CN108765982A - Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings - Google Patents
Signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings Download PDFInfo
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- CN108765982A CN108765982A CN201810419181.XA CN201810419181A CN108765982A CN 108765982 A CN108765982 A CN 108765982A CN 201810419181 A CN201810419181 A CN 201810419181A CN 108765982 A CN108765982 A CN 108765982A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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- G—PHYSICS
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- G08G1/16—Anti-collision systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
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Abstract
The characteristics of the present invention is based on bus or train route cooperative surroundings, it is proposed that signalized crossing speed guiding system and bootstrap technique under bus or train route cooperative surroundings.The system includes mobile unit, roadside device and speed guiding module.Mobile unit includes on-vehicle information module and vehicle-mounted warning module, the status information of vehicle is sent to roadside device or other mobile units by on-vehicle information module, vehicle-mounted warning module, according to the real time status information of Ben Che and front truck, the secure threshold between vehicle is calculated, dangerous anticipation warning is carried out to vehicle according to the threshold value.Roadside device includes trackside data obtaining module, basic information memory module and wireless communication module, has the function of storage, transmission, calculates；Speed guiding module provides the track guidance information and speed guidance information of vehicle when vehicle enters intersection section.Compared with prior art, the present invention considers the safe distance of vehicle, and the delay of intersection is minimized, and improves traffic efficiency and reduces environmental pollution.
Description
Technical field
The present invention relates to signalized crossing vehicles under intelligent traffic signal control field more particularly to bus or train route cooperative surroundings
Fast guiding system and bootstrap technique.
Background technology
Extensively and profoundly with the fast development and intelligent transportation of information technology, the especially research of bus or train route coordination technique,
A kind of more advanced means are provided to alleviate Traffic Problems.Bus or train route coordination technique relies primarily on advanced Internet of Things
Net cognition technology and wireless communication technique, to realize the information exchange between vehicle and vehicle, between vehicle and roadside device, dynamic access
People, vehicle, road, environment real time data, with reach traffic system it is safe, unimpeded and environmentally friendly the purpose of.
The application of bus or train route coordination technique provides new resolving ideas, domestic and international researcher to the signal control of intersection
The bootstrap technique of bicycle speed guiding based on bus or train route collaboration, certain effect is obtained in terms of the delay for improving intersection, but
There are certain deficiencies.Existing research is mostly that the speed bootstrap technique of bicycle is not accounted for the practical situation of more vehicles, neglected yet
Influencing each other between practical driving vehicle and front and back vehicle is omited, therefore effect is short of in practical applications.
Invention content
Goal of the invention：The purpose of the present invention is to propose to signalized crossing speed guiding systems under a kind of bus or train route cooperative surroundings
System and bootstrap technique, so that vehicle is delayed minimum when intersection is run, to improve the conevying efficiency of intersection and reduce ring
It pollutes in border.
Technical solution：Signalized crossing speed guides system under bus or train route cooperative surroundings, including：
Mobile unit, roadside device and speed guiding, between the mobile unit and trackside, mobile unit sets with vehicle-mounted
It is transmitted into row information by private radio communication DSRC between standby and between roadside device；
(1) mobile unit includes on-vehicle information acquisition module and vehicle-mounted warning module, the function of on-vehicle information module be by
The running state information of vehicle is sent to roadside device or other neighbouring mobile units.Vehicle-mounted warning module is travelled in vehicle
In the process, the information of vehicles for monitoring this vehicle and front truck in real time calculates the secure threshold between two vehicles according to information of vehicles, according to
The threshold value carries out the differentiation of vehicle risk state, when secure threshold is more than preset threshold value, sends a warning to this vehicle；Its
In secure threshold between two vehicles calculation formula it is as follows：
In formula, VSMn(t) secure threshold between two vehicles；vn(t) be this vehicle real-time speed；an(t) be this vehicle reality
When deceleration；vn-1(t) it is the real-time speed of front truck；an-1(t) be front truck real-time deceleration；Dn(t) be two vehicles it is real-time away from
From；tdTo react braking time, determined according to the reaction time of driver.
(2) roadside device includes trackside data obtaining module, intersection essential information memory module and wireless communication module,
The trackside data obtaining module obtains the information such as travel condition of vehicle, the positioning from mobile unit and various kinds of sensors
Road traffic state information, intersection basic information memory module prestore intersection information, wireless communication module be to
Realize the information exchange between roadside device and mobile unit.
(3) speed guiding module, when vehicle enters in designation range, motion state and front that system can be according to vehicle
The information of traffic lights, provides the suggestion of vehicle lane transformation and speed guiding, and the vehicle in system is fitted with vehicle-mounted set
It is standby, speed induction strategies can be obtained and executed in time, and designation range is certain, arbitrary within the scope of several meters before stop line
Track is default given value；
To consider to abide by road safety rule simultaneously, speed will abide by road speed limit, and minimum speed is not less than vmin, highest
Speed is not higher than vmax。
The speed bootstrap technique of signalized crossing speed guiding system, includes the following steps under bus or train route cooperative surroundings：
Step 1：Division to intersection region under bus or train route cooperative surroundings：Upstream intersection i stop lines are intersected to downstream
The region division of mouth i+1 stop lines is vehicle detection area and speed boot section；
Vehicle detection area：Vehicle freely travels in the region, and compares adjacent lane front truck and reach the big of stop line time
Small, access time, lane-change in advance was carried out in shortest track, avoided lane-change occur in speed boot section；
Speed boot section：Speed boot section belongs to after lane-change boot section within the scope of the road of vehicle not lane change, is not having
Vehicle suggests that speed is the maximum value v of the road section scope when having front truckmax, will be according to speed boot policy as early as possible more when having a front truck
New speed simultaneously passes through intersection.
Step 2：By the real time status information of roadside unit collection vehicle, information is simply subjected to simple process, and deposit
Ephemeral data center is stored up, while keeping the real-time, interactive of data with other vehicles in detection zone；Vehicle real-time status is believed
Breath includes position, speed and the lane information of vehicle；
Step 3：When vehicle enters detection zone, according to the information of vehicles of this vehicle of acquisition, judge whether vehicle is allowing to become
In the range of road, if so, entering step 4, otherwise, 5 are entered step；
Step 4：In vehicle detection area, compare the time size of adjacent lane and the front truck arrival stop line in this track,
Access time shortest track makes vehicle lane-change as early as possible as target track.The specific implementation method of wherein step 4 is as follows：
Step 4.1：The queue clearance time in each track is calculated by following formula：
In formula, TdIt it is the queue clearance time, Q is the flow rate of intersection i；S is queue length；tcTime, T are lost to startr
For red time；
Step 4.2：Judge that front is lined up whether to dissipate to finish, if so, comparing adjacent lane under this state reaches parking
The time of lineAccess time shortest track by lane-change strategy transmission to vehicle, and executes and changes as target track
On road to target track；If front, which is lined up not dissipated, thens follow the steps 4.3；
Step 4.3：The target track of vehicle is determined according to the following steps：
Step 4.3.1：The real time status information of vehicle queue tail of the queue vehicle where obtaining vehicle；
Step 4.3.2：The time t that tail of the queue vehicle reaches stop line is calculated, computational methods are as follows：
In formula：D is the distance of tail of the queue vehicle distances stop line；A is the acceleration of tail of the queue vehicle；
Step 4.3.3：Calculate the time that this vehicle reaches stop line：
TThis=t+th*N
In formula：thFor safe bus head when away from vehicle numbers of the N between Ben Che and tail of the queue vehicle；
Step 4.3.4：Determine that the moment adjacent lane front truck reaches stop line according to the method for step 4.3.1-4.3.3
Time TIt is adjacent, compare TThisAnd TIt is adjacent, it is target track to select time shortest track, and by lane-change strategy transmission to vehicle, vehicle is held
Row lane-change.
Step 5：Vehicle does not allow lane change in speed boot section, and the safe spacing and intersection delay of two vehicles of consideration are most
The optimal velocity of small determining vehicle, which to board units and is implemented.
The specific implementation step of step 5 is as follows：
Step 5.1：Vehicle i is calculated from the time entered used in stop line of the section to next crossing:
In formula：viIndicate the guiding speed of i-th vehicle, tcIndicate vehicle in the time of detection zone, vi0Indicate vehicle into
Enter the initial velocity of speed boot section, aiIndicate i-th vehicle adjustings speed acceleration, L expression two intersections between away from
From；
Step 5.2：When junction ahead is that red light is queued in dissipation when having queuing or green light, and vehicle i passes through intersection
Mouth has：
In formula：TgBright moment, T are opened for green lightiAt the time of entering the section for i-th vehicle, h is queue length, vcFor green light
The velocity of wave of evanescent wave is lined up after Qi Liang.
Step 5.3：The vehicle safety condition to be met in vehicle：
A. for vehicle in front truck emergency brake, vehicle can be carried out continuously uniform motion stage and uniformly retarded motion stage, vehicle
Operation distance be：
In formula：tsIndicate the reaction duration of driver, tfIndicate that car speed becomes 0 required time, amIndicate vehicle
Maximum deceleration.
B. front truck makees uniformly retarded motion, then front truck range ability is：
C. two vehicles have certain safe bus head spacing always, it is assumed that are Lm, then the safe distance between vehicles of vehicle in the process of moving：
H=Sh-Sq+Lm,
D. the real-time range of guiding vehicle and front vehicles is set as Ln, then in order to which traffic safety has：
Ln≥H
In formula, LnReal-time range between vehicle, t are time headway；
Step 5.4：Calculate the delay of vehicle：
In formula：vfIndicate that free stream velocity, L are the distance between two intersection parking lines.
Step 5.5：Object function is minDi
Constraints is：
Step 5.6：It determines guiding speed, chooses control speed of the optimal guiding speed as vehicle, speed information is passed
It is defeated by mobile unit unit so that vehicle safety and not parking pass through intersection.
In step 3, when green light phase corresponds to the vehicle in wagon flow by signalized intersections stop line, vehicle can again by
Itself identifier is sent to roadside unit, and the basic information memory module in roadside unit deletes corresponding knowledge according to identification of the vehicle
The track of vehicle data of alias, to protect vehicle privacy.
Advantageous effect：Compared with prior art, speed guiding system provided by the invention and bootstrap technique make intersection
The delay of Arterial Coordination Control is minimum, improves traffic efficiency, reduces environmental pollution.
Description of the drawings
Fig. 1 is intersection speed guiding schematic diagram；
Fig. 2 is the method flow diagram of the embodiment of the present invention.
Specific implementation mode
As shown in Figure 1, signalized crossing speed guides system, including mobile unit, trackside under bus or train route cooperative surroundings
Equipment and speed guiding module, wherein between mobile unit and roadside device, between mobile unit and mobile unit and trackside
It is transmitted into row information by private radio communication DSRC between equipment；
Mobile unit, including on-vehicle information acquisition module and vehicle-mounted warning module, the function of on-vehicle information acquisition module be
The running state information of vehicle is sent to roadside device or other neighbouring mobile units.Vehicle-mounted warning module is then basis
The information of vehicles of this vehicle and front truck calculates the secure threshold between two vehicles, and the differentiation of vehicle risk state is carried out according to the threshold value,
When secure threshold is more than preset threshold value, send a warning to this vehicle；The calculating of secure threshold between wherein two vehicles is public
Formula is as follows：
In formula, VSMn(t) secure threshold between two vehicles；vn(t) be this vehicle real-time speed；an(t) be this vehicle reality
When deceleration；vn-1(t) it is the real-time speed of front truck；an-1(t) be front truck real-time deceleration；Dn(t) be two vehicles it is real-time away from
From；tdTo react braking time, determined according to the reaction time of driver.
Roadside device：Including trackside data obtaining module, intersection essential information memory module and wireless communication module, road
Side data obtaining module obtains the information such as travel condition of vehicle, the positioning from mobile unit and the road of various kinds of sensors is handed over
Logical status information, intersection basic information memory module prestore intersection information, and wireless communication module is to realize road
Information exchange between side apparatus and mobile unit.
Speed guiding module：When vehicle enters in designation range, system can be handed over according to the motion state of vehicle and front
The information of ventilating signal lamp provides the suggestion of vehicle lane transformation and speed guiding, and the vehicle in system is fitted with mobile unit,
Speed induction strategies can be obtained and executed in time, and designation range is certain, the arbitrary vehicle before stop line within the scope of several meters
Road is default given value.
To consider to abide by road safety rule simultaneously, speed will abide by road speed limit, and minimum speed is not less than vehicle in road
The minimum speed limit v of road travelingmin, maximum speed is not higher than vehicle Maximum speed limit v driving on the roadmax。
As shown in Fig. 2, signalized crossing speed guides the speed bootstrap technique of system under bus or train route cooperative surroundings, including
Following steps：
Step (1)：Divide the boot section between intersection：By upstream intersection i stop lines to downstream intersection i+1 stop lines
Region division be vehicle detection area and speed boot section；The length in vehicle detection area isVehicle is in region freedom
Traveling, and compare the size that adjacent lane front truck reaches the stop line time, access time, lane-change in advance was carried out in shortest track, was kept away
Exempt from lane-change occur in speed boot section, vehicle is travelled in the region with the speed of driver comfort and safety；
Speed boot section：Speed boot section belongs to after lane-change boot section within the scope of the road of vehicle not lane change, is not having
Vehicle suggests that speed is the maximum value v of the road section scope when having front truckmax, will be according to speed boot policy as early as possible more when having a front truck
New speed simultaneously passes through intersection.
Step (2)：By the real time status information of roadside unit collection vehicle, information is subjected to simple process, and store
To ephemeral data center, at the same in detection zone other vehicles keep data real-time, interactive；Vehicle real time status information
Position, speed including vehicle and lane information；
Step (3)：When vehicle enters detection zone, according to the information of vehicles of this vehicle of acquisition, judge whether vehicle is allowing
In the range of lane change, if so, entering step (4), otherwise, enter step (5)；
Step (4)：In vehicle detection area, the time for comparing adjacent lane and the front truck arrival stop line in this track is big
Small, access time shortest track makes vehicle lane-change as early as possible as target track.Specific implementation step is as follows：
Step (4.1)：Predict that the queue clearance time in each track, computational methods are as follows：
In formula, TdIt it is the queue clearance time, Q is the flow rate of intersection i；S is queue length；tcTime, T are lost to startr
For the red time of phase；
Step (4.2)：Judge that front is lined up whether to dissipate to finish, stop if so, comparing adjacent lane arrival under this state
The time of fareAccess time, shortest track by lane-change strategy transmission to vehicle, and was executed as target track
In lane-change to target track；If front is lined up not dissipated and then follow the steps (4.3)；
Step (4.3)：The target track of vehicle is determined according to the following steps：
Step (4.3.1)：The real time status information of vehicle queue tail of the queue vehicle where obtaining vehicle；
Step (4.3.2)：The time t that tail of the queue vehicle reaches stop line is calculated, computational methods are as follows：
In formula：D is the distance of tail of the queue vehicle distances stop line；A is the acceleration of tail of the queue vehicle；
Step (4.3.3)：The time that this vehicle reaches stop line is calculated by following formula：
TThis=t+th*N
In formula：thFor safe bus head when away from vehicle numbers of the N between Ben Che and tail of the queue vehicle；
Step (4.3.4)：Determine that moment adjacent lane front truck arrival stops according to the method for step (4.3.1-4.3.3)
The time T of fareIt is adjacent, compare TThisAnd TIt is adjacent, it is target track to select time shortest track, by lane-change strategy transmission to vehicle, vehicle
Execute lane-change.
Step (5)：Vehicle does not allow lane change in speed boot section, considers the safe spacing and intersection delay of two vehicles
Minimum determines the optimal velocity of vehicle, which to board units and is implemented.Step 5 specifically includes following steps：
Step 5.1：Vehicle i is calculated from the time entered used in stop line of the section to next crossing：
In formula：viIndicate the guiding speed of i-th vehicle, tcIndicate vehicle in the time of detection zone, vi0Indicate vehicle into
Enter the initial velocity of speed boot section, aiIndicate the acceleration of the adjusting speed of i-th vehicle.
Step 5.2：When junction ahead is that red light is queued in dissipation when having queuing or green light, and vehicle i passes through intersection
Mouth has：
In formula：TgBright moment, T are opened for green lightiAt the time of entering the section for i-th vehicle, h is queue length, vcFor green light
The velocity of wave of evanescent wave is lined up after Qi Liang.
Step 5.3：The vehicle safety condition to be met in speed change：
A. for vehicle in front truck emergency brake, vehicle can be carried out continuously uniform motion stage and uniformly retarded motion stage, vehicle
Operation distance be：
In formula：tsIndicate the reaction duration of driver, tfIndicate that car speed becomes 0 required time, amIndicate vehicle
Maximum deceleration.
B. front truck makees uniformly retarded motion, then front truck range ability is：
In formula：SqIndicate the range ability of front truck, vi-1Indicate the initial velocity of front truck, amIndicate the maximum deceleration of vehicle
Degree；
C. two vehicles have certain safe bus head spacing always, it is assumed that are Lm, then the safe distance between vehicles of vehicle in the process of moving：
H=Sh-Sq+Lm,
D. the real-time range of guiding vehicle and front vehicles is set as Ln, then in order to which traffic safety has：
Ln≥H
Step 5.4 calculates the delay of vehicle：
In formula：vfIndicate free stream velocity.
Step 5.5：Object function is minDi
Constraints is：
Step 5.6：Determine guiding speed：Control speed of the optimal guiding speed as vehicle is chosen, speed information is passed
It is defeated by mobile unit unit so that vehicle safety and not parking pass through intersection.
Wherein in step 3, when green light phase corresponds to the vehicle in wagon flow by signalized intersections stop line, vehicle meeting
Itself identifier is sent to roadside unit again, includes basic information memory module in roadside unit, the module is according to vehicle
Identifier deletes the track of vehicle data of corresponding identifier, to protect vehicle privacy.
Claims (8)
1. signalized crossing speed guides system under a kind of bus or train route cooperative surroundings, it is characterised in that：Including：Mobile unit,
Roadside device and speed guiding module, between the mobile unit and roadside device, mobile unit and mobile unit and trackside
It is transmitted into row information by private radio communication (DSRC) between equipment；The mobile unit, including information of vehicles is sent
To roadside device or the on-vehicle information acquisition module of other mobile units, and the real time status information meter according to Ben Che and front truck
The threshold of calculating carries out the vehicle-mounted warning module of dangerous anticipation；The roadside device, including obtain and believe from mobile unit traffic
The trackside data obtaining module of breath, the intersection basic information memory module for prestoring intersection information, and realize trackside
The wireless communication module of equipment and vehicle equipment information interaction；The speed guiding module is provided when vehicle enters intersection
The track of vehicle and speed guidance information.
2. signalized crossing speed guides system under bus or train route cooperative surroundings according to claim 1, it is characterised in that：
The vehicle-mounted warning module carries out the differentiation of vehicle risk state according to the safe threshold between Ben Che and front truck, when safe threshold
When more than preset value, send a warning to this vehicle.
3. signalized crossing speed guides system under bus or train route cooperative surroundings according to claim 2, it is characterised in that：
The described safe threshold calculation formula between vehicle and front truck is as follows：
In formula, VSMn(t) secure threshold between two vehicles；vn(t) be this vehicle real-time speed；an(t) it is subtracting in real time for this vehicle
Speed；vn-1(t) it is the real-time speed of front truck；an-1(t) be front truck real-time deceleration；Dn(t) be two vehicles real-time range；td
To react braking time, determined according to the reaction time of driver.
4. a kind of drawn using signalized crossing speed under bus or train route cooperative surroundings as claimed any one in claims 1 to 3
The speed bootstrap technique of guiding systems, it is characterised in that：Include the following steps：
Step (1)：It is vehicle detection area and speed boot section by the region division between intersection；
Step (2)：Keep data real on other vehicles in the roadside device and detection zone of collection vehicle real time status information
When interact, real time status information includes information of vehicles, speed and lane information；
Step (3)：If vehicle then enters step (4) in vehicle detection area, and in the range of allowing lane-change, otherwise, into step
Suddenly (5)；
Step (4)：In vehicle detection area, compare the time length of adjacent lane and the front truck arrival stop line in this track, choosing
Take time shortest track as current track so that vehicle lane-changing；
Step (5)：Do not allow vehicle lane change in speed boot section.
5. the speed guiding side of signalized crossing speed guiding system under bus or train route cooperative surroundings according to claim 4
Method, it is characterised in that：Step (4) includes the following steps：
Step (4.1)：The queue clearance time in each track is calculated by following formula：
In formula, TdIt it is the queue clearance time, Q is the flow rate of intersection i；S is queue length；tcThe time is lost to start；TrIt is red
The lamp time；
Step (4.2)：Judge that front is lined up whether to dissipate to finish, if so, comparing adjacent lane under this state reaches stop line
TimeAccess time, shortest track by lane-change strategy transmission to vehicle, and executed lane-change as target track
Onto target track；If front is lined up not dissipated and then follow the steps (4.3)；
Step (4.3)：Determine the target track of vehicle.
6. the speed guiding side of signalized crossing speed guiding system under bus or train route cooperative surroundings according to claim 5
Method, it is characterised in that：Step (4.3) includes the following steps：
Step (4.3.1)：The real time status information of fleet's tail of the queue vehicle where obtaining vehicle；
Step (4.3.2)：The time t that tail of the queue vehicle reaches stop line is calculated by following formula：
In formula：D is the distance of tail of the queue vehicle distances stop line；A is the acceleration of tail of the queue vehicle；
Step (4.3.3)：Calculate the time that this vehicle reaches stop line：
TThis=t+th*N
In formula：thFor safe bus head when away from vehicle numbers of the N between Ben Che and tail of the queue vehicle；
Step (4.3.4)：Determine that the moment adjacent lane front truck reaches stop line according to the method for step (4.3.1-4.3.3)
Time TIt is adjacent, compare TThisAnd TIt is adjacent, it is target track to select time shortest track, and by lane-change strategy transmission to vehicle, vehicle is held
Row lane-change.
7. the speed guiding side of signalized crossing speed guiding system under bus or train route cooperative surroundings according to claim 4
Method, it is characterised in that：In step (5), consider that the safe spacing of two vehicles and intersection delay minimum determine the optimal speed of vehicle
Degree, which to board units and is implemented, is included the following steps：
Step (5.1)：Vehicle i is calculated from the time entered used in stop line of the section to next crossing:
In formula：viIndicate the guiding speed of i-th vehicle, tcIndicate vehicle in the time of detection zone, vi0Indicate vehicle into speed
The initial velocity of boot section, aiIndicate the acceleration of the adjusting speed of i-th vehicle；L is the distance between two intersections；
Step (5.2)：When junction ahead is that red light is queued in dissipation when having queuing or green light, and vehicle i passes through intersection
Have：
In formula：TgBright moment, T are opened for green lightiAt the time of entering the section for i-th vehicle, h is queue length, vcIt is opened for green light bright
It is lined up the velocity of wave of evanescent wave afterwards；
Step (5.3)：The vehicle safety condition to be met in speed change：
(a) for vehicle in front truck emergency brake, vehicle can be carried out continuously uniform motion stage and uniformly retarded motion stage, vehicle fortune
Capable distance is：
In formula：tsIndicate the reaction duration of driver, tfIndicate that car speed becomes 0 required time, amIndicate vehicle most
Big retarding degree；
(b) front truck makees uniformly retarded motion, then front truck range ability is：
In formula：SqIndicate the range ability of front truck, vi-1Indicate the initial velocity of front truck, amIndicate the maximum deceleration of vehicle；
(c) two vehicles have certain safe bus head spacing always, it is assumed that are Lm, then the safe distance between vehicles of vehicle in the process of moving：
H=Sh-Sq+Lm
In formula：LmIt is the safe bus head spacing of two vehicles.
(d) real-time range of guiding vehicle and front vehicles is set as Ln, then in order to which traffic safety has：
Ln≥H
In formula：LnReal-time range between vehicle, t are time headway；
Step (5.4)：Calculate the delay of vehicle：
In formula：vfIndicate that free stream velocity, L are the distance between two intersection parking lines.
Step (5.5)：Object function is minDi
Constraints is：
Step (5.6)：It determines guiding speed, that is, chooses control speed of the optimal guiding speed as vehicle, speed information is passed
It is defeated by mobile unit unit, so as to vehicle safety and not parking pass through intersection.
8. the speed guiding side of signalized crossing speed guiding system under bus or train route cooperative surroundings according to claim 4
Method, it is characterised in that：In step (3), when green light phase corresponds to the vehicle in wagon flow by signalized intersections stop line, vehicle
Can itself identifier be sent to roadside unit again, the basic information memory module in roadside unit is deleted according to identification of the vehicle
Except the track of vehicle data of corresponding identifier, to protect vehicle privacy.
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| CN109472977A (en) * | 2018-12-06 | 2019-03-15 | 上海淞泓智能汽车科技有限公司 | A kind of multi information acquisition publication integral intelligent road side system |
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| CN117133140A (en) * | 2023-07-27 | 2023-11-28 | 北京工业大学 | Dual-mode optimal speed track control method for intelligent network-connected vehicle at signalized intersection |
| CN117542218A (en) * | 2023-11-17 | 2024-02-09 | 上海智能汽车融合创新中心有限公司 | Vehicle-road cooperative system based on vehicle speed-vehicle distance guiding control |
| CN117542218B (en) * | 2023-11-17 | 2024-05-31 | 上海智能汽车融合创新中心有限公司 | Vehicle-road cooperative system based on vehicle speed-vehicle distance guiding control |
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