CN109272759B - Lane dynamic allocation system based on vehicle-road cooperation and control method thereof - Google Patents
Lane dynamic allocation system based on vehicle-road cooperation and control method thereof Download PDFInfo
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- CN109272759B CN109272759B CN201811130362.7A CN201811130362A CN109272759B CN 109272759 B CN109272759 B CN 109272759B CN 201811130362 A CN201811130362 A CN 201811130362A CN 109272759 B CN109272759 B CN 109272759B
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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
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
-
- 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
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- 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
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- 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
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
Abstract
The invention discloses a lane dynamic allocation system based on vehicle-road cooperation, which comprises: the vehicle-mounted unit is arranged on the vehicle and is used for collecting and transmitting basic safety parameters of the vehicle in real time; the vehicle-mounted information broadcasting platform is connected with the vehicle-mounted unit and is used for receiving the human-computer interface display of the vehicle-mounted unit information; the road side unit is arranged at the edge of the road and is used for receiving information sent by all vehicles on the monitored road, receiving a lane reassignment instruction and broadcasting the vehicles on the detected road; the urban cloud control console is used for receiving all road side unit information of the city and a lane reassignment instruction and detecting the whole urban traffic condition; and the traffic signal identifier is arranged at the road entrance and is used for displaying lane allocation information and issuing road information to vehicles which are about to enter the control road. According to the invention, traffic flow information is monitored in real time through the system, lane allocation judgment is made, allocation is carried out, traffic pressure is relieved, and travel efficiency is improved.
Description
Technical Field
The invention relates to the field of vehicle-road cooperative application technology and intelligent traffic, in particular to a lane dynamic allocation system based on vehicle-road cooperation and a control method thereof.
Background
Along with the increase of the quantity of the automobile and the limitation of the road hardware condition, the road cannot be expanded in a large scale in a short time, especially the urban road, and the road expansion needs to consume great manpower, material resources and time. Urban traffic is therefore frequently subject to traffic jam events, especially during the early and late peak hours. However, traffic jam is often caused by a large traffic flow in one direction on one side, while traffic flow in the opposite lane is often not so large. The present invention is based on the fact that the lanes are reassigned, a certain number of lanes are assigned from the opposite side lanes to the congested traffic lane, and the congested side vehicles can temporarily pass through the opposite side lanes without affecting the normal running of the opposite side traffic flow.
The vehicle-road cooperative technology is to connect vehicles, road side equipment, pedestrians and a network together to realize the interconnection sharing of traffic information. The method has the characteristics of reliable performance, low cost, relatively mature technology, easy realization of product grade and the like. The system is used as core technical support of the system, and by combining information acquisition of terminal equipment such as an OBU (on-board unit), a road side unit RSU (road side unit) and the like, traffic information is judged timely, lanes are allocated timely, traffic congestion is relieved, time of vehicles wasting on roads is reduced, and travel efficiency is improved. However, the lane allocation scheme in the existing municipal construction is fixed, and lanes cannot be dynamically allocated to improve the travel efficiency.
Disclosure of Invention
The invention provides a lane dynamic distribution system based on vehicle-road cooperation, which is used for monitoring traffic flow information in real time through the system, making lane distribution judgment, carrying out distribution, relieving traffic pressure and improving travel efficiency.
The invention also provides a control method of the lane dynamic allocation system based on the vehicle-road cooperation, which can allocate lanes according to specific vehicle speed and vehicle flow, realize the lane dynamic allocation method based on the vehicle-road cooperation, improve the utilization rate of the lanes and relieve traffic pressure.
The technical scheme provided by the invention is as follows:
a control method of a lane dynamic allocation system based on vehicle-road cooperation is characterized in that,
the lane dynamic allocation system based on the vehicle-road cooperation comprises:
the vehicle-mounted unit is arranged on the vehicle and is used for collecting and transmitting basic safety parameters of the vehicle in real time;
the vehicle-mounted information broadcasting platform is connected with the vehicle-mounted unit and is used for receiving the human-computer interface display of the vehicle-mounted unit information;
the road side unit is arranged at the edge of the road and is used for receiving information sent by all vehicles on the monitored road, receiving a lane reassignment instruction and broadcasting the vehicles on the detected road;
the urban cloud control platform is used for receiving information of all road side units of the city, receiving a lane allocation application of the road side units, determining whether lane allocation is carried out according to road conditions of the city, and sending a lane allocation instruction to the road side units if lane allocation is agreed;
the traffic signal identifier is arranged at the road entrance and used for displaying lane allocation information and issuing road information to vehicles which are about to enter the control road;
the control method of the lane dynamic allocation system based on the vehicle-road cooperation comprises the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment;
when 0 is less than or equal to V x ＜10,0≤V y ＜10、10≤V x ＜20,10≤V y < 20 or V x ≥20,V y When the traffic is more than or equal to 20, lane allocation is not performed;
when 10 is less than or equal to V x ＜20,0≤V y ＜10、0≤V x ＜10,10≤V y ＜20、V x ≥20,10≤V y V less than 20 or 10 x ＜20,V x When the traffic is more than or equal to 20, keeping the lane allocation state of the last detection period;
when V is x ≥20,0≤V y When the traffic lane is less than 10, the traffic lane on the own side meets the precondition of distributing traffic lanes to the traffic lane on the opposite side, and the next step is carried out;
when 0 is less than or equal to V x ＜10,V y When the traffic is more than or equal to 20, the opposite side lane meets the precondition of lane allocation for the own side lane, and the next step is carried out;
step two, when V x And V y When the pre-judging condition of the distribution lane is met, detecting the traffic flow x of the lane on the side and the traffic flow y of the lane on the opposite side in real time, and according to the traffic flow x of the lane on the sideAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle;
when the monitored road is two-way four lanes, the judging rule meets the following conditions:
when (when)Or->When the lane information is not allocated, the lane information is sent;
when (when) Or->When the lane information is sent, the original lane information is kept;
when (when)Or->When the vehicle is in a driving state, the opposite side lane is sent out to be allocated to the vehicle side lane information;
when (when)Or->When the vehicle is sent outThe lane is allocated to the opposite lane information;
step three, the urban cloud control console receives information of the road side unit, receives a lane allocation application of the road side unit, decides whether lane allocation is carried out according to road conditions of the city, sends a lane allocation instruction to the road side unit if lane allocation is agreed, and then sends the lane allocation instruction to the vehicle-mounted unit of the monitored road and the traffic signal mark, the traffic signal mark displays the lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
It is preferred that the composition of the present invention,
the security parameters include: and monitoring license plate numbers, vehicle speeds, positions and course angles of vehicles on the road.
It is preferred that the composition of the present invention,
the vehicle-mounted unit broadcasts communication to the vehicle and the road side unit according to a stack protocol, and the broadcast communication is transmitted through a special short-range communication technology.
It is preferred that the composition of the present invention,
the vehicle-mounted information broadcasting platform can conduct voice and image broadcasting.
It is preferred that the composition of the present invention,
the road side unit is communicated with the city cloud control console through a 4G or 5G signal and is communicated with the vehicle-mounted unit through special short-range communication.
It is preferred that the composition of the present invention,
when the monitored road is a bidirectional six-lane road, the judgment rule of the second step meets the following conditions:
when (when)Or->When the vehicle is not distributed with lanes;
when (when) Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)The two lanes on the side are allocated to the opposite side.
It is preferred that the composition of the present invention,
when the monitored road is a bidirectional eight-lane, the judgment rule of the second step meets the following conditions:
when (when)Or->When the vehicle is not distributed with lanes;
when (when)
Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)Or->When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)When the vehicle is on the side, the opposite side three lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)Or->When the vehicle is in a state, two lanes on the side are allocated to the opposite side;
when (when)When the lane is allocated to the opposite side, the lane is allocated to the opposite side.
The beneficial effects of the invention are as follows: according to the lane dynamic distribution system based on the vehicle-road cooperation, the traffic flow information is monitored in real time through the system, the lane distribution judgment is made, the information is transmitted, and the lane and time effective distribution is realized; the control method of the lane dynamic distribution system based on the vehicle-road coordination can distribute lanes according to specific vehicle speed and vehicle flow, and makes judgment of one or more lane distribution through comprehensive analysis of the traffic flow pressure of the bidirectional lanes, so that the lane dynamic distribution method based on the vehicle-road coordination is realized, the lane utilization rate is improved, and the traffic pressure is relieved.
Drawings
Fig. 1 is a communication scheme among the terminal devices in the lane dynamic allocation system based on the vehicle-road cooperation of the present invention.
FIG. 2 is a schematic diagram illustrating the pre-judgment in the second step of the present invention.
Fig. 3 is a schematic diagram of the judgment in the third step when the road of the present invention is a bidirectional six-lane road.
Fig. 4 is a schematic diagram of the determination in the third step when the road of the present invention is a bidirectional eight-lane road.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description.
As shown in fig. 1, the present invention provides a lane dynamic allocation system based on vehicle-road cooperation, which comprises an on-board unit (OBU) disposed on a vehicle for acquiring and transmitting basic safety parameters of the vehicle in real time; the vehicle-mounted information broadcasting platform is connected with the vehicle-mounted unit and is used for receiving the human-computer interface display of the vehicle-mounted unit information; a Road Side Unit (RSU) which is arranged at the edge of a road and is used for receiving information sent by all vehicles on a monitored road, receiving a lane reassignment instruction and broadcasting the vehicles on the detected road; the urban cloud control console is used for receiving all road side unit information of the city and a lane reassignment instruction and detecting the whole urban traffic condition; and the traffic signal identifier is arranged at the road entrance and is used for displaying lane allocation information and issuing road information to vehicles which are about to enter the control road.
The basic safety parameters include identity information (license plate number/ID), vehicle speed, GPS position information (longitude L, latitude H), and vehicle course angle informationThe identity information (license plate number/ID) of the vehicles is used for determining the source of the running information of the vehicles, so that the running information of each vehicle is ensured to be active and searchable; the vehicle speed is obtained from a CAN bus of the vehicle; the GPS information comprises longitude L and latitude H, and is used for determining the running position of the vehicle; vehicle course angle information>The method is used for determining the instantaneous advancing direction of the vehicle and realizing the pre-judgment of the state of the vehicle at the next moment; the vehicle-mounted information broadcasting platform is connected with the OBU and used for displaying a human-computer interface for receiving information by the OBU; the urban cloud control console monitors vehicles and road side units RSU of the whole city, and when the vehicles and road side units RSU receive a lane allocation application of one road side unit RSU, whether lane allocation is really performed is determined according to the road running condition of the whole city; the traffic signal mark is arranged at the entrance of the two ends of the road section and is used for receiving the lane allocation information sent by the road side unit RSU. Which is connected to the road side unit RSU by a 4G or 5G technology.
The on-board units OBU broadcast communication to surrounding vehicles and road side units RSU according to a certain stack protocol (or "broadcast protocol", the radio signal is in a certain rule in the propagation process, which rule is called protocol), and the broadcast communication is propagated through Dedicated Short Range Communication (DSRC) or LTE-V technology.
The vehicle-mounted information broadcasting platform is characterized in that when the OBU receives information from a road side unit RSU or an urban cloud control console, voice and image broadcasting is carried out through the broadcasting platform. The road side unit RSU is arranged at the road edge for receiving information broadcast outwards by all vehicles on a certain road section. The road side unit RSU detects that vehicles on one section of road are very congested in one direction, and if the traffic flow in the other direction is small, whether the application for lane allocation is required to be sent to the city cloud is determined through judging strategies. After receiving the lane allocation instruction of the cloud, the road side unit RSU broadcasts the information to the vehicles running on the road. The road side unit RSU communicates with the city cloud console via 4G or 5G signals, and communicates with the vehicle OBU via Dedicated Short Range Communication (DSRC) or LTE-V technology.
A lane dynamic allocation system control method based on vehicle-road cooperation comprises the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment; when V is x And V y When the pre-judging condition of the distribution lane is met, the next step is carried out;
step two, detecting the traffic flow x of the own side lane and the traffic flow y of the opposite side lane in real time, and according to the traffic flow x of the opposite side laneAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle;
step three, the urban cloud control console receives information of the road side unit, receives a lane allocation application of the road side unit, decides whether lane allocation is carried out according to road conditions of the city, sends a lane allocation instruction to the road side unit if lane allocation is agreed, and then sends the lane allocation instruction to the vehicle-mounted unit of the monitored road and the traffic signal mark, the traffic signal mark displays the lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
In a specific operation, first, when a vehicle travels in a road section monitored by a certain road side unit RSU, the on-board unit OBU and the road side unit RSU are connected, and the on-board unit OBU (OBU 1, OBU 2.) of each vehicle continuously transmits the ID, the vehicle speed, the GPS position and the vehicle body heading angle data of the vehicle to the road side unit RSU, and after the road side unit RSU receives these data, the vehicle and a map stored in the vehicle are compared to determine the specific position and the traveling direction of the vehicle.
Then, after collecting the information of all the vehicles on the road, the road side unit RSU can calculate the average speed of the traffic flow of the lanes in both directions: the average speed of the traffic flow of the lane on the side is V x Average vehicle speed of opposite side lane is V y . According to fig. 2, the road side unit RSU first determines whether lane allocation is required according to the average vehicle speed of the traffic flows on both sides. The meaning of "no lane assignment" and "no assignment" is: the same situation for the number of lanes on both sides is maintained. The meaning of "hold" is: and keeping the lane allocation result of the previous monitoring period. If the judgment result in the first step is that the precondition of lane allocation is satisfied, judging to enter a second step, and judging whether to allocate lanes and allocate a plurality of lanes according to the proportion of the real-time traffic flow of the lanes to the maximum traffic flow allowed by the corresponding lanes.
And then, the road side unit RSU uploads the judgment result of the road allocation to the cloud control console, and the cloud control console synthesizes the road conditions of the whole city to determine whether to agree with the lane allocation of the road. Once the cloud console agrees to the road allocation, the cloud sends an instruction to the road side unit RSU, the road side unit RSU forwards the information to all vehicles on the section of lanes, and the driver is informed of the lane allocation condition at the moment through the OBU and the vehicle-mounted information broadcasting platform.
Finally, the road side unit RSU sends the road distribution condition to the road signal mark, the device displays the road distribution information on the screen to remind the driver of the road distribution condition in a visual mode after receiving the information of the road side unit RSU, and finally, the traffic pressure of the lane on the side is relieved.
Example 1
The embodiment takes a bidirectional four-lane road as an example, and a lane dynamic allocation system control method based on vehicle-road cooperation comprises the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment;
when 0 is less than or equal to V x ＜10,0≤V y ＜10、10≤V x ＜20,10≤V y < 20 or V x ≥20,V y When the traffic is more than or equal to 20, lane allocation is not performed;
when 10 is less than or equal to V x ＜20,0≤V y ＜10、0≤V x ＜10,10≤V y ＜20、V x ≥20,10≤V y V less than 20 or 10 x ＜20,V x When the traffic is more than or equal to 20, keeping the lane allocation state of the last detection period;
when V is x ≥20,0≤V y When the traffic lane is less than 10, the traffic lane on the own side meets the precondition of distributing traffic lanes to the traffic lane on the opposite side, and the next step is carried out;
when 0 is less than or equal to V x ＜10,V y And when the traffic is more than or equal to 20, the opposite side lane meets the precondition of lane allocation for the own side lane, and the next step is carried out.
Step two, detecting the traffic flow x of the own side lane and the traffic flow y of the opposite side lane in real time, and according to the traffic flow x of the opposite side laneAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle; the judgment rule satisfies:
when (when)Or->When the lane information is not allocated, the lane information is sent;
when (when) Or->When the lane information is sent, the original lane information is kept;
when (when)Or->When the vehicle is in a driving state, the opposite side lane is sent out to be allocated to the vehicle side lane information;
when (when)Or->And sending out information of the side lane allocated to the opposite side lane.
Step three, the urban cloud control console receives information of the road side unit, receives a lane allocation application of the road side unit, decides whether lane allocation is carried out according to road conditions of the city, sends a lane allocation instruction to the road side unit if lane allocation is agreed, and then sends the lane allocation instruction to the vehicle-mounted unit of the monitored road and the traffic signal mark, the traffic signal mark displays the lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
Example two
As shown in fig. 3, the present embodiment takes a bidirectional six-lane road as an example, and a lane dynamic allocation system control method based on vehicle-road cooperation includes the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment;
when 0 is less than or equal to V x ＜10,0≤V y ＜10、10≤V x ＜20,10≤V y < 20 or V x ≥20,V y When the traffic is more than or equal to 20, lane allocation is not performed;
when 10 is less than or equal to V x ＜20,0≤V y ＜10、0≤V x ＜10,10≤V y ＜20、V x ≥20,10≤V y V less than 20 or 10 x ＜20,V x When the traffic is more than or equal to 20, keeping the lane allocation state of the last detection period;
when V is x ≥20,0≤V y When the traffic lane is less than 10, the traffic lane on the own side meets the precondition of distributing traffic lanes to the traffic lane on the opposite side, and the next step is carried out;
when 0 is less than or equal to V x ＜10,V y And when the traffic is more than or equal to 20, the opposite side lane meets the precondition of lane allocation for the own side lane, and the next step is carried out.
Step two, detecting the traffic flow x of the own side lane and the traffic flow y of the opposite side lane in real time, and according to the traffic flow x of the opposite side laneAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle; the judgment rule satisfies:
when (when)Or->When the vehicle is not distributed with lanes;
when (when) Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)The two lanes on the side are allocated to the opposite side.
The method comprises the steps that information of a road side unit is received, a city cloud control console receives a lane allocation application of the road side unit, determines whether lane allocation is carried out or not according to road conditions of a city, if lane allocation is agreed, sends a lane allocation instruction to the road side unit, then sends the lane allocation instruction to a vehicle-mounted unit of a monitored road and a traffic signal sign, the traffic signal sign displays lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
Example III
As shown in fig. 4, the present embodiment takes a bidirectional eight-lane road as an example, and a lane dynamic allocation system control method based on vehicle-road cooperation includes the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment;
when 0 is less than or equal to V x ＜10,0≤V y ＜10、10≤V x ＜20,10≤V y < 20 or V x ≥20,V y When the traffic is more than or equal to 20, lane allocation is not performed;
when 10 is less than or equal to V x ＜20,0≤V y ＜10、0≤V x ＜10,10≤V y ＜20、V x ≥20,10≤V y V less than 20 or 10 x ＜20,V x When the traffic is more than or equal to 20, keeping the lane allocation state of the last detection period;
when V is x ≥20,0≤V y When the traffic lane is less than 10, the traffic lane on the own side meets the precondition of distributing traffic lanes to the traffic lane on the opposite side, and the next step is carried out;
when 0 is less than or equal to V x ＜10,V y And when the traffic is more than or equal to 20, the opposite side lane meets the precondition of lane allocation for the own side lane, and the next step is carried out.
Step two, detecting the traffic flow x of the own side lane and the traffic flow y of the opposite side lane in real time, and according to the traffic flow x of the opposite side laneAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle; the judgment rule satisfies:
when (when)Or->When the vehicle is not distributed with lanes;
when (when)
Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)Or->When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)When the vehicle is on the side, the opposite side three lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)Or->When the vehicle is in a state, two lanes on the side are allocated to the opposite side;
when (when)When the lane is allocated to the opposite side, the lane is allocated to the opposite side.
Step three, the urban cloud control console receives information of the road side unit, receives a lane allocation application of the road side unit, decides whether lane allocation is carried out according to road conditions of the city, sends a lane allocation instruction to the road side unit if lane allocation is agreed, and then sends the lane allocation instruction to the vehicle-mounted unit of the monitored road and the traffic signal mark, the traffic signal mark displays the lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (7)
1. A control method of a lane dynamic allocation system based on vehicle-road cooperation is characterized in that,
the lane dynamic allocation system based on the vehicle-road cooperation comprises:
the vehicle-mounted unit is arranged on the vehicle and is used for collecting and transmitting basic safety parameters of the vehicle in real time;
the vehicle-mounted information broadcasting platform is connected with the vehicle-mounted unit and is used for receiving the human-computer interface display of the vehicle-mounted unit information;
the road side unit is arranged at the edge of the road and is used for receiving information sent by all vehicles on the monitored road, receiving a lane reassignment instruction and broadcasting the vehicles on the detected road;
the urban cloud control platform is used for receiving information of all road side units of the city, receiving a lane allocation application of the road side units, determining whether lane allocation is carried out according to road conditions of the city, and sending a lane allocation instruction to the road side units if lane allocation is agreed;
the traffic signal identifier is arranged at the road entrance and used for displaying lane allocation information and issuing road information to vehicles which are about to enter the control road;
the control method of the lane dynamic allocation system based on the vehicle-road cooperation comprises the following steps:
step one, according to the detection period, basic safety parameters of the road vehicle detected by a road side unit are obtained, and the average speed V of the lane vehicle at the side is calculated x Average vehicle speed V of opposite lane y And thus making a pre-judgment;
when 0 is less than or equal to V x ＜10,0≤V y ＜10、10≤V x ＜20,10≤V y < 20 or V x ≥20,V y When the traffic is more than or equal to 20, lane allocation is not performed;
when 10 is less than or equal to V x ＜20,0≤V y ＜10、0≤V x ＜10,10≤V y ＜20、V x ≥20,10≤V y V less than 20 or 10 x ＜20,V x When the traffic is more than or equal to 20, keeping the lane allocation state of the last detection period;
when V is x ≥20,0≤V y When the traffic lane is less than 10, the traffic lane on the own side meets the precondition of distributing traffic lanes to the traffic lane on the opposite side, and the next step is carried out;
when 0 is less than or equal to V x ＜10,V y When the traffic is more than or equal to 20, the opposite side lane meets the precondition of lane allocation for the own side lane, and the next step is carried out;
step two, when V x And V y When the pre-judging condition of the distribution lane is met, detecting the traffic flow x of the lane on the side and the traffic flow y of the lane on the opposite side in real time, and according to the traffic flow x of the lane on the sideAnd->Judging the lane allocation according to the numerical value of (2), and sending out judgment information; wherein X is the maximum traffic flow allowed by the lane on the side of the vehicle, and Y is the maximum traffic flow allowed by the lane on the side of the vehicle;
when the monitored road is two-way four lanes, the judging rule meets the following conditions:
when (when)Or->When the lane information is not allocated, the lane information is sent;
when (when) Or->When the lane information is sent, the original lane information is kept;
when (when)Or->When the vehicle is in a driving state, the opposite side lane is sent out to be allocated to the vehicle side lane information;
when (when)Or->When the vehicle is in a driving state, the vehicle sends out information of the lane on the side of the vehicle to be allocated to the lane on the opposite side;
step three, the urban cloud control console receives information of the road side unit, receives a lane allocation application of the road side unit, decides whether lane allocation is carried out according to road conditions of the city, sends a lane allocation instruction to the road side unit if lane allocation is agreed, and then sends the lane allocation instruction to the vehicle-mounted unit of the monitored road and the traffic signal mark, the traffic signal mark displays the lane allocation information, and the vehicle-mounted unit transmits the lane allocation information to a driver.
2. The method for controlling a lane dynamic allocation system based on the cooperation of vehicles according to claim 1, wherein,
the security parameters include: and monitoring license plate numbers, vehicle speeds, positions and course angles of vehicles on the road.
3. The method for controlling a lane dynamic allocation system based on the cooperation of vehicles according to claim 2, wherein,
the vehicle-mounted unit broadcasts communication to the vehicle and the road side unit according to a stack protocol, and the broadcast communication is transmitted through a special short-range communication technology.
4. The method for controlling a lane dynamic allocation system based on vehicle-road cooperation according to claim 3, wherein,
the vehicle-mounted information broadcasting platform can conduct voice and image broadcasting.
5. The method for controlling a lane dynamic allocation system based on vehicle-road cooperation according to claim 4, wherein,
the road side unit is communicated with the city cloud control console through a 4G or 5G signal and is communicated with the vehicle-mounted unit through special short-range communication.
6. The method for controlling a lane dynamic allocation system based on vehicle-road cooperation according to claim 5, wherein when the monitored road is a bidirectional six-lane, the judgment rule of the step two satisfies:
when (when)Or->When the vehicle is not distributed with lanes;
when (when) Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)The two lanes on the side are allocated to the opposite side.
7. The method for controlling a lane dynamic allocation system based on vehicle-road cooperation according to claim 6, wherein when the monitored road is a bidirectional eight-lane, the judgment rule of the step two satisfies:
when (when)Or->When the vehicle is not distributed with lanes;
when (when) Or->When the lane is kept, the original distribution lane is kept;
when (when)Or->When the lane on the opposite side is allocated to the own side;
when (when)Or->When the vehicle is in a state, two opposite lanes are allocated to the vehicle;
when (when)When the vehicle is on the side, the opposite side three lanes are allocated to the vehicle;
when (when)Or->Assigning a lane on the side to the opposite side;
when (when)Or->When the vehicle is in a state, two lanes on the side are allocated to the opposite side;
when (when)When the lane is allocated to the opposite side, the lane is allocated to the opposite side.
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