CN110060478A - Intersection Vehicular intelligent dispatching method and system - Google Patents
Intersection Vehicular intelligent dispatching method and system Download PDFInfo
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- CN110060478A CN110060478A CN201910353683.1A CN201910353683A CN110060478A CN 110060478 A CN110060478 A CN 110060478A CN 201910353683 A CN201910353683 A CN 201910353683A CN 110060478 A CN110060478 A CN 110060478A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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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
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
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Abstract
The present invention provides a kind of intersection Vehicular intelligent dispatching method and the intelligent dispatching systems of implementation this method, when the method comprises the steps of: vehicle by the line of induction before road junction, vehicle sends vehicle information data packet by board unit automatically and controls memory to center；Center control memory receives data packet transmitted by board unit and focuses on information, and after information processing, by analysis, treated that information feeds back to has already passed through the vehicle of the line of induction, carries out vehicle scheduling with this；The on board unit of each car receives information transmitted by center control memory, changes car speed according to the information of feedback, travels by distribution moment speed in the entire surface road zone of intersection.The present invention can guarantee directive vehicle intersection can safety and solving road congestion.
Description
Technical field
The invention belongs to vehicle networking technical fields, are based on information of vehicles in intersection more particularly to one kind and carry out nothing
The intelligent dispatching system and method for the vehicle control storage scheduling of traffic lights.
Background technique
With the development of Internet of Things, car networking, automatic Pilot and the network information technology, we have been able to pass through at present
The electronic equipments such as camera, radar, RFID, GPS realize the acquisition to information such as vehicle, road, traffic environments.Meanwhile
It carries out wireless communication between Che-road-people-environment-network and information exchange, and beyond the clouds by information taken, calculates current
The best travel route of traffic situation and different vehicle, and report without delay road conditions and arrange signal lamp cycle, realize to people,
Vehicle, the intelligent monitoring on road, scheduling and management.Automatic driving vehicle is to have greatly for improving transportation system management control ability
Advantage, it is one of the research hotspot of current vehicle networking technical field, can not only be helped towards unpiloted road traffic
It cuts down traffic accidents, moreover it is possible to traffic congestion situation be greatly lowered.
The traffic of China crossroad is mainly by traffic lights at present, and present traffic lights have the defects that many.?
The route of vehicle flowrate rareness, traffic light will cause waste without reason and the vehicle unnecessary time etc. of resource in the state of being always on
To which this will cause the time waste of driver or passenger；In face of traffic lights, the brake starting of automobile is unfavorable for the saving of machine oil
It uses, vehicle waits for a long time will cause traffic congestion；The state of traffic lights only allows the vehicle in certain lanes to pass through, and road is handed over
The handling capacity of prong vehicle is very little, and path resource is caused to waste；Under atrocious weather environment, it is unfavorable for vehicle driver's identification
Front traffic lights.
In view of this, it is necessary to a kind of road junction intelligent dispatching system is designed, to solve the above problems.
Summary of the invention
The purpose of the present invention is to provide a kind of intersection Vehicular intelligent dispatching method, the method includes following step
Rapid: S1: when vehicle passes through the line of induction before road junction, vehicle sends vehicle information data packet by board unit automatically
Memory is controlled to center；S2: center control memory receives data packet transmitted by board unit and focuses on information, believes
After breath is disposed, by analysis, treated that information feeds back to has already passed through the vehicle of the line of induction, carries out vehicle scheduling with this；
S3: the on board unit of each car receives information transmitted by center control memory, changes car speed according to the information of feedback,
It is travelled by distribution moment speed in the entire surface road zone of intersection.
Technical solution as a further improvement of that present invention, in step s 2, treated for the analysis during information includes:
Centre control memory reaches the sequencing of the line of induction and the route of road junction vehicle driving according to vehicle, gives each car
Distribution enters the time T of intersectioniWith speed V1And vehicle drives towards another from a dispatcher-controlled territory in intersection
The time T of adjacent dispatch area；Wherein, time Ti=T1,T2,T3。。。TnIndicate that each vehicle enters road friendship at different times
Prong.
Technical solution as a further improvement of that present invention, in step s 2, each moment are intended to according to vehicle driving road
Linear velocity updates the readable storage table of dynamic in center control memory, to guarantee each car in the same time never same
In one region.
Technical solution as a further improvement of that present invention carries out intelligent scheduling to vehicle using following formula (1)-(6),
Distribute time TiWith speed V1:
S=S1+S2, (5)
Tx2+tx3=T1-tx1, (6)
Wherein, S is length of the line of induction to the buffer area of intersection；At the time of tx1 is that vehicle passes through the line of induction；
The speed of the moment vehicle is Vx1, and wherein x indicates vehicle lane number locating at that time, and 1 indicates car number；A is vehicle
Acceleration.
Technical solution as a further improvement of that present invention, if each time interval of through vehicles in 2T, i.e., each vehicle
The mutual time difference for reaching the line of induction is less than or equal to 2T, then distributes synchronization T to each car1With identical speed V1It reaches
Intersection.
Technical solution as a further improvement of that present invention, if each time interval of vehicle is greater than 2T, i.e., each vehicle reaches
The mutual time difference of the line of induction is greater than 2T, then distributes different moments T to each car1, T3, T5, T7... it waits with identical speed V1It arrives
Up to intersection.
Technical solution as a further improvement of that present invention, center control memory reach the successive of the line of induction according to vehicle
Sequence and road junction vehicle driving route, to each car distribution enter intersection time Ti and speed V1 with
And vehicle drives towards the time T of another adjacent dispatch area from a dispatch area, passes through the vehicle each by intersection
Time, the route write-in read-write storage table of dynamic carry out vehicle scheduling, each moment according to route or travel by vehicle speed come
Table is updated storage, guarantees each car in the same time never on the same region.
Technical solution as a further improvement of that present invention, vehicle information data packet include that vehicle is felt in Tx1 moment process
Line is answered, the speed of the moment vehicle is Vx1, and vehicle lane locating at present is the route of x and vehicle in intersection；Its
Middle x indicates lane number, and 1 indicates car number.
The present invention also provides a kind of intersection vehicle intelligent scheduling system, which implements described in any of the above item
Method.
Technical solution as a further improvement of that present invention, the system comprises center control memory and vehicle-mounted lists
Member, the center control memory are set to any position of intersection, and the on board unit is set to each vehicle.
From the above technical scheme, no matter whether vehicle flowrate is saturated on road, intersection intelligent scheduling of the present invention
Method and system can be effectively reduced vehicle oil consumption and shorten queue waiting time；Vehicle is without waiting for institute is directive
Vehicle can all be travelled in the same time in intersection, improved the vehicle handling capacity of intersection, effectively accelerated
The case where vehicular circulation speed, alleviation traffic congestion.
Detailed description of the invention
Fig. 1 is to implement road junction scene figure used in the present invention.
Fig. 2 is intelligent scheduling automatic driving vehicle step schematic diagram of the present invention.
Fig. 3 is that the present invention is that vehicle allocation enters the intersection moment and rate algorithm realizes block diagram.
Fig. 4 is T1 moment automatic driving vehicle in intersection traveling schematic diagram.
Fig. 5 is T2 moment automatic driving vehicle in intersection traveling schematic diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
It please join shown in Fig. 1, the present invention provides intersection scene, the intersection scene one includes right-hand rotation vehicle
Road, left turn lane, the two-way six-lane traffic intersection model of Through Lane, inlet/outlet is 3 lanes, and Through Lane has E,
F, M, N, right-turn lane have A, B, C, D, and left turn lane has X, Y, Z, W, and arrow indicates vehicle forward direction, the rectangle table of black
Show that center control memory, the ellipse representation roadside unit of grey, roadside unit are used to assist vehicle and center control memory
Communication.Entire plane crossroads are divided into buffer area and dispatch area, and the region of the line of induction to intersection is buffer area,
The length in the region is S, and dispatch area is divided into 36 square vehicle regions of the same area, each small square scheduling
The length in area is L, and the lane width of an inlet and outlet is 6L, has 16 battlegrounds again in dispatch area, upper figure Grey Point is marked
Place indicates that the same area has the vehicle of different directions that need to occupy the region.Wherein right-turn lane is independent Lothrus apterus lane, can be with
Directly exercise do not need to keep Through Lane and left turn lane vehicle should keep at a distance from and speed.In order to make different directions
Vehicle can be travelled in synchronization without bumping against, and each small square dispatch area of synchronization is up to a vehicle and occupies；Straight trip
Vehicle need to be with constant speed V1It is passed in and out from dispatch area, left turning vehicle need to be with constant speed V1Enter from dispatch area, to the 3rd
Dispatch area is with speed V2It is travelled in dispatch area.Through vehicles drive towards the displacement of another adjacent dispatch area for L, then directly from a dispatch area
Driving is T=L/V from the time that a dispatch area drives towards another adjacent dispatch area1, the vehicle of left turn lane also needs to guarantee
The time for driving towards another adjacent dispatch area from a dispatch area is T.The directive vehicle of institute can be in road in synchronization
Intersection traveling, then will appear battleground, that is, have different lanes to occupy the same area jointly.The scheduling of the lane unity of possession is rushed
Prominent area is as shown in table 1:
Table 1: intersection battleground
| Battleground | Occupy the lane of the point | Battleground | Occupy the channel of the point |
| 1 | Lane M, lane E | 9 | Lane E, lane W |
| 2 | Lane M, lane Y | 10 | Lane E, lane X |
| 3 | Lane M, lane X | 11 | Lane F, lane Z |
| 4 | Lane M, lane F | 12 | Lane F, lane Y |
| 5 | Lane N, lane E | 13 | Lane Z, lane W |
| 6 | Lane N, lane Z | 14 | Lane Z, lane Y |
| 7 | Lane N, lane W | 15 | Lane X, lane W |
| 8 | Lane N, lane F | 16 | Lane X, lane Y |
As shown in Fig. 2, the figure shows the present invention road junction intelligent dispatching method step.Intersection road
There is the line of induction at one before mouthful, the region of the line of induction to intersection is buffer area, and the length in the region is S.When unmanned
When vehicle passes through the line of induction before road junction, vehicle sends vehicle information data packet to center by board unit automatically
Memory is controlled, vehicle information data packet includes vehicle in Tx1Moment passes through the line of induction, and the speed of the moment vehicle is Vx1, vehicle
Lane x locating at present, route of the vehicle in intersection.Wherein x indicates lane number, and 1 indicates car number.
The center of intersection is on center control memory logic, physical location can be at intersection roadside
Any side；Each intersection has a center control memory.Center control memory receives on board unit institute
The data packet of transmission simultaneously focuses on information, and the sequencing and road junction vehicle driving of the line of induction are reached according to vehicle
Route to each car distribution enter intersection time TiWith speed V1And at the parting of the ways in driven towards from a dispatch area
The time T of another adjacent dispatch area, wherein Ti=T1,T2,T3。。。TnIndicate that vehicle enters intersection at different times
Mouthful.The storage table for having a dynamic read-write in center control memory, passes through the vehicle time each by intersection
The read-write storage table of dynamic is written to carry out vehicle scheduling in route, and each moment deposits according to route or travel by vehicle speed to update
Store up table.Guarantee that each car never on the same region, then returns to tune of the vehicle by intersection in the same time
Spend information.
The on board unit of each car receives information transmitted by center control memory, automatic driving car according to feedback letter
Breath changes car speed, guarantees at a time TiWith required speed V1Intersection is reached, and middle guarantee at the parting of the ways
The time for driving towards another adjacent dispatch area from a dispatch area is T.
Consider that all directions vehicle reaches the line of induction in different moments, as shown in figure 3, problem is converted into each time of vehicle
Whether interval is in 2T.
1, such as Through Lane E, F, M, N have vehicle respectively at a time by the line of induction, i.e. lane E has vehicle E1In Te1When
It carves with speed Ve1The line of induction is reached, i.e. lane F has vehicle F1In Tf1Moment reaches the line of induction with speed Vf1, i.e. lane M has vehicle
M1In Tm1Moment is with speed Vm1The line of induction is reached, i.e. lane N has vehicle N1In Tn1Moment is with speed Vn1Reach the line of induction.
(1) if each time interval of through vehicles is in 2T, i.e. Te1, Tf1, Tm1, Tn1The mutual time difference be less than or equal to 2T,
Such as | Te1-Tf1|≤2T then distributes synchronization T to each car1With identical speed V1Intersection is reached, in order to slow
Rushing area's vehicle has time enough to carry out speed change deceleration, T at the time of distributed1>=10T*tx1.Existing known vehicle is in the line of induction
Speed Vx1With time tx1, in the speed V of intersection1With time T1, the length S of buffer area, so that it may know that vehicle exists
The velocity variations V of buffer areax1->Vx2->V1,
S=S1+S2, (5)
Tx2+tx3=T1-tx1, (6)
Known by formula (1)-(6), the vehicle E of lane E1In Te1Moment is with speed Ve1The line of induction is reached, is the slow of S in length
Area is rushed, with acceleration ae1, ae2 traveling, in T1Moment is with speed V1Reach intersection；The vehicle F of lane F1In Tf1Moment
With speed Vf1The line of induction is reached, in the buffer area that length is S, with acceleration af1, af2 traveling, in T1Moment is with speed V1It reaches
Intersection；Lane M has vehicle M1In Tm1Moment is with speed Vm1The line of induction is reached, in the buffer area that length is S, with acceleration
Am1, am2 traveling, in T1Moment is with speed V1Reach intersection；I.e. lane N has vehicle N1In Tn1Moment is with speed Vn1It arrives
Up to the line of induction, in the buffer area that length is S, with acceleration an1, an2 traveling, in T1Moment is with speed V1Reach intersection.
In dispatch area with speed V1It drives at a constant speed.
(2) if each time interval of vehicle is greater than 2T, i.e. Te1, Tf1, Tm1, Tn1The mutual time difference be greater than 2T, such as | Te1-
Tf1| > 2T then distributes different moments T to each car1Or T3,T5, T7With identical speed V1Reach intersection.Wherein T1,
T3, T5, T7The mutual time difference is T, such as | T1-T3|=nT, | T3-T5|=2nT, | T5-T7|=2nT.
If 2, left turn lane X, Y, Z, W have vehicle respectively at a time by the line of induction, i.e. lane X has vehicle X1In Tx1
Moment is with speed Vx1The line of induction is reached, i.e. lane Y has vehicle Y1In Ty1Moment is with speed Vy1The line of induction is reached, i.e. lane Z has vehicle
Z1In Tz1Moment is with speed Vz1The line of induction is reached, i.e. lane W has vehicle W1In Tw1Moment is with speed Vw1Reach the line of induction.It is left
The vehicle changed trains or buses is needed from the time that a dispatch area drives towards another adjacent dispatch area and through vehicles pass through between dispatch area
It is identical every the time, as T.
(1) if each time interval of left turning vehicle is in 2T, i.e. Tx1, Ty1, Tz1, Tw1The mutual time difference be less than or equal to 2T,
Such as | Tx1-Ty1|≤2T then distributes synchronization T to each car2With identical speed V1Reach intersection.It should be noted
It is through vehicles in T1Moment enters dispatch area, and left turning vehicle is in T2Moment enters dispatch area, | T2-T1|=nT, n=1,2,3..
The vehicle X of lane X known to formula (1)-(6)1In Tx1Moment is with speed Vx1The line of induction is reached, is S's in length
Buffer area, with acceleration ax1, ax2 traveling, in T2Moment is with speed V1Reach intersection；The vehicle Y of lane Y1In Ty1When
It carves with speed Vy1The line of induction is reached, in the buffer area that length is S, with acceleration ay1, ay2 traveling, in T2Moment is with speed V1It arrives
Up to intersection；Lane Z has vehicle Z1At the Tz1 moment with speed Vz1The line of induction is reached, in the buffer area that length is S, to add
Speed az1, az2 traveling, in T2Moment is with speed V1Reach intersection；I.e. lane W has vehicle W1In Tw1Moment is with speed
Vw1The line of induction is reached, in the buffer area that length is S, with acceleration aw1, aw2 traveling, in T2Moment is with speed V1Road is reached to hand over
Prong.Left turning vehicle passes through altogether 7 small square dispatch area from intersection disengaging, wherein the road of intermediate 3 dispatch areas
Line is 1/4 circular arc, and the conflict of radius 3L/2, week a length of 3 π L/4, intermediate 3 dispatch areas are on dispatch area line.In order to protect
Card all directions vehicle does not bump against, and the speed of intermediate 3 dispatch area left turning vehicles should be V2=π L/4T.Therefore left turning vehicle is with speed V1
It is uniformly travelled into dispatch area, speed is changed into V when by the 3rd dispatch area2, should be with speed V2Uniformly traveling, safety
Intersection.
(2) if each time interval of left turning vehicle is greater than 2T, i.e. Tx1, Ty1, Tz1, Tw1The mutual time difference be greater than 2T, such as |
Tx1-Ty1| > 2T then distributes different moments T to each car2Or T4,T6, T8Intersection is reached with identical speed V1.Wherein
T1, T3,T5, T7The mutual time difference is T, such as | T4-T2|=nT, | T4-T6|=2nT, |T6-T8|=2nT.
3, to the same lane, a fleet crosses, in order to make not bump against in dispatch area all directions vehicle, same lane
Vehicle distances should be L, therefore same lane vehicle should reach intersection in different moments, and the time difference of arrival time is 2nT,
N=1,2,3....Such as to Through Lane F, there is a fleet F1,F2,F3...FnIt is travelled on lane, then F1In moment T1Into tune
Spend area, F2In T3Moment enters dispatch area, F3In T5Moment enters dispatch area, and T2,T4...T2nMoment is that left turn lane enters tune
At the time of spending area.|T1-T3|=nT, | T3-T5|=2nT, | T5-T7|=2nT, | T4-T2|=nT, | T4-T6|=2nT, | T6-T8|
=2nT, | T1-T2|=T.
Center control memory reaches the sequencing of the line of induction and the road of road junction vehicle driving according to vehicle
Line enters the time T of intersection to each car distributioniWith speed V1And in vehicle from a dispatch area to drive towards another adjacent
The time of dispatch area is T, by each by the vehicle time route write-in read-write storage table of dynamic of intersection come
Vehicle scheduling is carried out, each moment updates storage table according to route or travel by vehicle speed, guarantees that each car is determined in the same time
Not on the same region.The vehicle time route such as table 2 of the read-write storage table write-in of the dynamic of center control reservoir, table 3
It is shown:
Table 2:T1 moment intersection vehicle route table
| A | E | Y | X | F | B | ||
| A | A1 | E3 | X3 | B1 | B | ||
| M | M1 | Y3 | M2 | F1 | M3 | M | |
| W | W1 | E2 | W2 | X3 | Z3 | Z | |
| X | X3 | Z2 | Y2 | F2 | Y1 | Y | |
| N | N3 | E1 | N2 | W3 | N1 | N | |
| C | C1 | Z1 | F3 | D1 | D | ||
| C | E | Z | W | F | D |
Table 3:T2 moment intersection vehicle route table
| A | E | Y | X | F | B | ||
| A | A2 | Y4 | F1 | B2 | B | ||
| M | M1 | E3 | M2 | X2 | M3 | M | |
| W | W2 | X3 | Y3 | F2 | Z4 | Z | |
| X | X4 | E2 | W3 | Z3 | Y2 | Y | |
| N | N3 | Z2 | N2 | F3 | N1 | N | |
| C | C2 | E1 | W4 | D2 | D | ||
| C | E | Z | W | F | D |
Upper table shows the route that different moments vehicle is travelled in intersection, the first row last line of table and first
Arranging last column indicates lane, direction A-A, Z-Z form, vehicle the lane letter and serial number table of same lanes
Show, if lane E-E dispatch area is in T1Shi Keyou E3,M1,E2,X3,E1, have 6 dispatch areas among E-E, in T1The vehicle of moment direction E
3 in the 1st region, direction M1Vehicle in the 2nd region, in the 3rd region, the vehicle 3 of direction X exists the vehicle 2 of direction E
4th region, for the vehicle 1 of direction E in the 5th region, the 6th region does not have vehicle.All vehicles of E-E dispatch area are in moment T1
Speed be V.In T2Moment lane E-E dispatch area has E3,W2,E2,N3,E1, indicate that first region does not have vehicle, direction E's
Vehicle 3 is in the 2nd region, and the vehicle 2 of direction W is in the 3rd region, and the vehicle 2 of direction E is in the 4th region, the vehicle 3 of direction N
In the 5th region, the vehicle 1 of direction E is in the 6th region.All vehicles of E-E dispatch area are in moment T2Speed be V.?
T2Moment Y-Z dispatch area has Y4,M2,X3,W3,Z2, indicate in T2The vehicle 4 of moment direction Y is in the 1st region, the vehicle of direction M
2 in the 2nd region, and the vehicle 3 of direction X is in the 3rd region, and the vehicle 3 of direction W is in the 4th region, and the vehicle 2 of direction Z is
5 regions, the 6th region do not have vehicle process at the moment.Moment T2Vehicle Y4,W2Speed be V1, vehicle X3,W3,
Z2Speed be V2。
Fig. 4 and Fig. 5 be automatic driving vehicle by scheduling information intersection traveling figure, it is same as can be seen from Figure
Through Lane, the vehicle of same left turn lane need to keep the distance of a dispatch area, travel at the parting of the ways in synchronization
Driving vehicle all only occupies a dispatch area, guarantee to reach from a dispatch area in vehicle driving another adjacent dispatch area when
Between be T, then can guarantee the directive vehicle of moment institute all at the parting of the ways simultaneously traveling without collision.
Above embodiments are merely to illustrate the present invention and not limit the technical scheme described by the invention, to this specification
Understanding should based on person of ordinary skill in the field, although this specification referring to the above embodiments to the present invention
Detailed description is had been carried out, it will be appreciated, however, by one skilled in the art that person of ordinary skill in the field still may be used
To modify or equivalently replace the present invention, and all do not depart from the technical solution of the spirit and scope of the present invention and its change
Into should all cover in scope of the presently claimed invention.
Claims (10)
1. a kind of intersection Vehicular intelligent dispatching method, it is characterised in that: the method comprises the steps of:
S1: when vehicle passes through the line of induction before road junction, vehicle sends vehicle information data by board unit automatically
It wraps and controls memory to center；
S2: center control memory receives data packet transmitted by board unit and focuses on information, after information processing,
By analysis, treated that information feeds back to has already passed through the vehicle of the line of induction, carries out vehicle scheduling with this；
S3: the on board unit of each car receives information transmitted by center control memory, changes vehicle according to the information of feedback
Speed is travelled by distribution moment speed in the entire surface road zone of intersection.
2. intersection Vehicular intelligent dispatching method according to claim 1, which is characterized in that in step s 2, institute
State analysis treated sequencing and the intersection road of information includes: center control memory reaches according to the vehicle line of induction
The route of mouth vehicle driving enters the time T of intersection to each car distributioniWith speed V1And vehicle is in intersection
The time T of another adjacent dispatch area is driven towards from a dispatcher-controlled territory；Wherein, time Ti=T1,T2,T3。。。TnIndicate that vehicle exists
Enter intersection at the time of different.
3. intersection Vehicular intelligent dispatching method according to claim 2, which is characterized in that in step s 2, often
One moment was intended to update the readable storage table of the dynamic in center control memory according to route or travel by vehicle speed, to guarantee
Each car is in the same time never in the same area.
4. intersection Vehicular intelligent dispatching method according to claim 2, which is characterized in that use following formula
(1)-(6) carry out intelligent scheduling to vehicle, i.e. distribution time TiWith speed V1:
S=S1+S2, (5)
Tx2+tx3=T1-tx1, (6)
Wherein, S is length of the line of induction to the buffer area of intersection；At the time of tx1 is that vehicle passes through the line of induction；This when
The speed for carving vehicle is Vx1, and wherein x indicates vehicle lane number locating at that time, and 1 indicates car number；A is the acceleration of vehicle
Degree.
5. intersection Vehicular intelligent dispatching method according to claim 4, which is characterized in that if through vehicles is each
For time interval in 2T, i.e., the mutual time difference that each vehicle reaches the line of induction is less than or equal to 2T, then distributes to each car same
Moment T1With identical speed V1Reach intersection.
6. intersection Vehicular intelligent dispatching method according to claim 4, which is characterized in that if each time of vehicle
Interval is greater than 2T, i.e., the mutual time difference that each vehicle reaches the line of induction is greater than 2T, then distributes different moments T to each car1, T3,
T5, T7... it waits with identical speed V1Reach intersection.
7. intersection Vehicular intelligent dispatching method according to claim 1, which is characterized in that center control memory
The sequencing of the line of induction and the route of road junction vehicle driving are reached according to vehicle, enter road to each car distribution
The time Ti and speed V1 and vehicle of intersection drive towards the time T of another adjacent dispatch area from a dispatch area, pass through handle
The read-write storage table of dynamic is written by the time of the vehicle of intersection, route to carry out vehicle scheduling, per a period of time in each
Quarter updates storage table according to route or travel by vehicle speed, guarantees each car in the same time never on the same region.
8. intersection Vehicular intelligent dispatching method according to claim 1, which is characterized in that vehicle information data packet
Pass through the line of induction at the Tx1 moment including vehicle, the speed of the moment vehicle is Vx1, and vehicle lane locating at present is x and vehicle
Intersection route；Wherein x indicates lane number, and 1 indicates car number.
9. a kind of intersection vehicle intelligent scheduling system, which is characterized in that the system implements any one of claim 1 to 8
The method.
10. intersection vehicle intelligent scheduling system according to claim 9, which is characterized in that controlled including center
Memory and on board unit, the center control memory are set to any position of intersection, the on board unit
It is set to each vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910353683.1A CN110060478A (en) | 2019-04-29 | 2019-04-29 | Intersection Vehicular intelligent dispatching method and system |
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| CN201910353683.1A CN110060478A (en) | 2019-04-29 | 2019-04-29 | Intersection Vehicular intelligent dispatching method and system |
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