CN108230674A - The vehicle control method for coordinating of public transportation lane utilization rate is improved based on truck traffic technology - Google Patents
The vehicle control method for coordinating of public transportation lane utilization rate is improved based on truck traffic technology Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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Abstract
The invention discloses the vehicle control method for coordinating that public transportation lane utilization rate is improved based on truck traffic technology, after bus car-mounted terminal receives the information of vehicle B, first determine whether the vehicle of vehicle B, if vehicle B is not bus, then accurately the track residing for vehicle B is judged by secondary map match, is calculated into runway range judge according to vehicle B and public transportation lane relative position for the first time；Judged again by vehicle B and each track relative position.After being determined in track where vehicle B, by setting maximum allowable direction deviant, calculated with reference to the consistency of bus A to the travel direction of vehicle B and the direction vector of public transportation lane, judge whether vehicle B is travelled in the front position of public transit vehicle A.This method can allow the public vehicles piggybacking public transportation lane equipped with car-mounted terminal to pass through, so as to improve the traffic efficiency of the utilization rate of public transportation lane and road under the premise of the preferential operation of public transit vehicle is ensured.
Description
Technical field
The invention belongs to traffic safety to service field, is related to one kind based on truck traffic technology, is ensureing that public transit vehicle is preferential
Under conditions of current, coordinate control public vehicles and coordinate control new method using the vehicle that public transportation lane passes through.
Background technology
Dedicated bus lanes are the tracks passed through exclusively for bus.In the stipulated time in addition to bus, other vehicles and
Pedestrian must not enter the track.Since path resource is limited, to ensure the preferential operation of public transit vehicle, the suction of bus trip is improved
Gravitation, traffic control department specially set public transportation lane in the larger road of vehicle flowrate, ensure the preferential operation of public transit vehicle, improve
The speed of bus running and the share rate of bus trip.Although public transportation lane has played very big effect, due to bus
The amount of dispatching a car relatively less, driving the reasons such as be unevenly distributed, public transportation lane is caused to be in idle condition in certain times；It is another
Aspect, the design of public transportation lane is not an isolated system, will necessarily be right while bus obtains preferential right of way
The operation conditions of other vehicles affects so that a large amount of public vehicles have to traveling in common track, exacerbate road
Congestion, this public transportation lane is idle, and particularly evident in peak period morning and evening the phenomenon that common track congestion.With China's public affairs
Urban is handed over to build, public transportation lane is more and more, every to set a public transportation lane it is necessary to increase same path congestion more more
Probability.Public transportation lane, which is not fully used, causes great path resource waste, generates vehicle low running speed, hands over
A series of consequences such as logical congestion, exhaust emissions increase have become the social concern of public attention.
Solution relatively good at present is that public vehicles is allowed to borrow the public transportation lane for comparing " spare time ", but how real
Public vehicles had now not only been allowed to borrow public transportation lane, but also have not influenced normal operation of the public transit vehicle in public transportation lane, this is this
Main problem to be solved is invented, the problem of public transportation lane utilization rate present invention is generally directed to set at present is relatively low, is adopted
With advanced truck traffic technology, it is special using public transport to coordinate control public vehicles under the premise of the priority pass for ensureing public transport
Road passes through, and effectively improves the utilization rate of public transportation lane.
The present invention is the also referred to as car networking technology based on advanced truck traffic (V2V) technology, by truck traffic,
Provide information exchange and the various services such as shared in high-speed mobile between vehicle to the user.In United States Department Of Transportation 2015
In the works, the vehicle vehicle based on 5.9GHz dedicated short-range communication, bus or train route interconnection technique improve road for the intelligent transportation strategic research of publication
The safety of road traffic and operational efficiency are most important one contents.It is domestic at present relevant based on partner systems short range communication
Vehicle vehicle with LTE-V, the part major criterion of bus or train route communication are issued, and studies in China mechanism and automobile vendor are also into driving
The relevant test and experiment of vehicle communication.In addition, the raising and development of location technology are also created for the high accuracy positioning of vehicle
Condition, currently based on Big Dipper high accuracy positioning combination ground enhancing technology, the whole nation is built on a large scale, and positioning accuracy can be with
Reach decimeter grade, even Centimeter Level, more accurately realize the monitoring to vehicle driving trace and position, can accurately distinguish vehicle
Track where, the automatic driving vehicle based on high accuracy positioning have been in road test phase.
The present invention allowed to design under conditions of public vehicles use in the public transportation lane free time, passed through Che Chetong
Letter, rationally carries out coordination control, public vehicles can be borrowed in the public transportation lane free time between public transit vehicle and public vehicles
It is travelled with public transportation lane, when public transit vehicle of the traveling on public transportation lane is by truck traffic, monitoring front is certain in real time
In the range of public transportation lane on have public vehicles traveling, pass through the vehicle that public transportation lane is borrowed in front of language or text notification
Public transportation lane is conceded in time, ensures the preferential operation of public transit vehicle, so as to greatly improve the utilization rate of public transportation lane and road
The operational efficiency of road traffic.Therefore, the present invention is for the public transit vehicle of public transportation lane and the social vehicle of borrow public transportation lane
Carry out coordinating control to be designed.
Invention content
To solve the above problems, it is carried out on public transportation lane based on truck traffic technology the object of the present invention is to provide one kind
Driving vehicle coordinates the new method of control.It can realize under the premise of the priority pass for ensureing public transport, coordinate the social vehicle of control
It is passed through using public transportation lane, effectively improves the utilization rate of public transportation lane and the traffic efficiency of road traffic.
To achieve the above object, the present invention uses following technical scheme：
Step 1: initialization system, empties early warning record sheet and captures record sheet；
Step 2: vehicle information collection and transmission：The vehicle real-time collection vehicle row of car-mounted terminal is housed on road
Information is sailed, vehicle sends the information of oneself by truck traffic with 10 hertz of frequency to nearby vehicle.Acquisition and the letter sent
Breath includes：Car-mounted terminal number ID, type of vehicle, geographical location, that is, longitude and latitude, speed, travel direction angle, current time etc.；
Step 3: public transit vehicle A receives the information of nearby vehicle, the type of these vehicles is judged according to information：Vehicle A rows
It sails on public transportation lane, the information that vehicle A is sent by truck traffic real-time reception to neighbouring vehicle B is transmitted according to vehicle B
Vehicle information judge whether vehicle B is public transit vehicle, if vehicle B is not public transit vehicle, perform step 4；
Step 4: residing track judges for the first time, i.e., according to vehicle B and public transportation lane minimum projection distance and the public affairs of setting
The maximum allowable offset of special lane is handed over to be compared：Vehicle B geographical locations and public affairs on vehicle-mounted high-precision electronic map will be received
Each section on special lane is handed over to carry out map match, by minimum projector distance and public transportation lane maximum allowable offset value ratio
Right, if minimum projection's distance is less than maximum deflection difference value, vehicle B is in the range of bus zone；
Step 5: the residing secondary judgement in track, i.e., according to vehicle B relative to each track minimum projection's distance again into
Runway judges that vehicle B is mutually compared respectively to 3 track projector distances：It will be in each section on vehicle B to 3 track
Minimum projection distance R1、R2、R3Between mutually compare.If there is vehicle B to public transportation lane L1Minimum projection's distance be respectively less than
To the common track L of two other2、L3Minimum projection's distance, R1＜ R2And R1＜ R3, then vehicle B and public transportation lane L1Matching
Success, vehicle B is on public transportation lane；
Step 6: by setting maximum allowable direction deviant, judge vehicle B whether in the front of public transit vehicle A：By vehicle
Carry the start, end coordinate that high-precision map understands distance minimum public transportation lane section in step 5, it is known that the position of two vehicles is sat
Mark, calculates positions of the vehicle B relative to vehicle A.Set maximum allowable direction deviant αMJudge vehicle A to the row of vehicle B
The difference in direction and public transportation lane section direction vector is sailed, if the absolute value of the two difference is less than αM, then vehicle A to vehicle
The travel direction of B is consistent with public transportation lane direction vector, and vehicle B is in the front position of vehicle A；
Step 7: the distance between vehicle A to vehicle B is calculated in real time：Using distance between two points formula, calculate vehicle B away from
The distance D of vehicle AAB；
Step 8: on the basis of considering to ensure safe distance between vehicles, vehicle is judged according to the actual range of two vehicles and travel speed
Whether B influences the normal operation of public transit vehicle A, that is, whether carries out early warning to vehicle B：The distance of known vehicle A and vehicle B
DAB, two vehicles travel speed VA、VBWith safe distance between vehicles DS, DS=T × (VA-VB)+(LA+LB)/2, it can be determined that whether to vehicle B
Carry out early warning.If the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VA, and two vehicles distance is more than basic security
Distance DAB＞ DS, i.e. front vehicles B is faster than vehicle A speed, normally travel public transit vehicle A will not be impacted, then not to vehicle
B early warning, otherwise carries out early warning；
Step 9: calculating best early warning distance, ensure that occupying-road vehicles B has time enough to sail out of：Optimal early warning distance
DWWith during optimal early warning away from TWIt is related.Using during vehicle safety away from method determine TW, away from being adopted for public transport driver when safe
Measure is taken to avoid collision the reaction time of accident, TWWhen safe away from T=5 seconds on the basis of extended, protect to greatest extent
Card vehicle B has enough times of departure and vehicle A to have the sufficient reaction time to avoid collision accident, away from T when setting optimal early warningW
=15 seconds.Optimal early warning distance DW=TW×(VA-VB)+(LA+LB)/2；
Step 10: if vehicle B, in early warning distance, by truck traffic, vehicle sends warning information and pre- forwards
The ID number of record vehicle B in alert record sheet：Vehicle A is calculated in real time according to the location information of vehicle B received with vehicle B's
Distance, if two vehicles distance is less than or equal to early warning distance DAB≤DW, early warning, early warning letter are carried out to vehicle B by truck traffic
Breath includes：The ID number of vehicle B, the early warning that gives way etc..And the ID number of vehicle B car-mounted terminals is recorded in early warning record sheet；
Step 11: if front vehicles are by early warning, and in the range of candid photograph, then start to front vehicles into
Row is captured：Capture distance DCStart the distance apart from vehicle B when capturing to front vehicles B for rear car public transit vehicle A, pacify to ensure
Entirely, this distance should be more than safe distance between vehicles, DC＞ DS.For convenience of calculating, setting captures distance 5 meters or so outside safe distance between vehicles
Position, DC=DS+5.Two vehicle distance D are calculated in real timeABIf two vehicles distance, which is less than, captures distance DC, i.e. DAB≤DC, inquire early warning
Record if front vehicles B has been recorded as early warning, starts and captures vehicle B license plate numbers, is placed on and captures in record sheet.
Description of the drawings
Fig. 1 is flow diagram of the present invention.
Fig. 2 is track and vehicle location schematic diagram.
Fig. 3 is vehicle B and public transportation lane L1Map match schematic diagram.
Fig. 4 is that vehicle B judges schematic diagram with vehicle A relative positions.
Specific embodiment
The present invention realizes in the case where meeting truck traffic environment, public transit vehicle and the public vehicles for borrowing public transportation lane
Car-mounted terminal is mounted on, there is vehicle location, communication function, positioning has the function of ground enhancing, and positioning accuracy reaches decimeter grade
Or Centimeter Level, communication distance is 1000 meters between vehicle.It is mounted on car-mounted terminal with public transportation lane and common track letter
The vehicle-mounted high-precision electronic map of breath, public transit vehicle have the function of that inspection is captured, can capture car plate and the identification of front vehicles
License board information.Public transportation lane is open, i.e., is not physically isolated between public transportation lane and adjacent common track, social vehicle
Can according to the idle condition of public transportation lane borrow public transportation lane traveling.In order to carry out based on truck traffic technology
Vehicle coordinate control, the present invention setting be only mounted with car-mounted terminal public vehicles just have piggybacking public transportation lane traveling
Right, other do not have the public vehicles of car-mounted terminal that cannot occupy public transportation lane.
As shown in Figure 2, setting road has 3 tracks, wherein outermost track L for road and vehicle location1It is special for public transport
Road, L2、L3For common track.Vehicle A is travelled for public transit vehicle on public transportation lane, and vehicle B is can borrow public transportation lane
Public vehicles, vehicle B be in and on vehicle A same public transportation lanes, and in vehicle A front.According to vehicle on-board
Location information and vehicular map information can obtain：The distance of vehicle A and vehicle B are DAB, the speed difference of vehicle A and vehicle B
For VAAnd VB.Design parameter position is as shown in Figure 2.The acquisition methods of these parameters are using general acquisition and are calculated, and do not belong to
In the content of this control method for coordinating.
Each step of this method is travelled near the public transit vehicle A of public transportation lane is acquired in real time by truck traffic
The information of vehicle, including car-mounted terminal number, vehicle location, travel speed etc., public transit vehicle A receives the information of vehicle B, first
First judge the vehicle of vehicle B, if not public transit vehicle, the position of vehicle B is matched with electronic map of automobile navigation, if vehicle
B and vehicle A is in same public transportation lane and in the front of vehicle A, then calculates distances of the vehicle B relative to vehicle A.
By judging the operating status of vehicle B, if the transport condition of vehicle B influences the normally travel of vehicle A, in early warning range
It is interior to inform that vehicle B sails out of public transportation lane by truck traffic, achieve the purpose that Bus Priority, if vehicle B without and
Shi Rangkai public transportation lanes, vehicle A start inspection and capture, and violation vehicle record is handled for law enforcement.Calculating process is in vehicle A vehicles
It is carried out on mounted terminal.Flow diagram of the present invention is as shown in Figure 1.
Specific implementation process of the present invention is described in detail below by example.
Specific execution step is as follows：
Step 1: initialization system, empties early warning record sheet and captures record sheet：Early warning record sheet stores early warning
Vehicle on-board terminal ID number captures record sheet storage and captures vehicle license plate information；
Step 2: collecting vehicle information and transmission, the real-time collection vehicle traveling letter of vehicle on road equipped with car-mounted terminal
Breath, vehicle send the information of oneself by truck traffic with 10 hertz of frequency to nearby vehicle.Acquisition and the packet sent
It includes：Car-mounted terminal number ID, type of vehicle, geographical location (longitude and latitude), speed, travel direction angle, current time etc.；
Step 3: public transit vehicle A receives the information of nearby vehicle, the type of these vehicles is judged according to information：Vehicle A rows
It sails on public transportation lane, the information that vehicle A is sent by truck traffic real-time reception to neighbouring vehicle B, first according to vehicle B
The vehicle information transmitted judges whether vehicle B is public transit vehicle, if B is public transit vehicle, without processing, return to step
Two；If B is not public transit vehicle, next step is performed；
Step 4: residing track judges for the first time, i.e., according to vehicle B and public transportation lane minimum projection distance and the public affairs of setting
The maximum allowable offset of special lane is handed over to be compared：Vehicle B geographical locations and public affairs on vehicle-mounted high-precision electronic map will be received
Each section on special lane is handed over to carry out map match, by minimum projector distance and public transportation lane maximum allowable offset value ratio
Right, if minimum projection's distance is less than maximum deflection difference value, vehicle B is in the range of bus zone；
The beginning and end coordinate in every section on public transportation lane is understood by vehicle-mounted high-precision map, is transmitted by vehicle B
Position point coordinates be also known, according to distance between beeline and dot formula, vehicle B can be calculated to public transportation lane L1On often
Every section projector distance collection be { r1,r2,...ri..., take wherein minimum range R1, i.e., relative to public transportation lane
Minimum offset, R1=Min { r1,r2,...ri..., the bus zone section of recording distance vehicle B minimum ranges is K.See figure
Shown in 3.
Set the maximum allowable deviant Φ of public transportation laneM, public transportation lane width is 3.5 meters, it is contemplated that bus
Current influence degree, setting vehicle are Φ relative to the maximum allowable deviant of public transportation laneM=2 meters.If vehicle B
Position relative to public transportation lane minimum offset be less than maximum allowable deviant R1＜ ΦM, i.e. vehicle is big in public transportation lane
In the range of cause, next step is carried out compared with common track；Otherwise, the positions of vehicle B in public transportation lane sideline or in addition, are returned
Return step 2；
Example：Known vehicle B to public transportation lane L1Smallest offset distance R in upper each section projector distance1=0.1 meter,
ΦM=2 meters.Since the distance of vehicle B to public transportation lane is R1=0.1 meter, less than maximum offset ΦM=2 meters, i.e. R1＜
ΦM, then vehicle B is in the range of public transportation lane.
Step 5: the residing secondary judgement in track, i.e., according to vehicle B relative to each track minimum projection's distance again into
Runway judges that vehicle B is mutually compared respectively to 3 track minimum projection distances：Due to vehicle-mounted high-precision map understand 2 it is general
The beginning and end coordinate in each section on being open to traffic, can by vehicle B location coordinate it is known that according to distance between beeline and dot formula
To calculate vehicle B respectively to common track L2、L3The upright projection distance in upper each section, similar with step 4, pick up the car a B
To L2And L3Minimum projection distance R in upper all section distances2And R3.The vehicle B being calculated according to previous step is apart from public transport
The value R of section K on special lane1, minimum projection's distance in vehicle B to 3 track is respectively R1、R2、R3.As shown in Figure 3.
By R1、R2、R3Between mutually compare.If there is vehicle B to public transportation lane L1Distance be respectively less than to two other
Common track L2、L3Distance, R1＜ R2And R1＜ R3, then vehicle B and public transportation lane L1On section K successful match, vehicle B
On public transportation lane, carry out in next step.Otherwise return to step two；
Example：Known vehicle B to public transportation lane L1With common track L2、L3Minimum vertical projector distance be respectively R1=
0.1 meter, R2=3.5 meters, R3=6.9 meters.Due to vehicle B to public transportation lane L1Most short projector distance R1=0.1 meter, and it is small
In the minimum projection distance R to other two common tracks2=3.5 meters and R3=6.9 meters, i.e. R1＜ R2、R1＜ R3, then vehicle B
With public transportation lane L1Successful match is currently on public transportation lane.
Step 6: by setting maximum allowable direction deviant, judge vehicle B whether in the front of public transit vehicle A：By vehicle
Carry the start, end coordinate of public transportation lane section K where high-precision map understands vehicle B, it is known that the position coordinates of two vehicles, it can be with
Judge positions of the vehicle B relative to vehicle A.
Set maximum allowable direction deviant αMThe travel direction and public transportation lane section K for judging vehicle A to vehicle B are sweared
The difference in direction is measured, if the absolute value of the two difference is less than αM, then the travel direction and public transportation lane of vehicle A to vehicle B
Direction vector is consistent, and vehicle B is in the front position of vehicle A.Set αM=50 degree of angles.The location information of known vehicle A and vehicle B
It is respectively (x to be converted to plane coordinatesA,yA) and (χB,yB), vehicle A can be calculated to vehicle B by the position coordinates of two vehicles
Deflection, i.e., with horizontal angleThe similarly start, end of known public transportation lane section K
Coordinate can obtain the direction vector angle α in trackL, calculate the deflection of vehicle A to vehicle B and public transportation lane deflection
Absolute difference, and with maximum allowable direction deviant αMIt is compared, if there is | αAB-αL| ＜ αM, then by vehicle A to vehicle B
It is vehicle heading, vehicle B is in the front of vehicle A.Otherwise, vehicle B is not or not the front of vehicle A.As shown in Figure 4；
Example：If αAB=41, αAB=43, αM=50, by | αAB-αL| ＜ αMKnow | 41-43 |=2 ＜ 50, then vehicle B is in vehicle
The front position of A.
Step 7: the distance between vehicle A to vehicle B is calculated in real time：Using distance between two points formula, calculate vehicle B away from
The distance D of vehicle AAB.It is respectively (x that the location information of known vehicle A and vehicle B, which are converted to plane coordinates,A,yA) and (χB,yB),
Then：
Step 8: on the basis of considering to ensure safe distance between vehicles, vehicle is judged according to the actual range of two vehicles and travel speed
Whether B influences the normal operation of public transit vehicle A, that is, whether carries out early warning to vehicle B.In order to ensure vehicle safety, usually set
A safe distance between vehicles is put, i.e., in any condition, rear car driver has sufficient reaction distance to take measures to avoid collision accident.
Safe distance between vehicles is not a fixed value, speed, distance dependent with two vehicles.The calculation formula of safe distance between vehicles：
DS=T × (VA-VB)+(LA+LB)/2 (1)
Wherein DSFor safe distance between vehicles, away from, i.e. reaction time of rear car driver, V when T is safeAAnd VBFor vehicle A and vehicle
The speed of B, LAAnd LBThe respectively vehicle commander of vehicle A and vehicle B.Usual rear car reaction time T values are 3 seconds, in order to examine safely
Consider, set T=5 seconds.
The distance D of known vehicle A and vehicle BAB, two vehicles travel speed VA、VBWith safe distance between vehicles DS, it can be determined that whether
Early warning is carried out to vehicle B.If the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VA, and two vehicles distance is more than base
Safety distance DAB＞ DS, i.e. front vehicles B is faster than vehicle A speed, normally travel public transit vehicle A will not be impacted, then
Not to vehicle B early warning, return to step two；Otherwise next step is performed.
Example：It is assumed that the speed of vehicle A and vehicle B are respectively VA=50 kilometers/hour, VB=60 kilometers/hour, Che Changfen
It Wei not LA=12 meters, LB=6 meters, two vehicles distance is DAB=58 meters, T=5 seconds.It is according to formula (1) safe distance between vehicles：
DS=T × (VA-VB)+(LA+LB)/2
=5 × (55-60) × 1000/3600+ (12+6)/2 ≈ 2 (rice)
Then there is VB≥VAAnd DAB＞ DS, then vehicle B normally travel vehicle A will not be impacted.
Step 9: calculating best early warning distance, ensure that occupying-road vehicles B has time enough to sail out of：Optimal early warning distance
DWIt is not a fixed value, it is related with the speed of current two vehicle and distance etc..Occupying-road vehicles B should be ensured in vehicle in the calculation
A has time enough to sail out of before reaching, and considers vehicle B under the premise of bus A normally travels are not influenced as far as possible again
Mostly using public transportation lane, improve the service efficiency of public transportation lane.
Optimal early warning distance DWWith during optimal early warning away from TWIt is related.Using during vehicle safety away from method determine TW, safety
When away from the reaction time for taking measures to avoid collision accident for public transport driver, the time away from 3-5 seconds when traditional safe, TW
When safe away from T=5 seconds on the basis of extended, ensure that vehicle B has enough times of departure and vehicle A to have to greatest extent
The sufficient reaction time avoids collision accident, away from T when setting optimal early warningW=15 seconds.
According to formula (1), optimal early warning distance DW=TW×(VA-VB)+(LA+LB)/2
Example：Known bus is with VA=55 kilometers/hour of speed are travelled in public transportation lane, the speed V of vehicle BB=42 is public
In/hour, TW=15 seconds.Then optimal early warning distance is：
DW=TW×(VA-VB)+(LA+LB)/2
=15 × (55-42) × 1000/3600+ (12+6)/2 ≈ 63 (rice)
Step 10: if vehicle B, in early warning distance, by truck traffic, vehicle sends warning information and pre- forwards
The ID number of record vehicle B in alert record sheet：
Vehicle A calculates the distance with vehicle B, if two vehicles are apart from small in real time according to the location information of vehicle B received
In or equal to early warning distance DAB≤DW, early warning is carried out to vehicle B by truck traffic, warning information includes：The ID number of vehicle B,
Give way early warning etc..And the ID number of vehicle B car-mounted terminals is recorded in early warning record sheet.If front vehicles B is special in public transport always
With in the early warning distance in road, vehicle A continues to send out warning information to vehicle B, until vehicle B is not in early warning range.Vehicle B vehicles
Mounted terminal obtains issuing the warning information of oneself by truck traffic, driver is reminded to sail out of by the form of voice or word
Public transportation lane.
Example：The distance D of known vehicle B and vehicle AAB=80 meters, it is known that optimal early warning distance is：DW=83 (rice).Due to
Current two vehicles distance is DAB=80 meters, DAB＜ DW, then vehicle A sends out the early warning that gives way to vehicle B, and records vehicle B car-mounted terminals
ID number.
Step 11: if front vehicles are by early warning, and in the range of candid photograph, then start to front vehicles into
Row is captured, and is put into candid photograph record sheet：Capture distance DCFront vehicles B is started for rear car public transit vehicle A when capturing apart from vehicle B
Distance, for ensure safety, this distance should be more than safe distance between vehicles, DC＞ DS.For convenience of calculating, setting is captured distance and is being pacified
The complete outer 5 meters of right positions of spacing, DC=DS+5。
Two vehicle distance D are calculated in real timeABIf two vehicles distance, which is less than, captures distance DC, i.e. DAB≤DC, inquiry early warning record,
If front vehicles B has been recorded as early warning, starts candid photograph vehicle B license plate numbers and be put into candid photograph record sheet.
Example：The speed V of public transportation lane rear car vehicle AA=50 kilometers/hour, the speed V of front truck BB=40 kilometers/small
When, T=5 seconds, vehicle A vehicle commander was LA=12 meters, vehicle B vehicle commander is LB=6 meters, then the safe distance of vehicle A and vehicle B.
DS=T × (VA-VB)+(LA+LB)/2
=5 × (50-40) × 1000/3600+ (12+6)/2 ≈ 23 (rice)
When rear car vehicle A is apart from front truck vehicle B distances DAB≤DC=DSAt+5=23+5=28 meters, that is, DABAt≤28 meters,
Vehicle A starts the candid photograph to vehicle B, records the license board information of identification.
Claims (1)
1. the vehicle control method for coordinating of public transportation lane utilization rate is improved based on truck traffic technology, it is characterised in that：Step
First, system is initialized, empty early warning record sheet and captures record sheet；
Step 2: vehicle information collection and transmission：The real-time collection vehicle traveling letter of vehicle on road equipped with car-mounted terminal
Breath, vehicle send the information of oneself by truck traffic with 10 hertz of frequency to nearby vehicle；Acquisition and the packet sent
It includes：Car-mounted terminal number ID, type of vehicle, geographical location, that is, longitude and latitude, speed, travel direction angle, current time；
Step 3: public transit vehicle A receives the information of nearby vehicle, the type of these vehicles is judged according to information：Vehicle A runs exist
On public transportation lane, information that vehicle A is sent by truck traffic real-time reception to neighbouring vehicle B, the vehicle transmitted according to vehicle B
Type information judges whether vehicle B is public transit vehicle, if vehicle B is not public transit vehicle, performs step 4；
Step 4: residing track judges for the first time, i.e., it is special according to vehicle B and public transportation lane minimum projection distance and the public transport of setting
It is compared with the maximum allowable offset in road：Vehicle B geographical locations will be received and public transport on vehicle-mounted high-precision electronic map is special
Map match is carried out with section each on road, minimum projector distance is compared with public transportation lane maximum allowable offset value, such as
Fruit minimum projection distance is less than maximum deflection difference value, then vehicle B is in the range of bus zone；
Step 5: the residing secondary judgement in track, i.e., according to vehicle B relative to minimum projection's distance in each track again into driving
Road judges that vehicle B is mutually compared respectively to 3 track projector distances：By the minimum in each section on vehicle B to 3 track
Projector distance R1、R2、R3Between mutually compare；If there is vehicle B to public transportation lane L1Minimum projection's distance be respectively less than to another
Outer two common track L2、L3Minimum projection's distance, R1＜ R2And R1＜ R3, then vehicle B and public transportation lane L1Successful match,
Vehicle B is on public transportation lane；
Step 6: by setting maximum allowable direction deviant, judge vehicle B whether in the front of public transit vehicle A：By vehicle-mounted height
Precision map understands the start, end coordinate in distance minimum public transportation lane section in step 5, it is known that the position coordinates of two vehicles, meter
Calculate positions of the vehicle B relative to vehicle A；Set maximum allowable direction deviant αMJudge vehicle A to the travel direction of vehicle B
With the difference of public transportation lane section direction vector, if the absolute value of the two difference be less than αM, then vehicle A to the row of vehicle B
Sail that direction is consistent with public transportation lane direction vector, vehicle B is in the front position of vehicle A；
Step 7: the distance between vehicle A to vehicle B is calculated in real time：Using distance between two points formula, vehicle B is calculated away from vehicle A
Distance DAB；
Step 8: on the basis of considering to ensure safe distance between vehicles, judge that vehicle B is according to the actual range of two vehicles and travel speed
The no normal operation for influencing public transit vehicle A, that is, whether early warning is carried out to vehicle B：The distance D of known vehicle A and vehicle BAB, two
The travel speed V of vehicleA、VBWith safe distance between vehicles DS, DS=T × (VA-VB)+(LA+LB)/2, it can be determined that whether carried out to vehicle B pre-
It is alert；If the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VA, and two vehicles distance is more than basic security distance DAB
＞ DS, i.e. front vehicles B is faster than vehicle A speed, and normally travel public transit vehicle A will not be impacted, then not pre- to vehicle B
It is alert, otherwise carry out early warning；
Step 9: calculating best early warning distance, ensure that occupying-road vehicles B has time enough to sail out of：Optimal early warning distance DWWith most
Away from T during good early warningWIt is related；Using during vehicle safety away from method determine TW, away from taking measures for public transport driver when safe
Avoid collision the reaction time of accident, TWWhen safe away from T=5 seconds on the basis of extended, ensure vehicle B to greatest extent
There are enough times of departure and vehicle A to there is the sufficient reaction time to avoid collision accident, away from T when setting optimal early warningW=15 seconds；
Optimal early warning distance DW=TW×(VA-VB)+(LA+LB)/2；
Step 10: if vehicle B, in early warning distance, by truck traffic, vehicle sends warning information and remembers in early warning forwards
Record the ID number of record vehicle B in table：Vehicle A calculates the distance with vehicle B according to the location information of vehicle B received in real time,
If two vehicles distance is less than or equal to early warning distance DAB≤DW, early warning, warning information packet are carried out to vehicle B by truck traffic
It includes：The ID number of vehicle B, the early warning that gives way etc.；And the ID number of vehicle B car-mounted terminals is recorded in early warning record sheet；
Step 11: if front vehicles then start and front vehicles are grabbed by early warning, and in the range of candid photograph
It claps：Capture distance DCStart the distance apart from vehicle B when capturing to front vehicles B for rear car public transit vehicle A, to ensure safety,
This distance should be more than safe distance between vehicles, DC＞ DS；For convenience of calculating, distance 5 meters or so positions outside safe distance between vehicles are captured in setting
It puts, DC=DS+5；Two vehicle distance D are calculated in real timeABIf two vehicles distance, which is less than, captures distance DC, i.e. DAB≤DC, inquiry early warning note
Record if front vehicles B has been recorded as early warning, starts and captures vehicle B license plate numbers, is placed on and captures in record sheet.
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