the safe speed that through vehicles sail out of intersection Schematic diagram；

Fig. 6 is the safe speed meter that right-turning vehicles sail out of intersection after through vehicles in step 6 of the embodiment of the present invention Calculate schematic diagram.

Embodiment

With reference to the accompanying drawings and examples, the embodiment to the present invention is described in further detail.Implement below Example is used to illustrate the present invention, but is not limited to the scope of the present invention.

Referring to Fig. 1 to Fig. 4, a kind of intersection vehicles right-hand rotation cooperateed with based on bus or train route described in a preferred embodiment of the present invention Guiding system includes roadside device 2 and Surveillance center 3 and at least one mobile unit 1, the mobile unit 1 and roadside device 2 Between, carried out by cordless communication network 4 between mobile unit 1 and mobile unit 1 and roadside device 2 and Surveillance center 3 Information transmission.

Each mobile unit 1 is connected including vehicle-mounted main control module 11 and respectively with the vehicle-mounted signal of main control module 11 Vehicle essential information storage module 12, d GPS locating module 13, driving intention acquisition module 14, speed data collection module 15, speed Control module 16, reminding module 17 and the interface unit being connected to the mobile unit 1 on vehicle；The vehicle essential information storage Storing module 17 prestores the static information of this car, wherein, the static information includes the model, size, Che Zhuxin of vehicle Breath etc.；The collection vehicle run location information of d GPS locating module 13；Driving intention acquisition module 14 obtains the traveling side of vehicle in real time To；The real-time collection vehicle speed of speed data collection module 15；Speed control module 16 controls car speed；The reminding module 17 is carried Show the safe speed needed for driver vehicle's right-hand rotation, the brake pedal of the control of the speed control module 16 driving vehicle.

The roadside device 2 includes trackside main control module 21, intersection essential information storage module 22, signal condition collection Module 23 and non-motor vehicle and pedestrian information acquisition module 24；It is basic that intersection essential information storage module 22 prestores road conditions Information, wherein, the road conditions essential information includes intersection geometry, physical dimension, road canalization, signal time distributing conception etc.； The signal condition acquisition module 23 obtains signal lamp state and count down time；Non-motor vehicle and pedestrian information acquisition module 24 Non-motor vehicle, pedestrian position and velocity information are gathered, specifically：The non-motor vehicle includes non-with pedestrian information acquisition module 24 Motor vehicle and pedestrian's video detector and non-motor vehicle and pedestrian's identification module, the non-motor vehicle and pedestrian's video detector pair Bicycle lane and pavement carry out monitoring in real time to obtain monitor video, and the monitor video of acquisition is sent to non-motor vehicle With pedestrian's identification module, and motion estimate is carried out to monitor video by the non-motor vehicle and pedestrian's identification module, to obtain Obtain non-motor vehicle, pedestrian position and velocity information；The trackside main control module 21 is to signal lamp state and count down time and non- Motor vehicle, pedestrian position and velocity information are analyzed to form intersection traffic status information.

When vehicle enters the intersection communication range of roadside device 2, between mobile unit 1 and roadside device 2, vehicle-mounted set Standby to carry out information exchange between 1 and mobile unit 1, the vehicle-mounted main control module 11 is according to passing through vehicle essential information storage module 17th, the static information, car of this car that d GPS locating module 13, driving intention acquisition module 14 and speed data collection module 15 are collected Intersection traffic status information residing for run location information, the travel direction of vehicle and car speed and this car is analyzed Judge, if judging, motor vehicle and non-motor vehicle conflict or motor vehicle can occur in future time to conflict with motor vehicle, vehicle-mounted master Control module 11 analyze draw turn right needed for safe speed to reminding module 17 and speed control module 16, pass through reminding module 17 The safe speed needed for driver's right-hand rotation is pointed out, while vehicle-mounted main control module 11 can monitor whether vehicle gives safe speed row by institute Sail, speed control module 16 automatically controls the speed of vehicle if monitoring that vehicle is not travelled by safe speed.

Above-mentioned vehicle-mounted main control module 11 analyzes the safe speed drawn needed for turning right by the way that method is calculated as below, including as follows Several situations：

(1) when right-turning vehicles import direction is green light, and on pavement without pedestrian by when, then right-turning vehicles must be Green light terminates preceding quickly through intersection, now, the safe speed v needed for right-turning vehicles right-hand rotation_RGComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication The distance between with stop line during scope, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GS Represent right-turning vehicles import direction green light remaining time, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, the meeting of roadside device 2 Right-turning vehicles mobile unit 1 is sent this information to, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

(2) when right-turning vehicles import direction is to have non-motor vehicle and pedestrian on green light and pavement, right-turning vehicles can be with Pedestrian or non-motor vehicle on the right side pavement of equidirectional clash, to avoid conflict generation then right-turning vehicles reach Pavement hazardous area need to be walked out to last pedestrian during stop line, now, the safe speed v needed for vehicle right-hand rotation_RGYCalculating side Method is as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles are logical into intersection region Believe initial velocity during scope, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles Into during the area communication scope of intersection the distance between with stop line, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, Roadside device 2 can send this information to right-turning vehicles mobile unit 1, t_RZRepresent that right-turning vehicles sail out of intersection from starting to turn right to The time on pavement, t_GXThe time of last pedestrian of pavement or non-motor vehicle by pavement danger zone is represented, is calculated Method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian is non- Motor vehicle is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-maneuver Car is apart from the distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

(3) when right-turning vehicles import direction be red light when, right-turning vehicles can with adjacent direction perpendicular to stop line people's row Pedestrian or non-motor vehicle on road clash, to avoid conflict generation then right-turning vehicles reach stop line when, Hang Renxu Pavement danger zone is walked out, now, the safe speed v needed for vehicle right-hand rotation_RRYComputational methods are as follows：

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents to turn right Vehicle is to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when and stop line The distance between, t_RXRepresent adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone when Between, computational methods are as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last Pedestrian or non-motor vehicle are remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement Or non-motor vehicle is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing Degree；

(4) after vehicle-bicycle conflict, the conflict of people's car is eliminated, right-turning vehicles are also possible to occur with the vehicle that adjacent direction is kept straight on Conflict, is provided by traffic law, and right-turning vehicles must not disturb the current of through vehicles, so right-turning vehicles during intersection by going back Avoid colliding with other through vehicles, but in order to improve the traffic efficiency of intersection, right-turning vehicles are also not necessarily to Through vehicles are waited all to let pass again by intersection, right-turning vehicles can adjust speed according to the principle of first in first out and sail out of friendship Prong, the safe speed v needed for now vehicle is turned right_RComputational methods are divided into the following two kinds situation：

If right-turning vehicles reach intersection prior to through vehicles, because the target track of a car is identical, so in order to avoid Unnecessary collision occurs for two car conflict areas, in addition it is also necessary to consider the safe distance between vehicles after two cars interflow, while it is also contemplated that logical Line efficiency is (i.e.：Make two cars complete two following distances behind interflow and keep minimum safe spacing), then target equation is：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter to hand over The distance between with stop line during prong area communication scope, v_RRXWhen representing that right-turning vehicles sail out of intersection prior to through vehicles Required safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars Interflow completes the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-hand rotation car Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent car The max speed that can allow of traveling, a_maxAnd a_minThe peak acceleration that representing vehicle traveling can allow accelerates with minimum Degree；

If right-turning vehicles are sailed to up to intersection after through vehicles, collided to thoroughly eliminate after two cars collaborate, Make two cars complete two following distances behind interflow and keep minimum safe spacing, then have

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles are reached to stop The time of fare, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZRepresent through vehicles Speed, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent through vehicles Length of wagon, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent right-turning vehicles after straight traffic Sail out of safe speed required during intersection, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle Travel the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.

The roadside device 2 also includes the trackside wireless communication module 25 being connected with the signal of trackside main control module 21, The in-vehicle wireless communication module 18, trackside wireless communication module 25 carry out information transmission by cordless communication network 4 respectively, often Individual mobile unit 1 will be sent to the car of other vehicles by the in-vehicle wireless communication module 18 from car from truck position and movable information Carry equipment 1 in-vehicle wireless communication module 18, by between the in-vehicle wireless communication module 18 of each mobile unit 1 by respective position Interacted with movable information, so as to make right-turning vehicles learn the information of conflict vehicle, more effectively calculate vehicle and want Best safety speed.

The reminding module 17 includes speed information display screen 171 and/or voice playing module 172, wherein the speed Information display screen 171 is connected with the vehicle-mounted signal of main control module 11 to show the safe speed needed for vehicle right-hand rotation, and the voice is broadcast Amplification module 172 is connected to play the safe speed needed for vehicle is turned right with the vehicle-mounted signal of main control module 11.

The bootstrap technique of a kind of intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route of the present invention, wherein described draw Guiding systems include the roadside device 2 installed in intersection, the mobile unit 1 being mounted on motor vehicle and Surveillance center 3, and this draws Guiding systems are described above, therefore are repeated no more, and the bootstrap technique includes nine steps, wherein it should be noted that the right-hand rotation The mobile unit 1 of vehicle is when being just attached to vehicle, and it is attached by interface unit with vehicle OBD interfaces, now, vehicle-mounted Equipment 1 knows the static information of the vehicle, model, the size of such as vehicle by its internal vehicle essential information storage module 12 Size, owner information etc.；The roadside device 2 is installed to behind intersection, and mould is stored by its internal intersection essential information Block 22 stores road conditions essential information, and the road conditions essential information includes intersection geometry, physical dimension, road canalization, signal Timing scheme etc.；The step of mobile unit 1 knows static information, the storage of roadside device 2 road conditions essential information may be embodied in In following step one.

Step 1: the mobile unit 1 of right-turning vehicles passes through its internal d GPS locating module 13, driving intention acquisition module 14th, the position of collection vehicle and movable information (include travel direction and the vehicle speed of vehicle to speed data collection module 15 in real time Degree), when entering intersection communication zone, the signal that roadside device 2 and other right-turning vehicles mobile units 1 are sent is received at once Lamp state, non-motor vehicle, the information of pedestrian and other vehicles, wherein, signal lamp state, non-motor vehicle, pedestrian information are by trackside Obtained by signal condition acquisition module 23, non-motor vehicle and pedestrian information acquisition module 24 in equipment 2 are gathered, then pass through road Side apparatus 2 is interacted to obtain with the mobile unit 1 of right-turning vehicles, in addition, in this step, and mobile unit 1 is removed from obtaining trackside Obtained in equipment 2 outside above- mentioned information, also can obtain the count down time of signal lamp, the count down time is equally adopted by signal condition Collection module 23 is gathered.Above-mentioned signal lamp state, non-motor vehicle, pedestrian information and count down time can be in roadside devices 2 The analysis of trackside main control module 21, which is formed, to be occurred after intersection traffic status information to mobile unit 1.The information of other vehicles passes through Mobile unit 1 in other vehicles is gathered, and then carrying out information transmission to the vehicle-mounted of right-turning vehicles by cordless communication network 4 sets Standby 1.

Step 2: the signal lamp state gathered according to the mobile unit 1 of right-turning vehicles in step one, non-motor vehicle, pedestrian With the information of other vehicles, the vehicle-mounted main control module 11 of the mobile unit 1 of the right-turning vehicles judges that right-turning vehicles import direction is believed Signal lamp state and pavement non-motor vehicle, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step Rapid five.

If Step 3: not having moving target presence on green light and pavement, then the mobile unit 1 of right-turning vehicles is vehicle-mounted Main control module 11 calculates the safe speed v needed for vehicle is turned right according to green light remaining time_RG, the right-turning vehicles at the end of green light According to safe speed v_RGIntersection is sailed out of, step 4 is otherwise performed；In this step, safe speed v_RGPass through mobile unit 1 The prompting driver of reminding module 17, the reminding module 17 includes by showing safe speed v in digital form_RGSpeed letter Cease display screen 171 and play safe speed v in the form of sound_RGVoice playing module 172, on the voice playing module 172 It is connected with the loudspeaker (such as Fig. 3) for playing sound.Certainly, in other embodiments, the reminding module 17 can only set car One kind in fast information display screen 171, voice playing module 172.

If Step 4: having non-motor vehicle and pedestrian on green light and pavement, then the mobile unit 1 of right-turning vehicles is vehicle-mounted Main control module 11 calculates the safe speed needed for vehicle is turned right according to the non-motor vehicle and the motion state of pedestrian on pavement v_RGY, right-turning vehicles are quickly through sailing out of intersection under conditions of ensuring pedestrains safety by intersection；

Step 5: the signal lamp state gathered according to the mobile unit 1 of right-turning vehicles in step one, non-motor vehicle, pedestrian With the information of other vehicles, the vehicle-mounted main control module 11 of the mobile unit 1 of right-turning vehicles judges right-turning vehicles import direction to be red There are motor vehicle and pedestrian to pass through on lamp and pavement, then the vehicle-mounted main control module 11 of the mobile unit 1 of right-turning vehicles is according to people's row The motion state of non-motor vehicle and pedestrian on road calculates the safe speed v needed for vehicle is turned right_RRYIf the mobile unit 1 is supervised Vehicle is measured not by safe speed v_RRYTraveling, then go to step eight execution.In this step, safe speed v_RRYSet by vehicle-mounted The standby 1 prompting driver of reminding module 17, the reminding module 17 is included by showing safe speed v in digital form_RRYCar Fast information display screen 171 and safe speed v is played in the form of sound_RRYVoice playing module 172, the voice playing module The loudspeaker (such as Fig. 3) for playing sound is connected with 172.Certainly, in other embodiments, the reminding module 17 can only be set Put one kind in speed information display screen 171, voice playing module 172.

Step 6: the vehicle-mounted main control module 11 of the mobile unit 1 of right-turning vehicles judges right-turning vehicles import direction for red light And pass through on pavement without motor vehicle and pedestrian, but can occur to collaborate to conflict with the through vehicles in adjacent direction, if detecting the right side Change trains or buses that conflict area can be reached prior to through vehicles, then the vehicle-mounted main control module 11 of the mobile unit 1 of right-turning vehicles can basis The motion state of through vehicles calculates the safe speed v needed for vehicle is turned right_RRXIf, the mobile unit 1 monitor vehicle not by Safe speed v_RRXTraveling, then go to step eight execution.In this step, safe speed v_RRXPass through the prompting mould of mobile unit 1 Block 17 points out driver, and the reminding module 17 is included by showing safe speed v in digital form_RRXSpeed information show Shield 171 and play safe speed v in the form of sound_RRXVoice playing module 172, be connected with the voice playing module 172 Play the loudspeaker (such as Fig. 3) of sound.Certainly, in other embodiments, the reminding module 17 can only set speed information One kind in display screen 171, voice playing module 172.

Step 7: if conflict area can be reached after through vehicles by detecting right-turning vehicles, the vehicle-mounted of right-turning vehicles sets Standby 1 vehicle-mounted main control module 11 can calculate the safe speed v needed for vehicle is turned right according to the motion state of through vehicles_RRHIf, The vehicle-mounted main control module 11 of the mobile unit 1 detects vehicle not by safe speed v_RRHTraveling, then go to step eight execution.At this In step, safe speed v_RRHDriver is pointed out by the reminding module 17 of mobile unit 1, the reminding module 17 includes passing through Safe speed v is shown in digital form_RRHSpeed information display screen 171 and play safe speed v in the form of sound_RRH's The loudspeaker (such as Fig. 3) for playing sound is connected with voice playing module 172, the voice playing module 172.Certainly, at other In embodiment, the reminding module 17 can only set one kind in speed information display screen 171, voice playing module 172.

If not travelled Step 8: detecting vehicle by safe speed, the speed control module Final 16 row of the mobile unit 1 The brake pedal of the vehicle is controlled to reach safe speed.

Step 9: judging whether vehicle sails out of intersection, if not having, an execution is gone to step, otherwise, terminates this vehicle Turn right and guide.

Herein it should be noted that：In the step 3, the safe speed v_RGComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication The distance between with stop line during scope, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GS Represent right-turning vehicles import direction green light remaining time, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, the meeting of roadside device 2 Right-turning vehicles mobile unit 1 is sent this information to, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

In the step 4, the safe speed v_RGYComputational methods are as follows：

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles are logical into intersection region Believe initial velocity during scope, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles Into during the area communication scope of intersection the distance between with stop line, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, Roadside device 2 can send this information to right-turning vehicles mobile unit 1, t_RZRepresent that right-turning vehicles sail out of intersection from starting to turn right to The time on pavement, t_GXThe time of last pedestrian of pavement or non-motor vehicle by pavement danger zone is represented, is calculated Method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian is non- Motor vehicle is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-maneuver Car is apart from the distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

In the step 5, the safe speed v_RRYComputational methods are as follows：

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents to turn right Vehicle is to reach the acceleration that safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when and stop line The distance between, t_RXRepresent adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone when Between, computational methods are as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last Pedestrian or non-motor vehicle are remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement Or non-motor vehicle is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing Degree；

In the step 6, the safe speed v_RRXComputational methods are following (see Fig. 5)：If right-turning vehicles are prior to straight trip Vehicle reaches intersection, because the target track of two cars is identical, so in order to avoid two cars are unnecessary in conflict area generation Collision, also need consider two cars interflow after safe distance between vehicles, while it is also contemplated that traffic efficiency (i.e.：Two cars are made to complete behind interflow Two following distances keep minimum safe spacing), then target equation is：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter to hand over The distance between with stop line during prong area communication scope, v_RRXWhen representing that right-turning vehicles sail out of intersection prior to through vehicles Required safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars Interflow completes the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-hand rotation car Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent car The max speed that can allow of traveling, a_maxAnd a_minThe peak acceleration that representing vehicle traveling can allow accelerates with minimum Degree；

In the step 7, if right-turning vehicles reach intersection after through vehicles, in order to thoroughly eliminate two cars interflow Collide afterwards, make two cars complete two following distances behind interflow and keep minimum safe spacing, then the safe speed v_RRHCalculating side Method is following (see Fig. 6)：

Its constraints is：

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles are reached to stop The time of fare, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZRepresent through vehicles Speed, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent through vehicles Length of wagon, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent right-turning vehicles after straight traffic Sail out of safe speed required during intersection, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle Travel the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.

In summary：The above-mentioned intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route and its bootstrap technique are at least had Advantages below：

(1) vehicle right-hand rotation guiding system of the invention can be received in 100m-150m before right-turning vehicles enter intersection The dangerous information that roadside device 2 is sent, including signal information and other vehicles, non-motor vehicle, pedestrian information, and can provide Safe speed is easy to driver to have time enough to take risk avoidance measures and ensure vehicle safety quickly through intersection to driver Mouthful, compared with conventional individually vehicle early warning system, the system preventative enhancing in terms of vehicle active safety；

(2) vehicle right-hand rotation guiding system of the invention can realize between vehicle and vehicle, vehicle and road infrastructure it Between information exchange, it is not necessary to change intersection signal timing scheme, technology is simple and reliable；

(3) needed for vehicle right-hand rotation guiding system of the invention and its bootstrap technique can provide vehicle right-hand rotation for driver Safe speed, greatly eliminates nervous psychology when vehicle driver enters intersection；And do not concentrated in driver's energy In the case of, vehicle can be controlled by force, it is to avoid occurred unnecessary collision accident, drastically increased the traffic safety water of intersection It is flat；

(4) vehicle right-hand rotation guiding system of the invention and its bootstrap technique are applied to vehicle under any road traffic state Early warning and speed guiding, be particularly suitable for use in No-shell culture and the bad intersection of sighting distance, and practicality is very strong, you can improve The level of security of intersection can improve traffic efficiency again, be contributed for reduction intersection exhaust emission.

(5) vehicle right-hand rotation guiding system of the invention can realize and be seamlessly connected that administrative department is real-time with city management department Road traffic state and travel condition of vehicle information are obtained, Traffic monitoring is really realized, manage and is controlled in one.

Described above is only the preferred embodiment of the present invention, is not intended to limit the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is some improvement and Modification, these improvement and modification also should be regarded as protection scope of the present invention.

Claims (10)

1. a kind of intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route, it is characterised in that：Including roadside device and monitoring Center and at least one mobile unit；Between the mobile unit and roadside device, mobile unit and mobile unit and trackside Information transmission is carried out by cordless communication network between equipment and Surveillance center；

Each mobile unit includes vehicle-mounted main control module and the vehicle base being connected respectively with the vehicle-mounted main control module signal This information storage module, d GPS locating module, driving intention acquisition module, speed data collection module, speed control module and prompting mould Block；The vehicle essential information storage module prestores the static information of this car；D GPS locating module collection vehicle run location Information；Driving intention acquisition module obtains the travel direction of vehicle in real time；The real-time collection vehicle speed of speed data collection module；Speed Control module controls car speed；Safe speed needed for reminding module prompting driver vehicle's right-hand rotation；

The roadside device includes trackside main control module, intersection essential information storage module, signal condition acquisition module and non- Motor vehicle and pedestrian information acquisition module；Intersection essential information storage module prestores road conditions essential information；The signal State acquisition module obtains signal lamp state and count down time；Non-motor vehicle gathers non-maneuver with pedestrian information acquisition module Car, pedestrian position and velocity information；The trackside main control module is to signal lamp state and count down time and non-motor vehicle, pedestrian Position and velocity information are analyzed to form intersection traffic status information；

When vehicle enters the intersection communication range of roadside device, between mobile unit and roadside device, mobile unit and car Carry and carry out information exchange between equipment, the vehicle-mounted main control module is according to passing through vehicle essential information storage module, GPS location mould The static information, vehicle run location information, vehicle of this car that block, driving intention acquisition module and speed data collection module are collected Travel direction and car speed and the intersection traffic status information residing for this car carry out analysis judgement, if judging future time Interior can occur motor vehicle and non-motor vehicle conflict or motor vehicle conflicts with motor vehicle, then vehicle-mounted main control module analysis draws right-hand rotation institute The safe speed needed points out the accident-free vehicle needed for driver's right-hand rotation to reminding module and speed control module by reminding module Speed, while vehicle-mounted main control module can monitor whether vehicle is travelled by institute to safe speed, if monitoring vehicle not by safe speed Travel the speed that then speed control module automatically controls vehicle.

2. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Vehicle-mounted main control module analyzes the safe speed drawn needed for turning right, including following several situations by the way that method is calculated as below：

(1) when right-turning vehicles import direction be green light when, and on pavement without pedestrian by when, right-turning vehicles turn right needed for peace Full speed v_RGComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msup> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> <mn>2</mn> </msup> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>S</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication scope When the distance between with stop line, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GSRepresent Right-turning vehicles import direction green light remaining time, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, roadside device can be sent This information gives right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

(2) when right-turning vehicles import direction is to have non-motor vehicle and pedestrian on green light and pavement, the peace needed for vehicle right-hand rotation Full speed v_RGYComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>X</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles enter intersection area communication model Initial velocity when enclosing, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent that right-turning vehicles enter The distance between with stop line during the area communication scope of intersection, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, trackside Equipment can send this information to right-turning vehicles mobile unit, t_RZRepresent that right-turning vehicles sail out of intersection pavement from starting to turn right to Time, t_GXLast pedestrian of pavement or non-motor vehicle are represented by the time of pavement danger zone, computational methods are such as Under：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or non-motor vehicle It is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-motor vehicle distance The distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

(3) when right-turning vehicles import direction is red light, the safe speed v needed for vehicle right-hand rotation_RRYComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents right-turning vehicles To reach the acceleration of safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when stop line between Distance, t_RXThe time of adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone is represented, is counted Calculation method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or Non-motor vehicle is remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement or non-machine Motor-car is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing；

(4) after vehicle-bicycle conflict, the conflict of people's car is eliminated, the safe speed computational methods needed for vehicle is turned right are divided into the following two kinds Situation：

If right-turning vehicles reach intersection prior to through vehicles, target equation is：

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>l</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> </mrow>

Its constraints is：

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter intersection The distance between with stop line during area communication scope, v_RRXRepresent required when right-turning vehicles sail out of intersection prior to through vehicles Safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars interflow Complete the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-turning vehicles Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle row Sail the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow；

If right-turning vehicles reach intersection after through vehicles, have

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>-</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>Z</mi> </msub> <mo>)</mo> </mrow> </mrow>

Its constraints is：

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles reach stop line Time, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZThe speed of through vehicles is represented, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent the vehicle body of through vehicles Length, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent that right-turning vehicles are sailed after through vehicles Required safe speed, t during from intersection₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle traveling The max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.

3. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Mobile unit also includes the in-vehicle wireless communication module being connected with the vehicle-mounted main control module signal, and the roadside device also includes The trackside wireless communication module being connected with the trackside main control module signal, the in-vehicle wireless communication module, trackside channel radio Believe that module carries out information transmission by cordless communication network respectively, each mobile unit passes through the in-vehicle wireless communication from car Module will be sent to the in-vehicle wireless communication module of the mobile unit of other vehicles from truck position and movable information.

4. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Mobile unit also includes the interface unit being connected on vehicle.

5. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Reminding module includes speed information display screen and/or voice playing module, wherein the speed information display screen and vehicle-mounted master control Module by signal connection is to show the safe speed needed for vehicle right-hand rotation, and the voice playing module connects with vehicle-mounted main control module signal Connect to play the safe speed needed for vehicle is turned right.

6. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Static information includes model, size, the owner information of vehicle, the road conditions essential information include intersection geometry, Physical dimension, road canalization, signal time distributing conception.

7. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described The brake pedal of speed control module control driving vehicle.

8. the intersection vehicles right-hand rotation guiding system according to claim 1 cooperateed with based on bus or train route, it is characterised in that：It is described Non-motor vehicle includes non-motor vehicle and pedestrian's video detector and non-motor vehicle and pedestrian's identification mould with pedestrian information acquisition module Block, the non-motor vehicle carries out monitoring in real time to bicycle lane and pavement with pedestrian's video detector and regarded with obtaining monitoring Frequently, and by the monitor video of acquisition send to non-motor vehicle and pedestrian's identification module, and recognized by the non-motor vehicle and pedestrian Module carries out motion estimate to monitor video, to obtain non-motor vehicle, pedestrian position and velocity information.

9. a kind of bootstrap technique of the intersection vehicles right-hand rotation guiding system cooperateed with based on bus or train route, it is characterised in that：The guiding System includes the roadside device and the mobile unit being mounted on motor vehicle installed in intersection, and the bootstrap technique is included such as Lower step：

Step 1: the mobile unit of right-turning vehicles gathers position and the movable information of vehicle in real time, lead to when entering intersection When believing region, roadside device and the signal lamp state of other right-turning vehicles mobile units transmission, non-motor vehicle, pedestrian are received at once With the information of other vehicles；

Step 2: according in step one right-turning vehicles mobile unit gather signal lamp state, non-motor vehicle, pedestrian and other The information of vehicle, the mobile unit of the right-turning vehicles judges right-turning vehicles import direction signal lamp state and pavement non-maneuver Car, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step 5；

If Step 3: not having moving target presence on green light and pavement, then the mobile unit of right-turning vehicles is surplus according to green light The safe speed v that remaining Time Calculation goes out needed for vehicle is turned right_RG, right-turning vehicles are according to safe speed v at the end of green light_RGSail out of Intersection, otherwise performs step 4；

If Step 4: having non-motor vehicle and pedestrian on green light and pavement, then the mobile unit of right-turning vehicles is according to pavement On non-motor vehicle and pedestrian motion state calculate vehicle turn right needed for safe speed v_RGY, ensuring that pedestrains safety is logical Right-turning vehicles are crossed under conditions of intersection quickly through sailing out of intersection；

Step 5: according in step one right-turning vehicles mobile unit gather signal lamp state, non-motor vehicle, pedestrian and other The information of vehicle, the mobile unit of right-turning vehicles judges right-turning vehicles import direction to have motor vehicle and row on red light and pavement People passes through, then the mobile unit of right-turning vehicles calculates the vehicle right side according to the non-motor vehicle and the motion state of pedestrian on pavement Turn required safe speed v_RRYIf the mobile unit monitors vehicle not by safe speed v_RRYTraveling, then go to step eight execution；

Step 6: the mobile unit of right-turning vehicles judge right-turning vehicles import direction on red light and pavement without motor vehicle and row People passes through, but can occur to collaborate to conflict with the through vehicles in adjacent direction, if detecting right-turning vehicles can arrive prior to through vehicles Up to conflict area, then the mobile unit of right-turning vehicles can calculate the peace needed for vehicle is turned right according to the motion state of through vehicles Full speed v_RRXIf the mobile unit monitors vehicle not by safe speed v_RRXTraveling, then go to step eight execution；

If Step 7: conflict area, the mobile unit meeting of right-turning vehicles can be reached after through vehicles by detecting right-turning vehicles Safe speed v needed for vehicle is turned right is calculated according to the motion state of through vehicles_RRHIf the mobile unit detects vehicle Safe speed v is not pressed_RRHTraveling, then go to step eight execution；

If not travelled Step 8: detecting vehicle by safe speed, the mobile unit controls the brake pedal of the vehicle by force Reach safe speed；

Step 9: judging whether vehicle sails out of intersection, if not having, an execution is gone to step, otherwise, terminates the right-hand rotation of this vehicle Guiding.

10. the bootstrap technique of the intersection vehicles right-hand rotation guiding system according to claim 9 cooperateed with based on bus or train route, it is special Levy and be：

In the step 3, the safe speed v_RGComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msup> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> <mn>2</mn> </msup> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>S</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, L_RRepresent that right-turning vehicles enter intersection area communication scope When the distance between with stop line, t_RZRepresent right-turning vehicles from starting to turn right to the time for sailing out of intersection pavement, t_GSRepresent Right-turning vehicles import direction green light remaining time, S_RThe radius of turn during right-hand rotation of right-turning vehicles is represented, roadside device can be sent This information gives right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs；

In the step 4, the safe speed v_RGYComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mfrac> <mrow> <msub> <mi>&amp;pi;S</mi> <mi>R</mi> </msub> </mrow> <mn>4</mn> </mfrac> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>G</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> </mrow> <mo>&amp;CenterDot;</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>G</mi> <mi>X</mi> </mrow> </msub> <mo>=</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, t_R1Represent that right-turning vehicles reach the time of stop line, v_R(0) represent that right-turning vehicles enter intersection area communication model Initial velocity when enclosing, a (t) represents that right-turning vehicles are to reach the acceleration that safe speed needs, L_RRepresent that right-turning vehicles enter The distance between with stop line during the area communication scope of intersection, S_RRepresent the radius of turn during right-hand rotation of right-turning vehicles, trackside Equipment can send this information to right-turning vehicles mobile unit, t_RZRepresent that right-turning vehicles sail out of intersection pavement from starting to turn right to Time, t_GXLast pedestrian of pavement or non-motor vehicle are represented by the time of pavement danger zone, computational methods are such as Under：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or non-motor vehicle It is remote right-turning vehicles, thenWherein, S_GXRepresent last pedestrian of pavement or non-motor vehicle distance The distance of pavement terminal, v_GXRepresent the speed of pedestrian or non-motor vehicle, L_GXRepresent the length of crossing；

In the step 5, the safe speed v_RRYComputational methods are as follows：

<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>Y</mi> </mrow> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> <mo>+</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mi>X</mi> </mrow> </msub> </msubsup> <mi>a</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mi>t</mi> <mi>d</mi> <mi>t</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>

Wherein, v_R(0) initial velocity when right-turning vehicles enter intersection area communication scope is represented, a (t) represents right-turning vehicles To reach the acceleration of safe speed needs, L_RRepresent right-turning vehicles enter intersection area communication scope when stop line between Distance, t_RXThe time of adjacent last pedestrian of direction pavement or non-motor vehicle by pavement danger zone is represented, is counted Calculation method is as follows：If last pedestrian or non-motor vehicle are proximate to right-turning vehicles,If last pedestrian or Non-motor vehicle is remote right-turning vehicles, thenWherein, S_RXRepresent last pedestrian of pavement or non-machine Motor-car is apart from the distance of pavement terminal, v_RXRepresent the speed of pedestrian or non-motor vehicle, L_RXRepresent the length of crossing；

In the step 6, the safe speed v_RRXComputational methods are as follows：Intersect if right-turning vehicles are reached prior to through vehicles Mouthful, then target equation is：

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>+</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>l</mi> <mi>R</mi> </msub> <mo>)</mo> </mrow> </mrow>

Its constraints is：

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>X</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mi>max</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L_RRepresent that right-turning vehicles enter intersection The distance between with stop line during area communication scope, v_RRXRepresent required when right-turning vehicles sail out of intersection prior to through vehicles Safe speed, t_R1Represent that right-turning vehicles reach the time of stop line, t_R2Represent right-turning vehicles from starting to turn right to two cars interflow Complete the time needed, v_ZRepresent the speed of through vehicles, l_RRepresent the length of wagon of right-turning vehicles, a_RRepresent right-turning vehicles Acceleration, v_RRepresent the speed of right-turning vehicles, t₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle row Sail the max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow；

In the step 7, the safe speed v_RRHComputational methods are as follows：

<mrow> <mi>min</mi> <mi> </mi> <msub> <mi>L</mi> <mrow> <mi>R</mi> <mi>Z</mi> </mrow> </msub> <mo>=</mo> <mi>min</mi> <mrow> <mo>(</mo> <msubsup> <mo>&amp;Integral;</mo> <mn>0</mn> <mrow> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>+</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>2</mn> </mrow> </msub> </mrow> </msubsup> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mi>t</mi> <mo>)</mo> <mi>d</mi> <mi>t</mi> <mo>-</mo> <msub> <mi>L</mi> <mi>R</mi> </msub> <mo>-</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>-</mo> <msub> <mi>l</mi> <mi>Z</mi> </msub> <mo>)</mo> </mrow> </mrow>

Its constraints is：

<mrow> <mi>s</mi> <mo>.</mo> <mi>t</mi> <mo>.</mo> <mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>a</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <mn>0</mn> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>R</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mrow> <mi>R</mi> <mn>1</mn> </mrow> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mrow> <mi>R</mi> <mi>R</mi> <mi>H</mi> </mrow> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> </mrow> <mo>=</mo> <msub> <mi>v</mi> <mi>R</mi> </msub> <mrow> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mrow> </mrow> </mtd> </mtr> <mtr> <mtd> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <msub> <mi>t</mi> <mn>0</mn> </msub> <mo>)</mo> <mo>=</mo> <msub> <mi>v</mi> <mi>Z</mi> </msub> <mo>(</mo> <mn>0</mn> <mo>)</mo> </mtd> </mtr> <mtr> <mtd> <mn>0</mn> <mo>&amp;le;</mo> <mi>v</mi> <mo>&amp;le;</mo> <msub> <mi>v</mi> <mi>max</mi> </msub> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>a</mi> <mi>min</mi> </msub> <mo>&amp;le;</mo> <mi>a</mi> <mo>&amp;le;</mo> <msub> <mi>a</mi> <mi>max</mi> </msub> </mrow> </mtd> </mtr> </mtable> </mfenced> </mrow>

Wherein, L_RZRepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t_R1Represent that right-turning vehicles reach stop line Time, t_R2Represent right-turning vehicles from starting to turn right to the time that two cars interflow completes to need, v_ZThe speed of through vehicles is represented, L_RRepresent right-turning vehicles when entering intersection area communication scope the distance between with stop line, l_ZRepresent the vehicle body of through vehicles Length, a_RRepresent the acceleration of right-turning vehicles, v_RRepresent the speed of right-turning vehicles, v_RRHRepresent that right-turning vehicles are sailed after through vehicles Required safe speed, t during from intersection₀Represent that two cars carry out the initial time of wireless communication connection, v_maxRepresent vehicle traveling The max speed that can allow, a_maxAnd a_minRepresent peak acceleration and minimum acceleration that vehicle traveling can allow.