CN108230674B - Vehicle coordination control method for improving utilization rate of bus lane based on vehicle-to-vehicle communication technology - Google Patents

Vehicle coordination control method for improving utilization rate of bus lane based on vehicle-to-vehicle communication technology Download PDF

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CN108230674B
CN108230674B CN201711492084.5A CN201711492084A CN108230674B CN 108230674 B CN108230674 B CN 108230674B CN 201711492084 A CN201711492084 A CN 201711492084A CN 108230674 B CN108230674 B CN 108230674B
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bus
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CN108230674A (en
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王嘉晨
陈艳艳
王东柱
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Beijing University of Technology
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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
    • 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
    • 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
    • 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 a vehicle coordination control method for improving the utilization rate of a bus lane based on a vehicle-to-vehicle communication technology, which comprises the steps that after a vehicle-mounted terminal of a bus receives information of a vehicle B, the vehicle type of the vehicle B is judged firstly, if the vehicle B is not the bus, the lane where the vehicle B is located is judged accurately through secondary map matching, and the lane range is judged according to the relative position calculation of the vehicle B and the bus lane for the first time; the determination is made again by the relative position of the vehicle B and each lane. After the lane where the vehicle B is located is determined, whether the vehicle B runs in front of the bus A is judged by setting a maximum allowable direction deviation value and calculating according to the consistency of the running direction from the bus A to the vehicle B and the vector direction of the bus lane. The method can allow the social vehicles provided with the vehicle-mounted terminals to borrow the bus lane to pass on the premise of ensuring the prior operation of the bus, thereby improving the utilization rate of the bus lane and the passing efficiency of the road.

Description

Vehicle coordination control method for improving utilization rate of bus lane based on vehicle-to-vehicle communication technology
Technical Field
The invention belongs to the field of traffic safety service, and relates to a novel vehicle coordination control method for coordinating and controlling social vehicles to pass by using a bus lane under the condition of ensuring the prior passing of the buses based on a vehicle-to-vehicle communication technology.
Background
The bus lane is a lane special for bus traffic. Except the bus at the specified time, other vehicles and pedestrians cannot enter the lane. Because road resources are limited, in order to guarantee the preferential operation of the buses and improve the attractiveness of bus traveling, a traffic control department specially sets a bus lane on a road with large traffic flow, the preferential operation of the buses is guaranteed, and the operation speed of the buses and the bus traveling sharing rate are improved. Although the bus lane plays a great role, the bus lane is in an idle state at some time due to the fact that the bus departure amount is relatively small, the traveling distribution is uneven and the like; on the other hand, the design of the bus lane is not an isolated system, and the bus can inevitably affect the running conditions of other vehicles while acquiring the priority right, so that a large number of social vehicles have to run in a common lane, the road congestion is aggravated, the bus lane is free, and the congestion phenomenon of the common lane is particularly obvious in the peak time of the morning and evening. With the construction of public transport cities in China, more and more public transport lanes are provided, and the probability of congestion of the same road is increased when one public transport lane is additionally arranged. The public transportation lane is not fully utilized, so that great road resource waste is caused, a series of consequences such as slow vehicle running, traffic jam, increased tail gas emission and the like are generated, and the public attention social problem is achieved.
The invention mainly aims at solving the problem of low utilization rate of the currently arranged bus lane, adopts an advanced vehicle-to-vehicle communication technology, coordinately controls the social vehicles to pass through the bus lane on the premise of ensuring the prior passage of the buses, and effectively improves the utilization rate of the bus lane.
The invention is based on the advanced vehicle-to-vehicle communication (V2V) technology, also called vehicle networking technology, and provides various services such as information exchange and sharing for users in high-speed movement between vehicles through vehicle-to-vehicle communication. In the intelligent transportation strategy research plan released by the U.S. department of transportation in 2015, the improvement of the safety and the operation efficiency of road transportation based on the vehicle-to-vehicle and vehicle-to-road interconnection technology of 5.9GHz special short-range communication is the most important content. At present, relevant national partial important standards based on short-range communication of a cooperation system and vehicle-to-vehicle and vehicle-to-road communication of LTE-V are released, and relevant tests and experiments of vehicle-to-vehicle communication are carried out by domestic research institutions and automobile manufacturers. In addition, the improvement and the development of the positioning technology also create conditions for the high-precision positioning of the vehicle, the Beidou high-precision positioning and the foundation enhancement technology are currently combined to construct in a large scale in the whole country, the positioning precision can reach the decimeter level and even the centimeter level, the monitoring of the vehicle running track and the vehicle position can be realized more accurately, the lane where the vehicle is located can be accurately distinguished, and the automatic driving vehicle based on the high-precision positioning is already in the on-road testing stage.
The invention is designed under the condition that the public vehicles are allowed to be used when the public transport lane is idle, coordination control is reasonably carried out between the public transport vehicles and the social transport vehicles through vehicle-to-vehicle communication, the social transport vehicles can run by means of the public transport lane when the public transport vehicles running on the public transport lane are idle, the public transport vehicles running on the public transport lane within a certain range in front are monitored in real time through vehicle-to-vehicle communication, the vehicles which borrow the public transport lane in front are informed to timely give out the public transport lane through language or characters, the preferential running of the public transport vehicles is ensured, and the utilization rate of the public transport lane and the running efficiency of road traffic are greatly improved. Therefore, the invention is designed for carrying out coordination control on public transport vehicles of the public transport lane and social vehicles borrowing the public transport lane.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a new method for performing coordination control of vehicles traveling on a public transportation lane based on a vehicle-to-vehicle communication technology. The method can realize coordinated control of social vehicles to pass by using the bus lane on the premise of ensuring the prior passing of the buses, and effectively improves the utilization rate of the bus lane and the passing efficiency of road traffic.
In order to achieve the purpose, the invention adopts the following technical scheme:
initializing a system, and emptying an early warning record table and a snapshot record table;
step two, vehicle driving information acquisition and transmission: the vehicle with the vehicle-mounted terminal on the road collects the vehicle running information in real time, and the vehicle sends the information of the vehicle to the surrounding vehicles at the frequency of 10 Hz through vehicle-to-vehicle communication. The information collected and transmitted includes: the vehicle-mounted terminal number ID, the vehicle type, the geographic position, namely longitude and latitude, speed, driving direction angle, current time and the like;
thirdly, the public transport vehicle A receives the information of the surrounding vehicles, and judges the types of the vehicles according to the information: the vehicle A runs on a bus lane, the vehicle A receives information sent by a nearby vehicle B in real time through vehicle-to-vehicle communication, whether the vehicle B is a bus or not is judged according to the vehicle type information sent by the vehicle B, and if the vehicle B is not a bus, the fourth step is executed;
step four, primarily judging the lane, namely comparing the minimum projection distance of the vehicle B and the public transport lane with the set maximum allowable offset of the public transport lane: map matching is carried out on the received geographic position of the vehicle B and each road section on the bus lane on the vehicle-mounted high-precision electronic map, the minimum projection distance is compared with the maximum allowable deviation value of the bus lane, and if the minimum projection distance is smaller than the maximum deviation value, the vehicle B is in the range of the bus lane;
and step five, performing secondary judgment on the located lane, namely performing lane judgment again according to the minimum projection distance of the vehicle B relative to each lane, wherein the projection distances of the vehicle B to the 3 lanes are compared with each other: projecting the vehicle B to the minimum projection distance R in each road section on 3 lanes1、R2、R3Are compared with each other. If there is a vehicle B to the bus lane L1Are all smaller than the other two common lanes L2、L3Minimum projection distance, R1＜R2And R is1＜R3Then the vehicle B and the bus lane L1The matching is successful, and the vehicle B is on the bus lane;
step six, judging whether the vehicle B is in front of the public transport vehicle A or not by setting a maximum allowable direction deviation value, wherein coordinates of a starting point and a finishing point of the section of the public transport dedicated road with the minimum distance in the step five can be known from a vehicle-mounted high-precision map, the position coordinates of the two vehicles are known, and the position of the vehicle B relative to the vehicle A is calculatedMJudging the difference value between the driving direction from the vehicle A to the vehicle B and the vector direction of the public transport road section, if the absolute value of the difference value is less than αMIf the vehicle A is in the same direction as the bus lane, the driving direction from the vehicle A to the vehicle B is consistent with the vector direction of the bus lane, and the vehicle B is in the front of the vehicle A;
step seven, calculating the distance between the vehicle A and the vehicle B in real time: calculating the distance D between the vehicle B and the vehicle A by adopting a distance formula between two pointsAB；
Step eight, judging according to the actual distance and the running speed of the two vehicles on the basis of considering the guarantee of the safe vehicle distanceWhether vehicle B influences bus A's normal operating, promptly, whether carry out the early warning to vehicle B: knowing the distance D between vehicle A and vehicle BABAnd the running speed V of the two vehiclesA、VBAnd a safe vehicle distance DS，DS＝T×(VA-VB)+(LA+LB) And/2, judging whether to give an early warning to the vehicle B. If the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VAAnd the distance between the two vehicles is greater than the basic safe distance DAB＞DSThe vehicle B is not warned if the speed of the front vehicle B is higher than that of the vehicle A and the normal running public traffic vehicle A cannot be influenced, otherwise, the vehicle B is warned;
step nine, calculating the optimal early warning distance to ensure that the occupied vehicle B has enough time to drive away: optimum early warning distance DWAnd the best early warning time interval TWAnd (4) correlating. Method for determining T by adopting vehicle safety time intervalWSafe time interval is the reaction time, T, for bus drivers to take measures to avoid collision accidentsWThe safety time interval T is prolonged on the basis of 5 seconds, the vehicle B is ensured to have enough driving-away time and the vehicle A has enough reaction time to avoid collision accidents to the maximum extent, and the optimal early warning time interval T is setW15 seconds. Optimum early warning distance DW＝TW×(VA-VB)+(LA+LB)/2；
Step ten, if the vehicle B is within the early warning distance, sending early warning information to the front vehicle through vehicle-to-vehicle communication and recording the ID number of the vehicle B in an early warning recording table: the vehicle A calculates the distance between the vehicle A and the vehicle B in real time according to the received position information of the vehicle B, and if the distance between the two vehicles is less than or equal to the early warning distance DAB≤DWAnd early warning is carried out on the vehicle B through vehicle-to-vehicle communication, and the early warning information comprises: ID number of vehicle B, lane-giving warning, etc. Recording the ID number of the vehicle-mounted terminal of the vehicle B in an early warning record table;
step eleven, if the front vehicle is early-warned and is within the snapshot range, starting to snapshot the front vehicle: snap distance DCDistance when starting snapshot for rear bus A to front bus BDistance of vehicle B, which should be greater than the safe distance D for safetyC＞DS. Setting the position of the snapshot distance to be about 5 meters outside the safe vehicle distance for convenient calculation, DC＝DS+5. Real-time calculation of two-vehicle distance DABIf the distance between the two vehicles is less than the snapshot distance DCI.e. DAB≤DCAnd inquiring early warning records, and if the front vehicle B is recorded as early warning, starting to snapshot the license plate number of the vehicle B and putting the license plate number in a snapshot record table.
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FIG. 1 is a block flow diagram of the present invention.
Fig. 2 is a schematic view of the lane and vehicle position.
FIG. 3 shows a vehicle B and a bus lane L1Map matching schematic.
Fig. 4 is a schematic diagram illustrating determination of the relative position of the vehicle B and the vehicle a.
Detailed Description
The invention is realized under the condition of meeting the vehicle-vehicle communication environment, the public transport vehicles and the social vehicles borrowing the bus lane are both provided with vehicle-mounted terminals, the vehicle positioning and communication functions are realized, the positioning has the foundation enhancement function, the positioning precision reaches the decimeter level or the centimeter level, and the communication distance between the vehicles is 1000 meters. The vehicle-mounted terminal is loaded with a vehicle-mounted high-precision electronic map with information of a bus lane and a common lane, and the bus has an inspection snapshot function and can snapshot the license plate of a vehicle in front and recognize license plate information. The bus lane is open, namely, no physical isolation exists between the bus lane and the adjacent common lanes, and social vehicles can travel by means of the bus lane according to the idle condition of the bus lane. In order to carry out vehicle coordination control based on a vehicle-to-vehicle communication technology, the invention sets that only the social vehicle loaded with the vehicle-mounted terminal has the right of borrowing the bus lane to drive on the bus lane, and other social vehicles without the vehicle-mounted terminal cannot occupy the bus lane.
The road and vehicle positions are shown in FIG. 2, and the road is set to have 3 lanes, wherein the outermost lane L1Is a bus lane, L2、L3Is a common lane. Vehicle with wheelsThe vehicle A is a public transport vehicle running on a public transport lane, the vehicle B is a social vehicle capable of borrowing the public transport lane, and the vehicle B is positioned on the same public transport lane as the vehicle A and in front of the vehicle A. According to the vehicle-mounted positioning information and the vehicle-mounted map information, the following information can be obtained: distance between vehicle A and vehicle B is DABThe speeds of the vehicle A and the vehicle B are respectively VAAnd VB. The specific parameter positions are shown in fig. 2. The acquisition methods of the parameters are obtained by general acquisition and calculation and do not belong to the content of the coordination control method.
The method comprises the steps that a bus A running on a bus lane collects information of nearby vehicles in real time through vehicle-to-vehicle communication, wherein the information comprises vehicle-mounted terminal numbers, vehicle positions, running speeds and the like, the bus A receives the information of a vehicle B, firstly, the type of the vehicle B is judged, if the vehicle B is not a bus, the position of the vehicle B is matched with a vehicle-mounted electronic map, and if the vehicle B and the vehicle A are located on the same bus lane and in front of the vehicle A, the distance between the vehicle B and the vehicle A is calculated. By judging the running state of the vehicle B, if the running state of the vehicle B influences the normal running of the vehicle A, the vehicle B is informed of leaving the bus lane through vehicle-to-vehicle communication within the early warning range, so that the purpose of bus passing priority is achieved, if the vehicle B does not give way to the bus lane in time, the vehicle A starts checking snapshot, and illegal vehicles are recorded for law enforcement processing. The calculation process is carried out on the vehicle A vehicle-mounted terminal. The flow chart of the invention is shown in figure 1.
The following describes the present invention in detail by way of examples.
The specific execution steps are as follows:
initializing a system, emptying an early warning record table and a snapshot record table: early warning record table storage early warning
The vehicle-mounted terminal ID number, the snapshot record table stores the snapshot vehicle license plate information;
and step two, vehicle information acquisition and transmission, wherein the vehicle provided with the vehicle-mounted terminal on the road acquires vehicle running information in real time, and the vehicle sends the information of the vehicle to surrounding vehicles at the frequency of 10 Hz through vehicle-to-vehicle communication. The information collected and transmitted includes: the vehicle-mounted terminal number ID, the vehicle type, the geographic position (longitude and latitude), the speed, the driving direction angle, the current time and the like;
thirdly, the public transport vehicle A receives the information of the surrounding vehicles, and judges the types of the vehicles according to the information: the vehicle A runs on a bus lane, the vehicle A receives information sent by a nearby vehicle B in real time through vehicle-to-vehicle communication, firstly, whether the vehicle B is a bus is judged according to vehicle type information sent by the vehicle B, if the vehicle B is the bus, no processing is carried out, and the step II is returned; if the B is not the bus, executing the next step;
step four, primarily judging the lane, namely comparing the minimum projection distance of the vehicle B and the public transport lane with the set maximum allowable offset of the public transport lane: map matching is carried out on the received geographic position of the vehicle B and each road section on the bus lane on the vehicle-mounted high-precision electronic map, the minimum projection distance is compared with the maximum allowable deviation value of the bus lane, and if the minimum projection distance is smaller than the maximum deviation value, the vehicle B is in the range of the bus lane;
the coordinates of the starting point and the ending point of each road section on the bus lane can be known from the vehicle-mounted high-precision map, the coordinates of the position points transmitted by the vehicle B are also known, and the distance from the vehicle B to the bus lane L can be calculated according to a point-to-straight line distance formula1The set of projection distances for each road segment on each is { r1,r2,...ri.., taking the minimum distance R1I.e. minimum offset, R, relative to the bus lane1＝Min{r1,r2,...ri.., recording a bus lane section with the minimum distance from the vehicle B as K. As shown in fig. 3.
Setting maximum allowable deviation value phi of bus laneMThe width of the bus lane is 3.5 meters, and the maximum allowable deviation value of the bus relative to the bus lane is set to phi in consideration of the influence degree on the bus trafficM2 m. If the minimum offset of the position of the vehicle B relative to the bus lane is less than the maximum allowable offset R1＜ΦMNamely, the vehicles are in the general range of the public transport lane,comparing the next step with a common lane; otherwise, the vehicle B is at the sideline or other positions of the bus lane, and the step two is returned;
example (c): knowing that the vehicle B is on the bus-only lane L1Minimum offset distance R in projection distances of upper road sections10.1 m,. phiM2 m. Because the distance from the vehicle B to the bus lane is R10.1 m, less than the maximum offset phiM2 m, i.e. R1＜ΦMAnd the vehicle B is within the range of the bus lane.
And step five, performing secondary judgment on the located lane, namely performing lane judgment again according to the minimum projection distance of the vehicle B relative to each lane, and comparing the minimum projection distances of the vehicle B to the 3 lanes: as the start point coordinates and the end point coordinates of each road section on 2 common lanes can be known by the vehicle-mounted high-precision map, the position coordinates of the vehicle B are known, and the distance from the vehicle B to the common lane L can be respectively calculated according to a point-to-straight line distance formula2、L3Taking the vertical projection distance of each road section, and taking the vehicles B to L similarly to the step four2And L3Minimum projection distance R in distances of all road sections2And R3. Calculating the value R of the distance from the vehicle B to the road section K on the public transport special road according to the previous step1The minimum projection distances from the vehicle B to the 3 lanes are respectively R1、R2、R3. As shown in fig. 3.
R is to be1、R2、R3Are compared with each other. If there is a vehicle B to the bus lane L1Are all less than the distance to the other two common lanes L2、L3Distance of (A), R1＜R2And R is1＜R3Then the vehicle B and the bus lane L1And the matching of the road section K is successful, and the vehicle B is on the bus lane for the next step. Otherwise, returning to the step two;
example (c): knowing that the vehicle B is on the bus-only lane L1And a common lane L2、L3Respectively, are R10.1 m, R23.5 m, R36.9 m. Since the vehicle B arrives at the bus lane L1Shortest projection distance R10.1 m and less than the minimum projection distance R to other two common lanes23.5 m and R36.9 m, i.e. R1＜R2、R1＜R3Then the vehicle B and the bus lane L1And matching is successful, and the bus station is located on a bus lane at present.
Step six, judging whether the vehicle B is in front of the public transport vehicle A or not by setting a maximum allowable direction deviation value: the start and end coordinates of the bus-dedicated road section K where the vehicle B is located can be known from the vehicle-mounted high-precision map, and the position coordinates of the two vehicles are known, so that the position of the vehicle B relative to the vehicle A can be judged.
Setting the maximum allowable offset value αMJudging the difference value between the driving direction from the vehicle A to the vehicle B and the vector direction of the public transport road section K, if the absolute value of the difference value is less than αMThe direction of travel of vehicle A to vehicle B is in line with the bus lane vector direction, with vehicle B at the forward position of vehicle A setting αMAn angle of 50 degrees. It is known that the positional information of the vehicle a and the vehicle B is converted into plane coordinates (x) respectivelyA,yA) And (χ)B,yB) The direction angle from the vehicle A to the vehicle B, namely the included angle between the vehicle A and the horizontal line, can be calculated according to the position coordinates of the two vehicles
Figure BDA0001535760560000071
Similarly, the start and end coordinates of the public transport special road section K are known, and the vector direction angle α of the lane can be obtainedLCalculating the absolute value of the difference between the direction angle from the vehicle A to the vehicle B and the direction angle of the public transport lane and comparing the absolute value with the maximum allowable direction deviation value αMMaking a comparison, if there is | αAB-αL|＜αMThen the direction of travel of the vehicle is from vehicle a to vehicle B, which is in front of vehicle a. Otherwise, vehicle B is not in front of vehicle a. As shown in FIG. 4;
for example, if αAB＝41，αAB＝43，αM50 by | αAB-αL|＜αMIf |41-43|, 2 < 50, vehicle B is at a position ahead of vehicle a.
Step seven, calculating the distance between the vehicle A and the vehicle B in real time: calculating the distance D between the vehicle B and the vehicle A by adopting a distance formula between two pointsAB. It is known that the positional information of the vehicle a and the vehicle B is converted into plane coordinates (x) respectivelyA,yA) And (χ)B,yB) And then:
Figure BDA0001535760560000072
and step eight, judging whether the vehicle B influences the normal operation of the bus A or not according to the actual distance and the running speed of the two vehicles on the basis of considering the guarantee of the safe vehicle distance, namely whether the vehicle B is early warned or not. In order to ensure the safety of the vehicle, a safe vehicle distance is usually set, i.e. under any condition, the driver of the rear vehicle has sufficient reaction distance to take measures to avoid collision accidents. The safe vehicle distance is not a fixed value and is related to the speed and the distance of two vehicles. The calculation formula of the safe vehicle distance is as follows:
DS＝T×(VA-VB)+(LA+LB)/2 (1)
wherein DSFor safe headway, T is the safe headway, i.e. the reaction time of the driver of the rear vehicle, VAAnd VBAs the speed of the vehicles A and B, LAAnd LBThe vehicle lengths of vehicle a and vehicle B, respectively. The after-car reaction time T is usually set to 3 seconds, and T is set to 5 seconds for safety.
Knowing the distance D between vehicle A and vehicle BABAnd the running speed V of the two vehiclesA、VBAnd a safe vehicle distance DSIt can be judged whether to give an early warning to the vehicle B. If the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VAAnd the distance between the two vehicles is greater than the basic safe distance DAB＞DSIf the front vehicle B is faster than the vehicle A and cannot influence the normal running public transport vehicle A, the vehicle B is not warned, and the step II is returned; otherwise, executing the next step.
Example (c): suppose the speeds of vehicle A and vehicle B are V, respectivelyA50 km/h, VB60 km/h and L for each vehicle lengthA12 m, LB6 m, the distance between two cars is DAB58 m, T5 s. The safe vehicle distance is as follows according to the formula (1):
DS＝T×(VA-VB)+(LA+LB)/2
5 × (55-60) × 1000/3600+ (12+6)/2 ≈ 2 (meter)
Then there is VB≥VAAnd DAB＞DSThe vehicle B does not affect the normal running vehicle a.
Step nine, calculating the optimal early warning distance to ensure that the occupied vehicle B has enough time to drive away: optimum early warning distance DWIs not a fixed value and is related to the speed, distance and the like of the two current vehicles. In the calculation, the occupied vehicle B is ensured to have enough time to drive away before the vehicle A arrives, and the bus lane is utilized as much as possible under the premise that the normal driving of the bus A is not influenced by the vehicle B, so that the use efficiency of the bus lane is improved.
Optimum early warning distance DWAnd the best early warning time interval TWAnd (4) correlating. Method for determining T by adopting vehicle safety time intervalWThe safe time interval is the reaction time of bus drivers taking measures to avoid collision accidents, and the traditional safe time interval is 3-5 seconds, TWThe safety time interval T is prolonged on the basis of 5 seconds, the vehicle B is ensured to have enough driving-away time and the vehicle A has enough reaction time to avoid collision accidents to the maximum extent, and the optimal early warning time interval T is setW15 seconds.
According to the formula (1), the optimal early warning distance DW＝TW×(VA-VB)+(LA+LB)/2
Example (c): buses are known as VASpeed V of vehicle B, 55 km/h, on the bus laneB42 km/h, TW15 seconds. The optimal early warning distance is as follows:
DW＝TW×(VA-VB)+(LA+LB)/2
15 × (55-42) × 1000/3600+ (12+6)/2 ≈ 63 (rice)
Step ten, if the vehicle B is within the early warning distance, sending early warning information to the front vehicle through vehicle-to-vehicle communication and recording the ID number of the vehicle B in an early warning recording table:
the vehicle A calculates the distance between the vehicle A and the vehicle B in real time according to the received position information of the vehicle B, and if the distance between the two vehicles is less than or equal to the early warning distance DAB≤DWAnd early warning is carried out on the vehicle B through vehicle-to-vehicle communication, and the early warning information comprises: ID number of vehicle B, lane-giving warning, etc. And recording the ID number of the vehicle-mounted terminal of the vehicle B in the early warning record table. If the front vehicle B is always within the early warning distance of the bus lane, the vehicle A continuously sends out early warning information to the vehicle B until the vehicle B is not within the early warning range. The vehicle-mounted terminal of the vehicle B obtains early warning information sent to the vehicle B through vehicle-to-vehicle communication, and reminds a driver to drive away from a bus lane in a voice or text mode.
Example (c): knowing the distance D between vehicle B and vehicle AABThe best known warning distance is 80 meters: dW83 (meters). Because the current distance between the two vehicles is DAB80 m, DAB＜DWAnd the vehicle A sends out lane-giving early warning to the vehicle B and records the ID number of the vehicle-mounted terminal of the vehicle B.
Step eleven, if the front vehicle is early-warned and is within the snapshot range, starting to snapshot the front vehicle, and putting into a snapshot record table: snap distance DCDistance from the vehicle B when the back bus A starts to snapshot the front vehicle B, and for safety, the distance should be greater than the safe distance DC＞DS. Setting the position of the snapshot distance to be about 5 meters outside the safe vehicle distance for convenient calculation, DC＝DS+5。
Real-time calculation of two-vehicle distance DABIf the distance between the two vehicles is less than the snapshot distance DCI.e. DAB≤DCAnd inquiring early warning records, and if the front vehicle B is recorded as early warning, starting to snapshot the license plate number of the vehicle B and putting the license plate number into a snapshot record table.
Example (c): speed V of vehicle A behind bus laneASpeed V of front vehicle B is 50 km/hBThe length of the vehicle A is L, T is 5 seconds and 40 kilometers per hourA12 m, the length of the vehicle B is LB6 meters, then vehicle a is a safe distance from vehicle B.
DS＝T×(VA-VB)+(LA+LB)/2
5 × (50-40) × 1000/3600+ (12+6)/2 ≈ 23 (rice)
When the rear vehicle A is far from the front vehicle B by a distance DAB≤DC＝DSWhen +5 + 23+ 5-28 m, i.e. DABAnd when the vehicle number is less than or equal to 28 meters, the vehicle A starts to capture the vehicle B, and the identified license plate information is recorded.

Claims (1)

1. A vehicle coordination control method for improving the utilization rate of a bus lane based on a vehicle-to-vehicle communication technology is characterized by comprising the following steps: initializing a system, and emptying an early warning record table and a snapshot record table;
step two, vehicle driving information acquisition and transmission: the method comprises the following steps that a vehicle provided with a vehicle-mounted terminal on a road acquires vehicle running information in real time, and the vehicle sends own information to surrounding vehicles at the frequency of 10 Hz through vehicle-to-vehicle communication; the information collected and transmitted includes: the vehicle-mounted terminal number ID, the vehicle type, the geographic position, namely longitude and latitude, speed, driving direction angle and current time;
thirdly, the public transport vehicle A receives the information of the surrounding vehicles, and judges the types of the vehicles according to the information: the vehicle A runs on a bus lane, the vehicle A receives information sent by a nearby vehicle B in real time through vehicle-to-vehicle communication, whether the vehicle B is a bus or not is judged according to the vehicle type information sent by the vehicle B, and if the vehicle B is not a bus, the fourth step is executed;
step four, primarily judging the lane, namely comparing the minimum projection distance of the vehicle B and the public transport lane with the set maximum allowable offset of the public transport lane: map matching is carried out on the received geographic position of the vehicle B and each road section on the bus lane on the vehicle-mounted high-precision electronic map, the minimum projection distance is compared with the maximum allowable deviation value of the bus lane, and if the minimum projection distance is smaller than the maximum deviation value, the vehicle B is in the range of the bus lane;
and step five, performing secondary judgment on the located lane, namely performing lane judgment again according to the minimum projection distance of the vehicle B relative to each lane, wherein the projection distances of the vehicle B to the 3 lanes are compared with each other: projecting the vehicle B to the minimum projection distance R in each road section on 3 lanes1、R2、R3Comparing the two parts with each other; if there is a vehicle B to the bus lane L1Are all smaller than the other two common lanes L2、L3Minimum projection distance, R1＜R2And R is1＜R3Then the vehicle B and the bus lane L1The matching is successful, and the vehicle B is on the bus lane;
step six, judging whether the vehicle B is in front of the public transport vehicle A or not by setting a maximum allowable direction deviation value, wherein coordinates of a starting point and an ending point of the public transport dedicated road section with the minimum distance in the step five can be known from the vehicle-mounted high-precision map, the position coordinates of the two vehicles are known, and the position of the vehicle B relative to the vehicle A is calculated, and the maximum allowable direction deviation value α is setMJudging the difference value between the driving direction from the vehicle A to the vehicle B and the vector direction of the public transport road section, if the absolute value of the difference value is less than αMIf the vehicle A is in the same direction as the bus lane, the driving direction from the vehicle A to the vehicle B is consistent with the vector direction of the bus lane, and the vehicle B is in the front of the vehicle A;
step seven, calculating the distance between the vehicle A and the vehicle B in real time: calculating the distance D between the vehicle B and the vehicle A by adopting a distance formula between two pointsAB；
Step eight, on the basis of considering to guarantee safe vehicle distance, judge whether vehicle B influences bus A's normal operating according to the actual distance of two cars and the speed of traveling, promptly, whether carry out the early warning to vehicle B: knowing the distance D between vehicle A and vehicle BABAnd the running speed V of the two vehiclesA、VBAnd a safe vehicle distance DS，DS＝T×(VA-VB)+(LA+LB) The vehicle B can be judged whether to be early-warned or not; if the speed of vehicle B is greater than or equal to the speed of vehicle A, i.e. VB≥VAAnd the distance between the two vehicles is greater than the basic safe distance DAB＞DSThe vehicle B is not warned if the speed of the front vehicle B is higher than that of the vehicle A and the normal running public traffic vehicle A cannot be influenced, otherwise, the vehicle B is warned;
step nine, calculating the optimal early warning distance to ensure that the occupied vehicle B has enough time to drive away: optimum early warning distance DWAnd the best early warning time interval TWCorrelation; method for determining T by adopting vehicle safety time intervalWSafe time interval is the reaction time, T, for bus drivers to take measures to avoid collision accidentsWThe safety time interval T is prolonged on the basis of 5 seconds, the vehicle B is ensured to have enough driving-away time and the vehicle A has enough reaction time to avoid collision accidents to the maximum extent, and the optimal early warning time interval T is setW15 seconds; optimum early warning distance DW＝TW×(VA-VB)+(LA+LB)/2；
Step ten, if the vehicle B is within the early warning distance, sending early warning information to the front vehicle through vehicle-to-vehicle communication and recording the ID number of the vehicle B in an early warning recording table: the vehicle A calculates the distance between the vehicle A and the vehicle B in real time according to the received position information of the vehicle B, and if the distance between the two vehicles is less than or equal to the early warning distance DAB≤DWAnd early warning is carried out on the vehicle B through vehicle-to-vehicle communication, and the early warning information comprises: the ID number of the vehicle B and the lane giving early warning; recording the ID number of the vehicle-mounted terminal of the vehicle B in an early warning record table;
step eleven, if the front vehicle is early-warned and is within the snapshot range, starting to snapshot the front vehicle: snap distance DCDistance from the vehicle B when the back bus A starts to snapshot the front vehicle B, and for safety, the distance should be greater than the safe distance DC＞DS(ii) a Setting the position of the snapshot distance to be about 5 meters outside the safe vehicle distance for convenient calculation, DC＝DS+ 5; real-time calculation of two-vehicle distance DABIf the distance between the two vehicles is less than the snapshot distance DCI.e. DAB≤DCInquiring early warning records, and starting to snapshot the license plate of the vehicle B if the vehicle B in front is recorded as early warningNumber, put in snapshot record table.
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