CN106846832A - The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration - Google Patents

Abstract

The invention discloses a kind of optimal speed bootstrap algorithm in city signal intersection based on bus or train route collaboration and speed guiding system, wherein, optimal speed bootstrap algorithm not comprising in the past research in " do not allow vehicle cut-ins, lane-change; all vehicles all follow speed guiding " etc. basic assumption, the real-time refreshing of system is guided by speed, constantly calculated according to current vehicle position, reduced the restrictive condition of model.While considering the relatively low influence of Ackermann steer angle speed in actual driving procedure, the speed influence lower than straight trip when left/right rotation vehicle reaches moderating process and queue clearance vehicle before stop line by stop line is considered in the calculation.Speed is completed in present system and guides system from theoretical model to the design of equipment in kind and exploitation, it is proposed that a set of scheme feasible and ripe, economic under currently practical conditions, the function that basic bus or train route is cooperateed with can be realized with more cheap price.

Description

The optimal speed bootstrap algorithm in city signal intersection and system based on bus or train route collaboration

Technical field

The present invention relates to a kind of optimal speed bootstrap algorithm in city signal intersection based on bus or train route collaboration and speed guiding System, belongs to technical field of intelligent traffic.

Background technology

With the continuous improvement of people's living standard, the popularity rate of vehicle also more and more higher.Counted according to Traffic Administration Bureau of the Ministry of Public Security, By the end of the year 2016, national vehicle guaranteeding organic quantity up to 2.9 hundred million, wherein 1.94 hundred million, automobile；The people of vehicle driver 3.6 hundred million, Wherein motorist is more than 3.1 hundred million people.Violent increased motor vehicle brings huge pressure to road traffic, due to driving The driving behavior of member has a very big uncertainty, and the speed selection of blindness allows the natively hard up path resource cannot to obtain height Effect is utilized, and usually needs car owner's frequent start-stop could to waste substantial amounts of time and combustion by a traffic light intersection in peak period Oil, aggravates the abrasion of vehicle, to the more tail gas of airborne release.How the car of road close friend, economic security is provided for driver Speed guides this problem, most important.

The introducing of concept is cooperateed with due to bus or train route, is that the development of intelligent transport technology opens the new gate of a fan.Bus or train route is cooperateed with System can effectively improve traffic transportation efficiency and road safety level, under electronic information technology, the promotion of wireless communication technology, Bus or train route cooperative system can realize that information, in quick, the accurate and effective transmission of internal system, promotes the information between car car, bus or train route Interaction.Under bus or train route cooperative surroundings, intelligent road side system can in real time know road traffic condition and intersection signal phase information, lead to The mode for crossing speed guiding makes vehicle Reasonable adjustment speed, lifts intersection efficiency.Current bus or train route coordination technique generally stops Stay in conceptual phase, practical application on a large scale is at home and abroad not implemented, existing speed bootstrap algorithm is also not perfect enough.It is existing Many methods are that effective green time is divided into N sections by interval of saturation headway, guide each to enter control range Vehicle reaches stop line in one section of green time.Bootstrap technique requirement each car all reaches stop line within the expected time, Vehicle below can be influenceed if having a car deviation occur, causes speed to guide failure.Its linear programming model for using is examined Worry factor is less, and is difficult to solve.

The content of the invention

Goal of the invention：Imperfection it is an object of the invention to overcome the deficiencies in the prior art and embodiment, proposes The optimal speed bootstrap algorithm in city signal intersection, and the speed guiding system of complete set is devised, meeting various functions In the case of demand, the exploitation of vehicular control unit and wayside control units is realized with relatively inexpensive cost.

Technical scheme：For achieving the above object, the present invention is adopted the following technical scheme that：

A kind of optimal speed bootstrap algorithm in city signal intersection, comprises the following steps：

(1) if target vehicle meets can reach stop line, and front with highest road speed limit traveling before green light terminates Queuing vehicle can dissipate before this cycle green light terminates and finish, then it is assumed that target vehicle can be within this signal period by intersecting Mouthful, into step (2), otherwise guiding target vehicle deceleration stops and waits next cycle by intersection, terminates；

(2) arranged less than front queuing vehicle if target vehicle meets to be travelled to stop line required time with road Maximum speed limit Team's resolution time, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in fleet's form, if then guiding mesh Mark vehicle reaches stop line when front queuing vehicle dissipates and finishes, and otherwise guiding target vehicle passes through as early as possible.

Further,

If meeting t_x+t_m≤ T, then it is assumed that target vehicle can reach stopping with highest road speed limit traveling before green light terminates Line；If meeting t_q+h_s≤T_g, then it is assumed that target vehicle front queuing vehicle can dissipate before this cycle green light terminates and finish；Its In, T is a signal period duration, t_xIt is the duration that current time starts away from this cycle, t_mFor vehicle is logical with road Maximum speed limit The time required to crossing intersection, T_gIt is green light phase duration, h in a cycle_sIt is saturation headway, t_qIt is front queuing vehicle Resolution time；

For through vehicles,a₁It is acceleration of the target vehicle when section accelerates；v_m It is road Maximum speed limit；v₀It is target vehicle present speed；L is target vehicle current location apart from stop line distance；

L_qIt is queue length, a_msIt is vehicle launch acceleration, t_tTo start the loss time；

For left-hand rotation or right-turning vehicles, it is considered to which speed is slower and has moderating process before stop line, to t_mAnd t_qAfter amendment For：

Wherein, v_leftIt is left-hand rotation speed；v_rightIt is left-hand rotation speed, a₂For the acceleration that target vehicle slows down in section.Enter One step ground, if meeting t_m≤T_r+t_q+h_s-t_x, then it is assumed that target vehicle can pass through to intersect with front queuing vehicle in fleet's form Mouthful.

Further, the guiding target vehicle reaches the guidance mode of stop line when front queuing vehicle dissipates and finishes For：The guidance mode that the guiding target vehicle passes through as early as possible is： Wherein, v_gIt is guiding speed, v₀It is target vehicle present speed, L is target vehicle present bit Put apart from stop line distance, T_rIt is red light phase duration, t in a cycle_qIt is front queuing vehicle resolution time, h_sIt is saturation Time headway, t_rIt is time of driver's reaction.

Further, the guiding target vehicle deceleration parking is that vehicle is guided since current time with economic speed row Sail, the calculation of economic speed：

Wherein, a_comSuitable acceleration in for vehicle deceleration process, v₀It is target vehicle present speed, t_rFor driver is anti- Between seasonable；a_slipAcceleration is slided for vehicle；t₁It it is the time that target vehicle is slided, L stops for target vehicle current location distance Only linear distance, L_qIt is queue length.

When further, sharing a track for keeping straight on and turning right, the guiding of right-turning vehicles speed is modified, Including：

A. straight trip behavior red light phase and front without queuing vehicle, then according to signal in normal right-hand rotation speed guiding system Phase is for green, and the queuing vehicle guidance mode for finishing that dissipated in front is guided；

B. straight trip behavior red light phase and there is queuing vehicle in front, then right-turning vehicles will be limited by queuing vehicle, be pressed Directly capable speed guiding is guided；

C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then guide the right-turning vehicles to be arranged in front Team's vehicle to dissipate reach when finishing and stop line and turned to, i.e., be according to signal phase in normal speed guiding system it is green, And the queuing vehicle guidance mode for finishing that do not dissipate in front is guided；

D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guide the right-turning vehicles according to normal Speed guiding system in signal phase for green, and the queuing vehicle guidance mode for finishing that dissipated in front is guided.

A kind of city signal intersection speed guiding system based on bus or train route collaboration and optimal speed bootstrap algorithm, including car Mounted terminal module and roadside message switching center module；Wherein car-mounted terminal module passes through nothing with roadside message switching center module Wired link is attached, and roadside message switching center module is used to obtain traffic signal timing information and vehicle queue information, with And vehicle location and speed information that car-mounted terminal is sent are received, carry out computing and show that vehicle feeds back to car after advising optimal speed Mounted terminal module；Car-mounted terminal module is used to send vehicle location to roadside message switching center module in real time and speed is believed Breath, and receive suggestion speed and show.

Further, the car-mounted terminal module includes：Gps signal receiver module, human-computer interaction module, radio communication mold Block and MCU module；Wherein MCU module includes gps data processing unit, wireless communication control unit, display control unit and master Control unit；Main control unit is connected with gps data processing unit, wireless communication control unit and display control unit respectively, GPS numbers It is connected with gps signal receiver module according to processing unit, display control unit is connected with human-computer interaction module, radio communication control is single Unit is connected with wireless communication module.

Further, the roadside message switching center module includes：Queuing image collection module, Signalized control are upper Machine, wireless communication module, MCU module；Wherein MCU module includes graphics processing unit, core algorithm unit, serial communication list Unit, wireless communication control unit and main control unit；Main control unit is logical with graphics processing unit, core algorithm unit and serial ports respectively Letter unit is connected；Graphics processing unit is connected with queuing image collection module, carries out image procossing, obtains queuing vehicle length； Serial communication unit is connected with Signalized control host computer, obtain signal lamp timing information, core algorithm unit respectively with figure As processing unit is connected with serial communication unit, the information according to collection calculates the optimal velocity of vehicle.

Beneficial effect：Compared with prior art, it is an advantage of the invention that：

For advising optimal speed bootstrap algorithm, the speed boot policy proposed in the present invention is not comprising research in the past In the basic assumption such as " do not allow vehicle cut-ins, lane-change, all vehicles all follow speed guiding ", the reality of system is guided by speed When refresh, constantly calculated according to current vehicle position, reduce the restrictive condition of model.Consider actual drive the cross simultaneously The relatively low influence of Ackermann steer angle speed in journey, consider in the calculation left/right rotation vehicle reach stop line before moderating process and Queue clearance vehicle passes through the influence lower than straight trip of speed during stop line.And the influence that different entrance driveway are configured is considered, it is right The situation that difference turns to Shared Lane is modified, and this bootstrap technique is applied to various intersections.

For the physics realization of speed guiding system, speed is completed in the present invention and guides system from theoretical model To the design and exploitation of equipment in kind, it is proposed that a set of scheme feasible and ripe, economic under currently practical conditions, Ke Yiyong More cheap price realizes the function of basic bus or train route collaboration.

Brief description of the drawings

Fig. 1 is inventive algorithm flow chart.

Fig. 2 realizes block diagram for system hardware, including roadside message switching center module, car-mounted terminal module.

Fig. 3 implements schematic diagram for roadside message switching center module.

Fig. 4 implements schematic diagram for car-mounted terminal module.

Fig. 5 is working-flow figure.

Specific embodiment

It is as shown in Figure 1 the flow chart of speed optimal bootstrap algorithm in city signal intersection disclosed in the embodiment of the present invention, Substantially flow is：After vehicle enters guidance field, first pass through queue clearance time for calculating and signal lamp phase determines car Can pass through crossing in this signal lamp cycle.If cannot pass through, guiding vehicle is stopped to tail of the queue with economic speed；If Can then judge whether to need guiding vehicle to pass through in the form of fleet with front vehicles by crossing, if if not needing, Guiding vehicle passes through as early as possible, if desired in fleet's form by crossing, then guides vehicle that stopping is reached when queue clearance is finished Line.After above flow judges to finish, guiding speed is calculated respectively.

The hardware for being illustrated in figure 2 speed guiding system of the present invention realizes block diagram, optimal car disclosed in the embodiment of the present invention Fast guiding system includes following component：Car-mounted terminal module and roadside message switching center module；Car-mounted terminal module and roadside Information exchange module be interconnected by wireless channel link go forward side by side row information transmission with interact.

Wherein, car-mounted terminal module includes 4 Main physical modules：Gps signal receiver module 210, human-computer interaction module (display screen) 214, wireless communication module 209, MCU module 217.Wherein MCU module includes 4 logic units：Gps data treatment Unit 211, wireless communication control unit 212, display control unit 213 and main control unit 215.Main control unit 215 respectively with GPS Data processing unit 211, wireless communication control unit 212 are connected with display control unit 213, gps data processing unit 211 with Gps signal receiver module 210 is connected, and display control unit 213 is connected with human-computer interaction module 214, wireless communication control unit 212 are connected with wireless communication module 209.Fig. 4 implements schematic diagram for car-mounted terminal module.As shown in figure 4, MCU module MSP430 is main body, is connected with GPS by serial ports, realizes that the modification to GPS communication baud rate, sample frequency set, send Content Selection, the longitude and latitude that will be collected, speed, course, real time clock information are saved in MCU module；Human-computer interaction module leads to Cross serial ports and obtain the information such as suggestion speed from MCU module, the form for simulating instrument board shows real-time speed and suggestion speed Driver.MCU module is connected by SPI communication mode with wireless communication module, and control wireless communication module sends and receives Data.Debugging interface module is connected by JTAG mouthfuls with computer.Power supply module voltage stabilizing after lithium battery copped wave is boosted is arrived 3.3v is powered.In the present embodiment, the GPS module in car-mounted terminal module is NEO-6M high-performance GPS, wireless communication module It is NRF24L01, human-computer interaction module is TFT color screen, and MCU module is MSP430F5529.

Roadside message switching center module includes 4 Main physical modules：Queuing image collection module 201, signal lamp control Host computer processed 205, wireless communication module 208, MCU module 216；Wherein MCU module includes 5 logic units again：Image procossing Unit 202, core algorithm unit 203, the serial communication unit 204 of signal-oriented lamp host computer, wireless communication control unit 207 With main control unit 206.Main control unit 206 respectively with graphics processing unit 202, core algorithm unit 203 and serial communication unit 204 are connected；Graphics processing unit 202 is connected 201 with queuing image collection module, carries out image procossing, obtains queuing vehicle long Degree；Serial communication unit 204 is connected with Signalized control host computer 205, obtains the timing information of signal lamp, core algorithm unit 203 are connected with graphics processing unit 202 and serial communication unit 204 respectively, and the information according to collection calculates the optimal of vehicle Speed.Fig. 3 implements schematic diagram for roadside message switching center module.As shown in figure 3, MCU module passes through DMA by picture number MCU module is imported into according to from queuing image collection module, image procossing is carried out, queuing vehicle length is obtained.MCU module is by string Row communication interface is connected with Signalized control host computer, obtains the timing information of signal lamp.MCU module is by SPI modes and nothing Line communication module is connected, and control wireless communication module is connected in order with car-mounted terminal, realizes road vehicle position, speed, boat To etc. information collection and to vehicle send suggestion speed.Roadside message switching center module also includes debugging interface module and confession Electric module, debugging interface module is connected by JTAG mouthfuls with computer.Power supply module voltage stabilizing after lithium battery copped wave is boosted It is powered to 3.3v.In the present embodiment, queuing image collection module is OV16860 sensors, and wireless communication module is NRF24L01, MCU module is MSP430F5529.The image point matrix data of camera is saved in MCU and entered by MSP430 by DMA Row image procossing；MSP430 obtains the traffic signal timing data that Signalized control host computer is transmitted by RS232.MSP430 passes through SPI hardware in USCI_B is connected with wireless communication module, carries out the reception of wireless signal and sends.

Core algorithm unit in above-mentioned roadside message switching center module, the optimal speed bootstrap algorithm for being used is such as Under：

1. straight trip speed guiding

For the vehicle in designation range, speed guides system mainly by the position of vehicle, speed, current demand signal Queuing situation judges vehicle by way of intersection before phase and stop line.When following condition is met, target vehicle can be By intersection in this cycle, parking waiting next cycle is otherwise needed.

t_x+t_m≤T (1)

t_q+h_s≤T_g (2)

Wherein, t_xFor the duration that current time starts away from this cycle；h_sIt is saturation headway；T_gFor green in a cycle Lamp phase duration；T_rIt is red light phase duration in a cycle；T=T_r+T_gIt is a signal period total duration；t_mFor vehicle with Road Maximum speed limit is by the time required to intersection；t_qIt is front queuing vehicle resolution time.Formula (1) represents vehicle with highest road Road speed limit traveling can reach stop line before green light terminates, and formula (2) represents that front queuing vehicle can be before this cycle green light terminates Dissipation is finished.

a₁It is acceleration of the target vehicle when section accelerates；v_mIt is road Maximum speed limit；v₀It is this car present speed；L It is current location apart from stop line distance；t_q0Not include starting the queue clearance time of loss time；L_qIt is queue length；a_ms It is vehicle launch acceleration；t_tTo start the loss time.

A. vehicle can pass through intersection within this cycle.If target vehicle is guided by speed can pass through within this cycle Intersection, then optimization aim is that guiding vehicle not parking can pass through, to reduce by the delay of intersection.On this basis, And then judge whether vehicle can pass through intersection with front queuing vehicle in fleet's form.When formula (5) is met, i.e., vehicle is with road When road Maximum speed limit is less than the queue clearance time the time required to travelling to stop line, vehicle can be immediately following front vehicles in fleet's form Pass through.

t_m≤T_r+t_q+h_s-t_x (5)

If vehicle can pass through with front vehicles in fleet's form, guiding target vehicle has dissipated in front queuing vehicle Stop line is reached when complete, guidance mode is as follows：

If vehicle can not pass through with front vehicles in fleet's form, i.e., travelled to during stop line with road Maximum speed limit and arranged Team has dissipated and has finished, then guiding target vehicle passes through as early as possible, and guidance mode is as follows：

B. vehicle needs ramp to stop and waits next cycle to pass through intersection.Vehicle cannot be guided by speed and reduce single Car is delayed, then guide vehicle to slow down in the way of economical and energy saving and stop to queuing vehicle tail of the queue, and vehicle is guided since current time With economy cruising, lower is the calculation of economic speed：

Wherein, a_comSuitable acceleration in for vehicle deceleration process, can set based on experience value；t_rFor driver reacts Time；a_slipAcceleration is slided for vehicle；t₁For the time that target vehicle is slided.

2. turn left, right-turning vehicles speed is guided

In actual driving procedure, left/right rotation vehicle differs greatly with through vehicles in steering procedure, and this research is performing Based on algorithm, it is considered to which right-turning vehicles speed in steering procedure of turning left is slower and has moderating process before stop line, to t_m And t_qCalculated value be modified.

A. it is different to turn to t_mAmendment

By taking the guiding of left turning vehicle speed as an example, it is considered to which vehicle has a moderating process before reaching stop line, obtains t_mMeter Calculation mode：

Wherein, v_leftIt is left-hand rotation speed；a₂For the acceleration that target vehicle slows down in section.

Right-turning vehicles speed bootstrap technique is identical with left turning vehicle speed guiding.

B. it is different to turn to t_qAmendment

By taking left turning vehicle as an example, left turning vehicle turning velocity during queue clearance is relatively slow compared to straight trip, mutually accrued Calculation method is as follows：

Wherein, t_qleft0Not include starting the left-hand rotation queue clearance time of loss time.

The speed guiding of right-turning vehicles is similar with left-hand rotation.

3. the speed guiding under different lane configurations

Multi-steering is commonly present under actual traffic environment and shares the situation in track, then the vehicle between different steerings can phase Mutually it is restricted, in this research by taking straight right lane as an example, the guiding of right-turning vehicles speed is modified.

A. straight trip behavior red light phase and front without queuing vehicle, then according to signal in normal right-hand rotation speed guiding system Phase is for green, and the queuing vehicle guidance mode for finishing that dissipated in front is guided；

B. straight trip behavior red light phase and there is queuing vehicle in front, then right-turning vehicles will be limited by queuing vehicle, be pressed Directly capable speed guiding is guided；

C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then guide the right-turning vehicles to be arranged in front Team's vehicle to dissipate reach when finishing and stop line and turned to, i.e., be according to signal phase in normal speed guiding system it is green, And the queuing vehicle guidance mode for finishing that do not dissipate in front is guided；

D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guide the right-turning vehicles according to normal Speed guiding system in signal phase for green, and the queuing vehicle guidance mode for finishing that dissipated in front is guided.

In the present embodiment, related empirical parameter value can read up the literature and choose or rule of thumb rationally set during algorithm concrete operation It is fixed, such as：a_msFor vehicle launch acceleration takes 2.78m/s²；t_t1.5s is taken to start the loss time；v_leftFor left-hand rotation speed takes 30m/ s。

As shown in figure 5, the specific workflow of speed guiding system of the present invention is as follows：

1) roadside message switching center module initialization, is communicated with Signalized control host computer, obtains signal lamp reality When timing information；Image is obtained from vehicle queue image collection module and calculate Current vehicle queue length simultaneously；Afterwards, wait Car-mounted terminal module is accessed；

2) car-mounted terminal module initialization, sets up with roadside message switching center module and is connected, and carries out data transfer preparation；

3) car-mounted terminal module transmits to message switching center module current vehicle position and speed information, while Send the optimal speed of suggestion and obtain request；

4) vehicle location and speed letter that the car-mounted terminal module that message switching center module in roadside will be received sends Breath, current demand signal lamp timing information, Current vehicle queue length and current intersection coordinate import suggestion most as parameter Calculated in excellent speed algorithm；

5) the optimal speed of suggestion that message switching center module in roadside draws computing (can be turned to according to left straight right three kinds and divided Do not calculate, while pushing three speed) car-mounted terminal module is sent to, car-mounted terminal module will advise that optimal speed shows in real time To user.

Speed boot policy proposed by the present invention, overcomes the limitation of traditional bus or train route cooperation model, eliminate can not overtake other vehicles, It is unable to the restrictive conditions such as lane change so that model more meets real road situation, and devises the speed guiding system of complete set, Its main functional modules is realized by the product development with msp430 as hardware platform, and it is total by the vehicle before and after contrast guiding Transit time, show that the suggestion speed that the present invention is calculated has driving reference value higher.Therefore it is of the invention based on car Lifting of the speed bootstrap algorithm and system of road collaboration to road entirety traffic efficiency is of great importance.

Claims (9)

1. the optimal speed bootstrap algorithm in a kind of city signal intersection, it is characterised in that comprise the following steps：

(1) if target vehicle meets can reach stop line with highest road speed limit traveling before green light terminates, and front is queued up Vehicle can dissipate before this cycle green light terminates and finish, then it is assumed that target vehicle can pass through intersection within this signal period, enter Enter step (2), otherwise guiding target vehicle deceleration stops and waits next cycle by intersection, terminates；

(2) disappear if target vehicle meets to travel to stop line required time to be queued up less than front queuing vehicle with road Maximum speed limit The time of dissipating, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in fleet's form, if then guiding target car Front queuing vehicle dissipate finish when reach stop line, otherwise guiding target vehicle passes through as early as possible.

2. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that：

If meeting t_x+t_m≤ T, then it is assumed that target vehicle can reach stop line with highest road speed limit traveling before green light terminates；If Meet t_q+h_s≤T_g, then it is assumed that target vehicle front queuing vehicle can dissipate before this cycle green light terminates and finish；Wherein, T is One signal period duration, t_xIt is the duration that current time starts away from this cycle, t_mFor vehicle with road Maximum speed limit by intersecting The time required to mouthful, T_gIt is green light phase duration, h in a cycle_sIt is saturation headway, t_qWhen being dissipated for front queuing vehicle Between；

For through vehicles,a₁It is acceleration of the target vehicle when section accelerates；v_mIt is road Road Maximum speed limit；v₀It is target vehicle present speed；L is target vehicle current location apart from stop line distance；

L_qIt is queue length, a_msIt is vehicle launch acceleration, t_tTo start the loss time；

For left-hand rotation or right-turning vehicles, it is considered to which speed is slower and has moderating process before stop line, to t_mAnd t_qIt is after amendment：

$t_{mleft}=\left\{\begin{array}{cc}\frac{L}{v_m}+\frac{{(v_m-v_0)}^2}{2a_1{v}_m}+\frac{{(v_m-v_{left})}^2}{2a_2{v}_m}& \frac{v_m^2-v_0^2}{2a_1}+\frac{v_m^2-v_{left}^2}{2a_2}<L\\ \frac{a_1{a}_2}{a_1+a_2}\sqrt{\frac{a_2{v}_0^2+a_1{v}_{left}^2+2a_1{a}_{2}L}{a_2-a_1}}-\frac{v_0}{a_1}-\frac{v_{left}}{a_2}& \frac{v_0^2-v_{left}^2}{2a_2}\&le;L\\ \frac{2L}{v_0+v_{left}}& \frac{v_0^2-v_{left}^2}{2a_2}\&GreaterEqual;L\end{array}\right.$

$t_{qleft}=t_t+\frac{2L_q}{v_{left}}$

$t_{mright}=\left\{\begin{array}{cc}\frac{L}{v_m}+\frac{{(v_m-v_0)}^2}{2a_1{v}_m}+\frac{{(v_m-v_{right})}^2}{2a_2{v}_m}& \frac{v_m^2-v_0^2}{2a_1}+\frac{v_m^2-v_{right}^2}{2a_2}<L\\ \frac{a_1{a}_2}{a_1+a_2}\sqrt{\frac{a_2{v}_0^2+a_1{v}_{right}^2+2a_1{a}_{2}L}{a_2-a_1}}-\frac{v_0}{a_1}-\frac{v_{right}}{a_2}& \frac{v_0^2-v_{right}^2}{2a_2}\&le;L\\ \frac{2L}{v_0+v_{right}}& \frac{v_0^2-v_{right}^2}{2a_2}\&GreaterEqual;L\end{array}\right.$

$t_{qright}=t_t+\frac{2L_q}{v_{right}}$

Wherein, v_leftIt is left-hand rotation speed；v_rightIt is left-hand rotation speed, a₂For the acceleration that target vehicle slows down in section.

3. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 2, it is characterised in that：

If meeting t_m≤T_r+t_q+h_s-t_x, then it is assumed that target vehicle can pass through intersection with front queuing vehicle in fleet's form.

4. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 2, it is characterised in that：

The guiding target vehicle front queuing vehicle dissipate finish when reach stop line guidance mode be： The guidance mode that the guiding target vehicle passes through as early as possible is： Wherein, v_gIt is guiding speed, v₀It is target vehicle present speed, L is target vehicle current location apart from stop line distance, T_rFor Red light phase duration, t in a cycle_qIt is front queuing vehicle resolution time, h_sIt is saturation headway, t_rFor driver is anti- Between seasonable.

5. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that：

The guiding target vehicle deceleration parking is that vehicle is guided since current time with economy cruising, guiding speed Calculation：

$v_g=\left\{\begin{array}{cc}{v}_0-\frac{v_0^2\&CenterDot;t_r}{2(L-L_q)}& \frac{v_0^2}{2a_{com}}>L-L_q\\ v_0+a_{slip}{t}_r& \frac{v_0^2}{2a_{slip}}>L-L_q\\ v_0-a_{slip}(t_r-t_1)& \frac{v_0^2}{2a_{slip}}\&le;L-L_q\end{array}\right.$

Wherein, a_comSuitable acceleration in for vehicle deceleration process, v₀It is target vehicle present speed, t_rWhen being reacted for driver Between；a_slipAcceleration is slided for vehicle；t₁It it is the time that target vehicle is slided, L is target vehicle current location apart from stop line Distance, L_qIt is queue length.

6. the optimal speed bootstrap algorithm in a kind of city signal intersection according to claim 1, it is characterised in that：For straight Row and the shared situation in track of turning right, are modified to the guiding of right-turning vehicles speed, including：

A. straight trip behavior red light phase and front without queuing vehicle, then according to signal phase in normal right-hand rotation speed guiding system For green, and the queuing vehicle guidance mode for finishing that dissipated in front is guided；

B. straight trip behavior red light phase and there is queuing vehicle in front, then right-turning vehicles will be limited by queuing vehicle, according to straight Capable speed guiding is guided；

C. straight trip behavior green light phase, and front queuing vehicle does not dissipate and finishes, then guide the right-turning vehicles in front queuing car To dissipate reach when finishing and stop line and turned to, i.e., be green and preceding according to signal phase in normal speed guiding system The square queuing vehicle guidance mode for finishing that do not dissipate is guided；

D. straight trip behavior green light phase, and front queuing vehicle has dissipated and has finished, then guide the right-turning vehicles according to normal car Signal phase is for green in fast guiding system, and the queuing vehicle guidance mode for finishing that dissipated in front is guided.

7. it is based on using one kind of the optimal speed algorithm of city signal intersection speed according to claim any one of 1-6 The city signal intersection speed guiding system of bus or train route collaboration, it is characterised in that：Handed over including car-mounted terminal module and roadside information Switching center9's module；Wherein car-mounted terminal module is attached with roadside message switching center module by Radio Link, roadside letter Breath switching centre module is used to obtain traffic signal timing information and vehicle queue information, and receives the car that car-mounted terminal is sent Position and speed information, carry out computing and show that vehicle feeds back to car-mounted terminal module after advising optimal speed；Car-mounted terminal mould Block is used to send vehicle location and speed information to roadside message switching center module in real time, and receives suggestion speed and show Show.

8. a kind of city signal intersection speed based on bus or train route collaboration according to claim 7 guides system, its feature It is：The car-mounted terminal module includes：Gps signal receiver module, human-computer interaction module, wireless communication module and MCU module； Wherein MCU module includes gps data processing unit, wireless communication control unit, display control unit and main control unit；Master control list Unit be connected with gps data processing unit, wireless communication control unit and display control unit respectively, gps data processing unit and Gps signal receiver module is connected, and display control unit is connected with human-computer interaction module, wireless communication control unit and radio communication Module is connected.

9. a kind of city signal intersection speed based on bus or train route collaboration according to claim 7 guides system, its feature It is：The roadside message switching center module includes：Queuing image collection module, Signalized control host computer, radio communication Module, MCU module；Wherein MCU module includes graphics processing unit, core algorithm unit, serial communication unit, radio communication control Unit processed and main control unit；Main control unit is connected with graphics processing unit, core algorithm unit and serial communication unit respectively；Figure As processing unit is connected with queuing image collection module, image procossing is carried out, obtain queuing vehicle length；Serial communication unit with Signalized control host computer be connected, obtain signal lamp timing information, core algorithm unit respectively with graphics processing unit and string Port communications unit is connected, and the information according to collection calculates the optimal velocity of vehicle.