CN106601002B - Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment - Google Patents
Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment Download PDFInfo
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
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Abstract
System is guided the invention discloses the Entrance ramp vehicle pass-through under a kind of car networking environment and its bootstrap technique, guidance system include roadside device and monitoring center and main line vehicle on-board equipment and ring road vehicle on-board equipment；Roadside device includes main line car flow information acquisition module, ring road car flow information acquisition module and trackside intelligent decision module；Main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module, vehicle essential information storage module, GPS positioning module, speed data collection module, speed control module and cue module；The running state information of main line kerb lane vehicle and ring road vehicle is acquired by roadside device, carry out conflict prediction estimation, safe speed needed for providing the grouping situation of Entrance ramp vehicle and importing main line wagon flow, and it is sent to the cue module in mobile unit and speed control module, guidance system and its bootstrap technique can be avoided the vehicle collision of through street merging area, improve traffic safety and traffic efficiency.
Description
Technical field
The present invention relates in intelligent transportation system bus or train route collaboration and safety control technology, and in particular to a kind of car networking ring
The city expressway Entrance ramp vehicle pass-through guidance system and its bootstrap technique in border.
Background technique
With the surge of car ownership, the traffic conflict of city expressway merging area and congestion phenomenon are got worse, and are become
Lead to one of the main reason for through street is efficient, efficiently operational efficiency weakens increasingly.It is being especially main special to attend a school by taking daily trips
The early evening peak of sign, the congestion of merging area does not only result in through street main line traffic flow failure, and Entrance ramp was generated
Saturated flow, so that influencing effective operation of surface road traffic system.It can be seen that prevention merging area traffic congestion or quickening are gathered around
Stifled dissipation speed is the key that ensure entire road network system safe and reliable operation.
Ramp metering rate is most widely used a kind of dynamic control in administering through street merging area traffic jam issue at present
Mode processed, it according to regulation rate control enter merging area vehicle number, but these control modes be limited to information acquiring technology and
Traffic control technology, it is difficult to accurately obtain actual traffic condition, it is possible to cause the clearance of mistake.Moreover, ring road merging area
The mechanism that congestion occurs not only is only that transport need in general sense has been more than the traffic capacity of ring road merging area, Er Qie
The lane change that generates and speed change behavior and main line wagon flow is uncoordinated results in itself and pass through when merging area ring road vehicle imports main line
The decline of ability, so that the traffic capacity and the mismatched degree of transport need are deepened.Therefore, simple to enter through street by adjusting
The traffic total amount and its spatial and temporal distributions of merging area have seemed insignificant to improve traffic congestion, it is necessary to from microcosmic angle pair
Vehicle remittance carries out auxiliary control, realizes real-time response and optimization to traffic flow and its state change.With electronic information and
The rapid development and application of wireless communication technique, " car networking " based on vehicle vehicle, bus or train route communication have become solution traffic and ask
The effective means of topic, under car networking environment, vehicle vehicle, bus or train route carry out information exchange, greatly improve safety factor of travel, can effectively keep away
Exempt from various collision accidents, realizes that zero accident of traffic has become possibility, this also will thoroughly change traditional traffic administration and controlling party
Formula.
Control is guided primarily directed to On-Ramp on Freeway merging area by retrieving existing patent known to existing patent
System and method processed disclose a kind of On-Ramp on Freeway merging area such as Chinese patent application the 201410724696.2nd
Guide control system comprising trackside imports guidance controller and intelligent vehicle-carried equipment, and trackside imports guidance controller for connecing
The real time status information of vehicle in ring road and main road upstream certain distance to merging area end ranges is received, and is formed to each vehicle
Guiding in real time information, ring road vehicle on-board equipment import main road wagon flow according to the guidance information received, and the method greatly improves
The single ring road vehicle of merging area imports safety when main road, but the method guidance is the ring road vehicle taken converges one by one
Enter, remittance efficiency is lower, does not account for remittance scheme of the ring road vehicle in the form of fleet；Chinese patent application
201510639084.8 number disclose it is a kind of the safe cooperative control method of highway merging area is carried out based on truck traffic technology,
This method is acquired and is transmitted the merging area information such as vehicle location, speed nearby by truck traffic technology, is calculated and is predicted main road
The security conflicts that may cause in on-ramp and interference are reached with ring road vehicle, by control coordination approach in advance to driver
Member's early warning, adjusts vehicle drive behavior, reduces the odds of security conflicts and congestion, but the method can not be provided clearly
Speed guidance when vehicle crosses, only carries out early warning to vehicle driving safety.
The presently disclosed Entrance ramp vehicle pass-through guidance system overwhelming majority is for Entrance ramp vehicle and main line vehicle
Interflow when safety problem, do not account for efficiency when interflow, city expressway on-ramp cannot obtain rationally
It uses, can not fundamentally solve the problems, such as city expressway merging area traffic congestion, it is difficult to realize peace truly
Entirely, efficiently collaborate.
Summary of the invention
In order to solve the above technical problems, through street merging area can be improved the object of the present invention is to provide a kind of preventative strong
Entrance ramp vehicle pass-through guidance system and its bootstrap technique under the car networking environment of traffic safety and traffic efficiency.
Entrance ramp vehicle pass-through under a kind of car networking environment proposed by the present invention guides system, including roadside device and
Monitoring center and main line vehicle on-board equipment and ring road vehicle on-board equipment；The roadside device, monitoring center, main line vehicle
Network carries out information transmitting by wireless communication between mobile unit and ring road vehicle on-board equipment；
The roadside device includes that main line car flow information acquisition module, ring road car flow information acquisition module and trackside are intelligently determined
Plan module；The main line car flow information acquisition module and ring road car flow information acquisition module with the trackside intelligent decision module
Communication connection；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and respectively with it is described
The vehicle essential information storage module of vehicle-mounted main control module communication connection, GPS positioning module, speed data collection module, speed control
Module and cue module are previously stored with the static information of this vehicle in the vehicle essential information memory module.
Further, the main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted master control mould
The in-vehicle wireless communication module of block communication connection, the roadside device further include communicating to connect with the trackside intelligent decision module
Trackside wireless communication module, network by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module
Carry out information transmitting.
Further, the cue module includes vehicle speed information display screen and voice playing module, and the vehicle speed information is aobvious
Display screen and voice playing module are communicated to connect with vehicle-mounted main control module.
Further, the cue module further includes car number display screen, the car number display screen and the vehicle
Carry main control module communication connection.
Further, the cue module further includes loudspeaker, the loudspeaker and the voice playing module communication link
It connects.
Further, the brake pedal of the speed control module control driving vehicle.
Further, the static information includes owner information, the model of vehicle and size.
The bootstrap technique of Entrance ramp vehicle pass-through guidance system under car networking environment proposed by the present invention, including it is following
Step:
Step 1: acquiring position and the motion information of vehicle by mobile unit in real time, collaborates when entering through street
When area's communication zone, the friendship of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three
Mutually；
Step 2: shape is run according to the vehicle that roadside device in step 1 can be acquired into through street merging area communication zone
State information, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information
Whether analysis main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains main line
Kerb lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line
Gap can be inserted, if analysis show that main line kerb lane can insert gap sufficiently large uneven but gap distribution can insert, trackside intelligence
Can decision-making module according to information such as vehicle location, the speed of main line kerb lane and Entrance ramp in obtained communication zone,
And give car number respectively, meanwhile, analysis with ring road head vehicle will on the outside of the main line that merging area joint clashes vehicle
Road car number is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with vehicle according to its upstream vehicle information
" may concede insert gap, provide deceleration, " the first main line collaborative vehicle " mobile unit receive roadside device hair
The deceleration sent, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping with " the first main line collaborative vehicle "
Certain safe distance between vehicles；
Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine entrance circle
Road vehicle participate in first group of remittance vehicle fleet size, and will participate in first group of car number to cross and velocity information transmission feed
The mouth each vehicle of ring road, mobile unit are immediately performed fleet operation after receiving information, with certain speed in stipulated time, rule
Surely the position realization that crosses cooperates with the engagement that can insert gap with first；
Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root
According to " the first main line collaborative vehicle " length of upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length
Redistributing for gap can be inserted Deng subsequent collaboration is carried out, that is, generating to cooperate with first can insert that gap size is identical, speed is equal
Second collaboration can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if cooperate with N can for Entrance ramp
The N group vehicle fleet size that slotting gap is meshed is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N is assisted
It can accelerate with vehicle, to reduce the gap with front truck；
Step 5: the friendship in gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4
Position and speed is converged, in conjunction with the current running position of per car and velocity information, when vehicle-mounted main control module can calculate per car and cross
Safe speed and speed trajectory；
Step 6: the prompt that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module
Speed is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle
It carries equipment monitoring and does not press safe speed traveling to vehicle, then go to step seven execution；
Step 7: if detecting, vehicle is not travelled by safe speed, which controls the braking of the vehicle by force
Pedal reaches safe speed；
Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, otherwise, knot
The guidance of Shu Benci vehicle pass-through.
According to the above aspect of the present invention, the present invention has at least the following advantages:
(1) car networking environment lower inlet ring road vehicle pass-through guidance system of the invention vehicle enter merging area main line with
The information exchange between vehicle and vehicle, between vehicle and road infrastructure is achieved that before ring road joint when 1000m, only
One simple roadside device need to be installed, it is built-in main line car flow information acquisition module, Entrance ramp car flow information acquisition module, wireless
Communication apparatus and intelligent decision module, it is technically simple reliable；
(2) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system and its bootstrap technique can be realized fastly
Fast road main line kerb lane vehicle can insert redistributing for gap, enough remittance gaps be provided for Entrance ramp vehicle, to drive
Required safe speed and speed trajectory when the person of sailing provides vehicle interflow, allows main line vehicle and Entrance ramp vehicle into merging area
Have mark that can follow, substantially eliminate the frequent lane-change of merging area vehicle and speed regulation behavior, more alleviate driver enter it is quick
Nervous psychology and irritated mood when the merging area of road；And in the case where driver's energy is not concentrated, vehicle can be controlled by force,
It avoids that unnecessary collision accident occurs, greatly improves the traffic safety level and traffic efficiency of merging area；
(3) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system and its bootstrap technique are suitable for vehicle
Ring road vehicle speed guidance under any main line traffic behavior, it is too long undesirable with sighting distance to be particularly suitable for Entrance ramp queuing
The interflow of Entrance ramp vehicle and main line vehicle guides, and practicability is very strong, can solve peak time entrance to a certain extent
Ring road is lined up too long problem, makes tribute to reduce the exhaust emission of through street merging area, mitigating intersection traffic loading
It offers.
(4) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system can realize nothing with city management department
Seam connection, administrative department obtain travel condition of vehicle information in real time, realize the management and control of city expressway Entrance ramp, very
It is positive to realize Traffic monitoring, manage and be controlled in one.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is cooperated to be described in detail below.
Detailed description of the invention
Fig. 1 is the structural block diagram of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention；
Fig. 2 is the schematic diagram of interface display of mobile unit in the present invention；
Fig. 3 is the step process of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention
Figure；
Fig. 4 is the schematic diagram of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below
Example is not intended to limit the scope of the invention for illustrating the present invention.
Embodiment: as shown in Figure 1, the Entrance ramp vehicle pass-through under a kind of car networking environment guides system, including trackside
Equipment 2 and monitoring center 3 and main line vehicle on-board equipment 5 and ring road vehicle on-board equipment 1；In the roadside device, monitoring
Network 4 carries out information transmitting by wireless communication between the heart, main line vehicle on-board equipment and ring road vehicle on-board equipment；
The roadside device includes main line car flow information acquisition module 21, ring road car flow information acquisition module 22 and trackside intelligence
It can decision-making module 23；The main line car flow information acquisition module and ring road car flow information acquisition module are intelligently determined with the trackside
The communication connection of plan module；
The working method of roadside device is: main line car flow information acquisition module mainly acquires the fortune of main road kerb lane vehicle
Row status information；Ring road car flow information acquisition module mainly acquires the running state information of Entrance ramp wagon flow；Trackside is intelligently determined
Plan module can insert gap to main line kerb lane according to the main line wagon flow and ring road car flow information that receive and reallocate, and provide
The number and speed regulation information of corresponding collaborative vehicle, and gap running state information can be inserted according to main line, volume is sent to ring road vehicle
Number and speed regulation information；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module 11 and respectively with institute
State the vehicle essential information storage module 16 of vehicle-mounted main control module communication connection, GPS positioning module 17, speed data collection module 12,
Speed control module 14 and cue module 13 are previously stored with the static letter of this vehicle in the vehicle essential information memory module
Breath；
The working method of main line vehicle on-board equipment and ring road vehicle on-board equipment is: GPS positioning module acquires vehicle fortune
Row location information；Speed data collection module acquires car speed in real time；Speed control module controls car speed；Cue module prompt
Driver vehicle passes through safe speed required when the merging area of through street.
When vehicle enters through street merging area communication range, ring road vehicle on-board equipment, main line vehicle on-board and trackside
Carry out information exchange between equipment three, trackside intelligent decision module Quick Acquisition main line kerb lane and ring road vehicle fleet size,
The information such as per car latitude and longitude coordinates, every vehicle speed, and vehicle latitude and longitude coordinates are converted into through street on-ramp locality coordinate,
The coordinate is using the intersection point of main line kerb lane and ring road as origin；Believed according to the movement of collected main line vehicle and ring road vehicle
Breath is respectively numbered each car, and analysis cooperates with the volume for the vehicle that gives way with the main line first that ring road head vehicle will clash
Number, deceleration instruction is sent to the first collaboration and is given way vehicle, and according to the volume of main line upstream traffic state information and ring road vehicle
Team leader's degree can insert gap to main line kerb lane and redistribute, determine second, third ... the volume of N collaborative vehicle
Number and regenerate first, second ... N can insert gap running state information, and the operation in gap can be inserted according to main line
Status information is grouped number to ring road vehicle, and packet numbering and speed regulation information are sent to each vehicle on Entrance ramp
?；Main line and ring road vehicle on-board main control module are according to the speed inserted gap running state information and voluntarily adjust vehicle received
Degree, and it is sent to cue module and speed control module, safe speed needed for prompting driver by cue module, while vehicle
Whether load main control module can monitor vehicle presses institute travels to safe speed, the speed if monitoring vehicle not by safe speed traveling
The speed of control module automatic control vehicle.
The main line and ring road vehicle on-board main control module obtain the motion state of other vehicles by vehicle vehicle, bus or train route communication
Information.According to main line collaborative vehicle upstream running state information and ring road vehicle queue length between main line kerb lane vehicle
Interval of inserting reallocate, the collaboration that determines the deceleration of collaborative vehicle and may concede can insert gap, then basis
The collaboration that collaborative vehicle is conceded can insert remittance packet numbering and speed adjustment strategy that gap running state information determines ring road vehicle, meter
It calculates and obtains safe speed required when ring road vehicle imports main line.
The main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted main control module communication link
The in-vehicle wireless communication module 15 connect, the roadside device further include the trackside with trackside intelligent decision module communication connection
Wireless communication module 24, network carries out by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module
Information transmitting.
The cue module includes vehicle speed information display screen 131, car number display screen 132,133 and of voice playing module
Loudspeaker 134, the vehicle speed information display screen, car number display screen and voice playing module are communicated with vehicle-mounted main control module
Connection, the loudspeaker and the voice playing module communicate to connect.
Vehicle speed information display screen vehicle speed information display screen shows safe speed required when vehicle passes through through street merging area,
Voice playing module plays vehicle by loudspeaker and passes through safe speed needed for the merging area of through street.
The brake pedal of the speed control module control driving vehicle.
The static information includes owner information, the model of vehicle and size.It certainly can also include its of vehicle
Its information.
The mobile unit further includes sending this truck position and motion information to communicate to the vehicle vehicle radio of other conflict vehicles
Module.
As shown in Fig. 2, the interface of mobile unit includes the display and voice prompting of vehicle current number and safe speed, with
And the interface of power supply and data, wherein vehicle packet numbering display interface first place is alphabetical " R " or " Z ", respectively indicates ring road vehicle
Or main line vehicle, the 2nd number to organize into groups belonging to digital representation vehicle, the 3rd sequence being grouped where digital representation,
Such as " R15 " indicates the 5th vehicle in the grouping of ring road the 1st.
As shown in figure 3, the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment, including walk as follows
It is rapid:
Step 1: acquiring position and the motion information of vehicle by mobile unit in real time, collaborates when entering through street
When area's communication zone, the friendship of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three
Mutually；
Step 2: shape is run according to the vehicle that roadside device in step 1 can be acquired into through street merging area communication zone
State information, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information
Whether analysis main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains main line
Kerb lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line
Gap can be inserted, if analysis show that main line kerb lane can insert gap sufficiently large uneven but gap distribution can insert, trackside intelligence
Can decision-making module according to information such as vehicle location, the speed of main line kerb lane and Entrance ramp in obtained communication zone,
And give car number respectively, meanwhile, analysis with ring road head vehicle will on the outside of the main line that merging area joint clashes vehicle
Road car number is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with vehicle according to its upstream vehicle information
" may concede insert gap, provide deceleration, " the first main line collaborative vehicle " mobile unit receive roadside device hair
The deceleration sent, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping with " the first main line collaborative vehicle "
Certain safe distance between vehicles；
Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine entrance circle
Road vehicle participate in first group of remittance vehicle fleet size, and will participate in first group of car number to cross and velocity information transmission feed
The mouth each vehicle of ring road, mobile unit are immediately performed fleet operation after receiving information, with certain speed in stipulated time, rule
Surely the position realization that crosses cooperates with the engagement that can insert gap with first；
Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root
According to " the first main line collaborative vehicle " length of upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length
Redistributing for gap can be inserted Deng subsequent collaboration is carried out, that is, generating to cooperate with first can insert that gap size is identical, speed is equal
Second collaboration can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if cooperate with N can for Entrance ramp
The N group vehicle fleet size that slotting gap is meshed is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N is assisted
It can accelerate with vehicle, to reduce the gap with front truck；
Step 5: the friendship in gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4
Position and speed is converged, in conjunction with the current running position of per car and velocity information, when vehicle-mounted main control module can calculate per car and cross
Safe speed and speed trajectory；
Step 6: the prompt that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module
Speed is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle
It carries equipment monitoring and does not press safe speed traveling to vehicle, then go to step seven execution；
Step 7: if detecting, vehicle is not travelled by safe speed, which controls the braking of the vehicle by force
Pedal reaches safe speed；
Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, otherwise, knot
The guidance of Shu Benci vehicle pass-through.
As shown in figure 4, the schematic diagram of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment.It is false
It is located in the communication range of a certain through street on-ramp, roadside device, which collects main line kerb lane, has j vehicle that will enter conjunction
Region is flowed, ring road has i vehicle that will enter on-ramp, reaches main line according to vehicle on the outside of main line and ring road head vehicle and ring road is handed over
The rough calculation of meeting point O time determines that the vehicle that will be clashed with ring road head vehicle is the 1st main line collaborative vehicle, and number is
" Z11 ", in order to which ring road vehicle smoothly imports main line wagon flow, vehicle Z11 must give way, and gap can be inserted by conceding enough collaborations
D1 is imported for ring road vehicle, and collaboration can insert clearance D 1 and must be formed when ring road head vehicle " R11 " reaches joint O, in vehicle
The 1st fleet, group of ring road successfully imports main line just when Z11 reaches joint O, i.e., interflow is completed, and R11 is collaborating
Cheng Shiyu vehicle Z11 front truck keeps certain safe distance between vehicles and speed is equal, and in order to improve interflow efficiency, R11 must with group vehicle
It must be immediately after, it is necessary to be adjusted the speed according to the operating status of R11 and keep certain safe distance between vehicles.
The solution of (1) the 1st main line collaborative vehicle " Z11 " and ring road head vehicle " R11 " speed regulation track.In order to ensure the peace at interflow
Quan Xing is enabled in tmerMoment collaboration can insert clearance D 1 and ring road head vehicle reaches joint O, in tendThe 1st fleet of moment ring road and the 1st
Collaboration can insert gap and successfully cross, and interflow is completed, and the 1st collaborative vehicle of main line reaches joint O just at this time, and the 1st vehicle of ring road
The distance between every two vehicle of team is minimum safe spacing LPeace, in order to improve traffic efficiency, as long as two vehicles after ensuring to collaborate
Safe distance between vehicles is t at the time of when per car being enabled to start speed regulation0, and start when speed regulation before the 1st main line collaborative vehicle " Z11 "
Vehicle remain a constant speed, then the 1st fleet of ring road successfully collaborates that following target equation need to be met:
MinD1=lR11+lR12+lR13+……+lR1n+(n+1)LPeace
The 1st group of fleet of ring road cooperateed with main line the 1st can insert gap cross successfully need meet target equation:
vBefore Z11(t0)(tend-tmer)-|xZ11(tend) |=D1+lBefore Z11
The constraint condition that the above target equation is all satisfied are as follows:
Wherein, D1 indicates that main line the 1st cooperates with the length that can insert gap, t0Indicate that vehicle enters communication zone and starts speed regulation
Moment, tmerAt the time of indicating that ring road head vehicle reaches joint O, tendExpression the 1st fleet of ring road successfully imports the collaboration of main line the 1st can
At the time of inserting gap, LZ11(t0) indicate t0The distance between the 1st position collaborative vehicle Z11 of moment main line and joint O,
LR11(t0)、LR12(t0)、LR13(t0)、LR1n(t0) indicate t0Moment participates in the ring road vehicle head vehicle and subsequent vehicle at the 1st group of interflow
2,3, the position n is respectively the distance between with joint O, LR11-R12(tmer) indicate tmerMoment ring road vehicle R11 and vehicle
Space headway between R12, LR11-R13(tmer) indicate tmerSpace headway between moment ring road vehicle R11 and vehicle R13,
LR11-Rn(tmer) indicate tmerSpace headway between moment ring road vehicle R11 and vehicle R1n, xZ11(t0)、xZ11(tmer)、xZ11
(tend) respectively indicate t0、tmer、tendThe 1st collaborative vehicle Z11 of moment main line is in the location of this on-ramp abscissa, vZ11
(t) speed of service of the 1st collaborative vehicle Z11 of main line, v are indicatedBefore Z11(t0) and vBefore Z11(tend) respectively indicate t0、tendMoment main line
The speed of service of 1st collaborative vehicle Z11 front truck, vR11(t)、vR12(t)、vR13(t)、vR1n(t) it is small to respectively indicate ring road participation the 1st
The speed of group interflow vehicle, lR11、lR12、lR13And lR1nThe length of wagon of vehicle R11, R12, R13 and R1n are respectively indicated, n is indicated
Ring road participates in the vehicle fleet size at the 1st group interflow, lBefore Z11Indicate the length of wagon of the 1st collaborative vehicle Z11 front truck of main line, LPeaceIt indicates
The minimum safe spacing (desirable 2m) that should be kept between vehicle and vehicle, acceleration needed for a indicates any vehicle operation, v are indicated
Speed needed for any vehicle operation, vmaxIndicate vehicle driving the max speed allowed, amaxAnd aminIndicate vehicle driving
Peak acceleration and minimum acceleration allowed.
The length of D1 can be obtained by the solution of the above target equation, participate in the quantity of the ring road vehicle at the 1st group of interflow
N and main line vehicle Z11, ring road vehicle R11, R12, R13 ..., R1n adjust the speed track accordingly, that is, safety when collaborating
Speed.
(2) in order to improve merging area traffic efficiency and keep main line upstream wagon flow stability, the 1st collaborative vehicle of main line
Subsequent vehicle needs to keep minimum safe spacing between every two cars, and the 2nd collaboration can insert gap and the 1st collaborative vehicle of main line
The distance between it is equal with D1, i.e., it is necessary to meet following condition:
MinD1=lZ11+lZ12+lZ13+……+lZ1m+(m+1)LPeace
The constraint condition that the above target equation is all satisfied are as follows:
Wherein, D1 indicates that main line the 1st cooperates with the length that can insert gap, t0Indicate that vehicle enters communication zone and starts speed regulation
Moment, tendIndicate that the 1st fleet of ring road successfully imports the collaboration of main line the 1st at the time of can insert gap, lZ11、lZ12、lZ13And lZ1mRespectively
Indicate the length of wagon of vehicle Z11, Z12, Z13 and Z1m, m indicates the quantity of the 1st group of collaborative vehicle of main line, LPeaceIndicate vehicle and vehicle
Between the minimum safe spacing (desirable 2m) that should keep, vZ12(t)、vZ13(t) and vZ1m(t) it is small to respectively indicate the collaboration of main line the 1st
Speed, the v of the 2nd, 3 and m vehicle in groupZ21(t) speed of the 1st vehicle in the 2nd Coordinte team of main line, L are indicatedZ12(t0)、LZ13
(t0)、LZ1m(t0) indicate t0Moment participate in interflow the 1st collaborative vehicle of main line and subsequent vehicle 2,3, the position m respectively with friendship
The distance between meeting point O, LZ11-Z12(tend) indicate tendBetween headstock between moment main line the 1st collaborative vehicle Z11 and vehicle Z12
Away from LZ11-Z13(tend) indicate tendThe space headway between vehicle Z11 and vehicle Z13 in the 1st Coordinte team of moment main line,
LZ11-Z1m(tend) indicate tendThe space headway between vehicle Z11 and vehicle Z1m in the 1st Coordinte team of moment main line, LZ21-Z1m
(tend) indicate tendThe space headway between vehicle Z1m in the 2nd collaborative vehicle Z21 of moment main line and the 1st Coordinte team of main line,
vZ12(t0)、vZ13(t0) and vZ1m(t0) respectively indicate t0The speed of the 2nd, 3 and m vehicle in the 1st Coordinte team of moment main line,
vZ21(t0) indicate t0The speed of the 2nd collaborative vehicle of moment main line, vZ11(tend)、vZ12(tend)、vZ13(tend) and vZ1m(tend) point
It Biao Shi not t0The speed of the 1st, 2,3 and m vehicle in the 1st Coordinte team of moment main line, vZ21(tend) indicate tendMoment main line
The speed of 2 collaborative vehicles, acceleration needed for a indicates any vehicle operation, speed needed for v indicates any vehicle operation, vmax
Indicate vehicle driving the max speed allowed, amaxAnd aminIndicate vehicle driving peak acceleration allowed and minimum
Acceleration.
The length of D1 can be obtained by the solution of the above target equation, participate in the main line collaborative vehicle at the 1st group of interflow
Quantity m and main line collaborative vehicle Z11, Z12, Z13 ..., Z1m adjusts the speed track accordingly, and can determine the 2nd
The number of collaborative vehicle and corresponding speed adjustment strategy.
(3) after determining the 2nd collaborative vehicle, the collaboration of main line the 2nd, which can insert gap, to be formed, and gap can be inserted by cooperateing with the 1st
Size is identical and speed is identical, then the vehicle that ring road participates in the 2nd group interflow can be cooperateed with according to main line the 2nd can insert gap
Operating status formed into columns and adjusted the speed, the solution of speed adjustment strategy is such as the target equation in (1), so as to obtain ring road
2 groups participate in the number and speed adjustment strategy of the vehicle at interflow.Correspondingly, the 3rd collaborative vehicle of main line, N-1 collaboration can insert gap
Solution such as the target equation in (2), so that it may between showing that the collaboration of corresponding main line the 3rd can insert gap, N-1 collaboration can insert
Gap may thereby determine that the speed adjustment strategy of each collaborative vehicle of main line.
(4) solution of main line N collaborative vehicle and N collaboration gap.The vehicle fleet size at ring road N group interflow may
There is the case where being less than vehicle fleet size n, in response to this, needs to keep most between ring road N group interflow vehicle each car
Small safe distance between vehicles, the 1st safe spacing between vehicle and last vehicle of N-1 group of ring road N group are D1, so that it may
The speed adjustment strategy of RN1 out, the quantity of trackside intelligent decision module meeting quick obtaining ring road N group vehicle, so that it is determined that circle out
The queue length DN of Dao N group, then, main line N collaborative vehicle will be carried out according to the queue length DN of ring road N group
Speed regulation, until tendMoment forms N and cooperates with gap.
The above is only a preferred embodiment of the present invention, it is not intended to restrict 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 several improvement and
Modification, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. under a kind of car networking environment Entrance ramp vehicle pass-through guidance system bootstrap technique, it is characterised in that: including with
Lower step:
Step 1: mobile unit acquires position and the motion information of vehicle in real time, when the entrance through street merging area comunication area
When domain, the interaction of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three；
Step 2: the travel condition of vehicle letter into through street merging area communication zone can be acquired according to roadside device in step 1
Breath, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module are analyzed according to car flow information
Whether main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains on the outside of main line
Lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line that can insert
Gap, if to show that main line kerb lane can insert gap sufficiently large but can insert that gap distribution is uneven, and trackside is intelligently determined for analysis
Vehicle location of the plan module according to main line kerb lane and Entrance ramp in obtained communication zone, velocity information, and respectively
Car number is given, meanwhile, analysis will be in the main line kerb lane vehicle that merging area joint clashes with ring road head vehicle
Number, is defined as " the first main line collaborative vehicle ", and determines that " the first main line collaborative vehicle " may according to its upstream vehicle information
That concedes inserts gap, provides deceleration, and " the first main line collaborative vehicle " mobile unit receives subtracting for roadside device transmission
Fast information, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping centainly with " the first main line collaborative vehicle "
Safe distance between vehicles；
Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine Entrance ramp vehicle
The vehicle fleet size of first group of remittance is participated in, and first group of car number to cross and velocity information will be participated in and be sent to entrance circle
The each vehicle in road, mobile unit are immediately performed fleet operation after receiving information, are handed over certain speed in stipulated time, regulation
The position realization that converges cooperates with the engagement that can insert gap with first；
Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can be according to " the
After the length of one main line collaborative vehicle " upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length carry out
Continuous collaboration can insert redistributing for gap, that is, the second collaboration that gap size is identical, speed is equal can be inserted with the first collaboration by generating
Can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if Entrance ramp is cooperateed with N can insert gap phase
The N group vehicle fleet size of engagement is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N collaborative vehicle can
Accelerate, to reduce the gap with front truck；
Step 5: the position that crosses of gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4
It sets and speed, in conjunction with the current running position of per car and velocity information, vehicle-mounted main control module can calculate safety when per car crosses
Speed and speed trajectory；
Step 6: the prompt speed that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module
It is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle-mounted set
It is standby to monitor that vehicle is not travelled by safe speed, then go to step seven execution；
Step 7: if detecting, vehicle is not travelled by safe speed, which controls the brake pedal of the vehicle by force
Reach safe speed；
Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, and otherwise, terminates this
Secondary vehicle pass-through guidance；
The guidance system, including roadside device and monitoring center and main line vehicle on-board equipment and ring road vehicle on-board are set
It is standby；Pass through channel radio between the roadside device, monitoring center, main line vehicle on-board equipment and ring road vehicle on-board equipment
Communication network carries out information transmitting；
The roadside device includes main line car flow information acquisition module, ring road car flow information acquisition module and trackside intelligent decision mould
Block；The main line car flow information acquisition module and ring road car flow information acquisition module are communicated with the trackside intelligent decision module
Connection；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and respectively with it is described vehicle-mounted
The vehicle essential information storage module of main control module communication connection, GPS positioning module, speed data collection module, speed control module
And cue module, the static information of this vehicle is previously stored in the vehicle essential information memory module.
2. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 1,
Be characterized in that: the main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted main control module communication link
The in-vehicle wireless communication module connect, the roadside device further include with the trackside intelligent decision module communication connection trackside without
Line communication module, network carries out information by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module
Transmitting.
3. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 2,
Be characterized in that: the cue module includes vehicle speed information display screen and voice playing module, the vehicle speed information display screen and language
Sound playing module is communicated to connect with vehicle-mounted main control module.
4. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 3,
Be characterized in that: the cue module further includes car number display screen, the car number display screen and the vehicle-mounted master control mould
Block communication connection.
5. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 4,
Be characterized in that: the cue module further includes loudspeaker, and the loudspeaker and the voice playing module communicate to connect.
6. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 5,
It is characterized in that: the brake pedal of the speed control module control driving vehicle.
7. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 6,
Be characterized in that: the static information includes owner information, the model of vehicle and size.
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