CN111341123A - Intersection queue-waiting estimation method based on vehicle kinematics model - Google Patents
Intersection queue-waiting estimation method based on vehicle kinematics model Download PDFInfo
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Abstract
The invention relates to a crossing waiting queue estimation method based on a vehicle kinematics model, which is an estimation method for calculating static length, dynamic length, passing time and passing speed of a waiting vehicle queue by adopting the vehicle kinematics model by considering heterogeneous vehicle queue characteristics when a crossing signal lamp is a red lamp under an urban road condition; the related waiting queue estimation method mainly comprises a geomagnetic coil-based waiting queue vehicle quantity statistical method, a Gaussian distribution-based vehicle parameter random calculation method and a kinematics model-based queue motion track calculation method.
Description
Technical Field
The invention relates to a vehicle kinematics model-based intersection queue-waiting estimation method, and belongs to the field of intelligent traffic.
Background
With the development of the fields of automobile electronics, network communication, intelligent control and the like, vehicles and traffic are organically integrated into a whole, an intelligent traffic system is favorably constructed, the new mode and new state development of automobile and traffic service are promoted, and the method has important significance for improving traffic efficiency, saving resources, reducing pollution, reducing accident rate and improving traffic management.
The crossing queue influences the change of the subsequent vehicle movement speed, and the movement speed is the key of the vehicle safety, energy conservation and high-efficiency control; under the condition that the popularization degree of the existing intelligent networked automobile technology (intelligent networked automobiles refer to information interaction and sharing of vehicles and everything, such as vehicle-to-vehicle communication V2V, vehicle-to-road communication V2I, vehicle-to-vehicle communication V2P, vehicle-to-network communication V2N and the like) is low, the length of a queue to be driven is reasonably estimated by using the existing means, and the queue estimation information is broadcasted to all vehicles at the intersection.
Disclosure of Invention
The invention provides a crossing waiting queue estimation method based on a vehicle kinematics model, which can accurately estimate the static length, the dynamic length, the passing speed and the passing time of a waiting vehicle queue on the premise of fully considering the actual situation and the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a crossing waiting queue estimation method based on a vehicle kinematic model comprises the steps that in a controlled area, a crossing has a waiting vehicle queue, the number of vehicles driving into the controlled area is obtained by using a geomagnetic induction coil, then a Gaussian distribution function is used, the length of a vehicle body, the static head distance, an acceleration or deceleration delay constant and start delay information of each vehicle are calculated within a set parameter range, the acceleration or deceleration of vehicle performance delay is calculated, all information is led into the vehicle kinematic model, and the static length, the dynamic length, the passing time and the passing speed of the waiting vehicle queue are output;
the controlled area is an area within a self-defined range from the intersection stop line, and a geomagnetic induction coil is installed at the beginning end of the controlled area;
the intersection waiting vehicle queue is defined as a queue formed by waiting for passing vehicles at an intersection stop line when a signal lamp is a red lamp; the geomagnetic induction coils comprise first geomagnetic induction coils and second geomagnetic induction coils, wherein the first geomagnetic induction coils are laid at the edges of the controlled areas far away from the intersection stop lines, and the second geomagnetic induction coils are laid at the intersection stop lines;
as a further preferred aspect of the present invention,
the method specifically comprises the following steps:
the method comprises the steps of initially setting a controlled area range to be D, initializing the number N of vehicles waiting to run to be 0, initializing a first geomagnetic coil count N1, initializing a second geomagnetic coil count N2 to be 0, initializing time t to be 0, and initializing a controller calculating unit;
the first step is as follows: counting a to-be-driven vehicle queue, and transmitting counting information of a first geomagnetic induction coil and counting information of a second geomagnetic induction coil collected in a controlled area D to a signal lamp controller through a signal line;
the second step is that: randomizing queue parameters of vehicles to be driven, randomly generating the length of each vehicle within the range of the maximum value and the minimum value of the length of the vehicle by utilizing a Gaussian distribution model according to the actual condition of an urban road, randomly generating the static head distance of each vehicle within the range of the maximum value and the minimum value of the static head distance, randomly generating the starting delay of each vehicle within the range of the maximum value and the minimum value of the starting delay, and randomly generating the acceleration delay constant or the deceleration delay constant of each vehicle within the range of the maximum value and the minimum value of the acceleration delay constant or the deceleration delay constant;
the third step: calculating the acceleration or deceleration of the vehicle performance delay, adopting a first-order inertia link model and combining random parameters generated in the second step to describe the vehicle delay characteristic, and calculating the acceleration or deceleration of each vehicle in the waiting vehicle queue;
the fourth step: calculating the static length of the queue of the vehicles to be driven, assuming that the mass center position of the vehicles is positioned in the middle of the vehicle body, marking the vehicle position by adopting the mass center position, calculating the position of each vehicle when the vehicle is static and the length of the stop line of the distance intersection according to the random vehicle body length and the static head distance generated in the second step, wherein the length of the tail vehicle from the stop line is the length of the queue of the vehicles to be driven;
the fifth step: estimating a vehicle queue to be driven, calculating the dynamic length, the passing speed and the passing time of the vehicle queue to be driven by adopting a kinematic model based on the acceleration or the deceleration calculated in the third step, the vehicle position calculated in the fourth step and the length of the vehicle queue to be driven, wherein the specified time when the tail vehicle passes through the intersection stop line is the passing time of the vehicle queue to be driven, and the moving distance of the tail vehicle can represent the dynamic change of the length of the vehicle queue to be driven;
when the signal lamp is changed from red to green and the tail car in the vehicle queue to be driven passes the stop line of the intersection, finishing the estimation of the vehicle queue to be driven;
as a further preferred embodiment of the present invention, the specific steps of calculating by using the gaussian distribution model in the second step are:
defining the maximum length of the vehicle body as LmaxThe minimum length of the car body is LminThe maximum static head distance of the vehicle is HmaxThe minimum static head distance of the vehicle is HminMaximum starting delay of vehicle is ZmaxThe minimum starting delay of the vehicle is ZminThe maximum acceleration or deceleration delay constant of the vehicle is taumaxThe minimum acceleration or deceleration delay constant of the vehicle is tauminThe number of vehicles waiting for driving at the intersection is N, and the length of the jth vehicle is LjThe head distance of the jth vehicle is HjThe starting delay of the jth vehicle is ZjThe acceleration or deceleration delay constant of the jth vehicle is taujThe unit matrix generating function is ones (), and the kronecker product is
And sigma and mu are Gaussian function parameters, j is a mark of the vehicle in the control area, the head vehicle is 1, the tail vehicle is N, and then the vehicle parameters based on the Gaussian distribution are as follows:
as a further preferred embodiment of the present invention, the third step of calculating by using the first-order inertia element model comprises the following specific steps:
definition ajAcceleration or deceleration of the jth vehicle, amaxAt maximum acceleration of the vehicle, aminIf the vehicle maximum deceleration, | is a logical or relation symbol, t is the current moment, and s is a first-order inertia link mark, the vehicle acceleration or deceleration of the first-order inertia link is adopted as follows:
as a further preferable aspect of the present invention, the fourth step specifically includes the steps of:
definition of SjFor the jth vehicle from the initial position of the intersection stop line, DqjTo the initial length of the queue of vehicles to be driven of the jth vehicle, DqFor the initial total length of the waiting vehicle queue, the jth vehicle is at the initial position S away from the intersection stop linejComprises the following steps:
the jth vehicle is taken as a tail vehicle, and the initial length D of the queue of the vehicles to be drivenqjComprises the following steps:
Dqj＝Sj+0.5Lv
waiting vehicle queueInitial rest length DqThe length of the tail vehicle is determined as follows:
Dq＝DqN+0.5LN；
as a further preferable aspect of the present invention, the concrete step of estimating the queue of the vehicle to be driven in the fifth step is,
establishing a time discretization problem, defining discrete time interval as delta t, and time for changing signal lamp from current state to next state as tsThe fixed timing of the signal is tinThe time for the signal lamp to change from red to green is tgrThe time for which the signal lamp keeps red is treThe traffic light state is P (P ═ 0 indicates red light, P ═ 1 indicates green light), and v indicates green lightmaxAdopting a discretization calculation method for the maximum speed limited by the road, and then, at the kth step, the motion speed v of the jth vehiclejComprises the following steps:
t is obtained from the signal time definitionre＝tgr＝tsThen the jth vehicle running length d at the kth stepqjComprises the following steps:
d, determining whether the to-be-driven vehicle queue passes through the intersection according to whether the tail vehicle passes through the intersection, and determining the motion length of the whole to-be-driven vehicle queue by the tail vehicleq(k)＝dqN(k) From this, the passage time t of the waiting vehicle queue can be calculatedqComprises the following steps:
as a further preferable mode of the present invention, the number of the vehicles counted when the first geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through simultaneously is increased by 1, the number of the vehicles counted when the second geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through simultaneously is increased by 1, the difference between the two is the number of the vehicles to be driven in the controlled area, and N is N1-N2;
n1 counts and keeps when the first geomagnetic induction coil detects that only the front wheel of the automobile passes through, and sets the static length of the queue of the vehicles to be driven as the length D of the control area, and N2 counts and keeps when the second geomagnetic induction coil 2 detects that only the front wheel of the automobile passes through;
the signal lamp controller integrates the estimation function of the queue of the vehicles to be driven and is connected with the first geomagnetic induction coil and the second geomagnetic induction coil through signal lines.
Through the technical scheme, compared with the prior art, the invention has the following beneficial effects:
1. in the invention, the current situation that the intelligent networked automobile communication technology is not popularized yet is considered, all information in traffic is difficult to accurately acquire, the static length, the dynamic length, the passing time and the passing speed of a vehicle queue to be driven are accurately estimated aiming at a typical urban traffic scene, and the application of technologies such as vehicle economical driving, green passing, crossing efficient passing and the like is facilitated;
2. the invention adopts a Gaussian distribution method, reasonably randomizes vehicle performance parameters such as vehicle body length, static head distance, movement time distance, starting delay and the like within a reasonable limit, wherein the parameters are different due to the difference of drivers and vehicle types, and the randomizing method can improve the applicability of the invention in different traffic scenes;
3. the invention adopts a common first-order inertia link, adds the maximum acceleration or deceleration constraint, reasonably estimates the acceleration or deceleration and improves the true reflection degree of the invention to the actual traffic scene;
4. the invention adopts a classical vehicle kinematics model, and improves the calculation accuracy of the static length, the dynamic length, the passing time and the passing speed of the vehicle queue to be driven by means of random parameters and acceleration/deceleration, so that the method is suitable for common urban traffic scenes, and simultaneously ensures that the estimation accuracy meets the use requirements.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a diagram of the architecture and scenario of a vehicle kinematics model based intersection queue-to-go estimation method according to a preferred embodiment of the present invention;
FIG. 2 is a control strategy of the intersection queue-to-go estimation method based on the vehicle kinematics model according to the preferred embodiment of the present invention.
Fig. 3 is a simulation result of the intersection queue-to-go estimation method based on the vehicle kinematics model according to the preferred embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Based on the existing intelligent networked automobile technology (intelligent networked automobiles refer to information interaction and sharing between vehicles and everything, such as vehicle-to-vehicle communication V2V, vehicle-to-road communication V2I, vehicle-to-vehicle communication V2P, vehicle network communication V2N and the like), the method reasonably estimates the length of a waiting vehicle queue by using the existing means and broadcasts the estimated information of the waiting vehicle queue to all vehicles at the intersection;
example 1:
fig. 1 shows an architecture and a scenario of a preferred embodiment provided by the present application, in which several definitions are first made, a controlled area D is defined, the area is an area within a self-defined range from an intersection stop line, and a geomagnetic induction coil is installed at the beginning of the controlled area;
defining a queue of vehicles waiting to run at the intersection, wherein the queue is formed by vehicles waiting to run at the stop line of the intersection when the signal lamp is red;
the geomagnetic induction coils comprise first geomagnetic induction coils and second geomagnetic induction coils, wherein the first geomagnetic induction coils are laid at the edges of the controlled areas far away from the intersection stop lines, and the second geomagnetic induction coils are laid at the intersection stop lines;
meanwhile, a heterogeneous vehicle queue to be driven is defined as a queue with different types of vehicles, parameters such as the length of each vehicle body, the static head distance, the acceleration or deceleration delay constant and the like are different, and the starting delay characteristics of drivers are also different;
based on the architecture and the scene of embodiment 1, the number of vehicles entering a controlled area is obtained by using a geomagnetic induction coil, then the length of a vehicle body, the static head distance, the acceleration or deceleration delay constant and the start delay information of each vehicle are calculated by using a gaussian distribution function within a set parameter range, the acceleration or deceleration of the vehicle performance delay is calculated, all the information is led into a vehicle kinematic model, and the static length, the dynamic length, the passing time and the passing speed of a to-be-passed vehicle queue are output.
The geomagnetic induction coil is a sensor commonly used in traffic, is commonly used for red light running detection and road flow statistics, is simple to lay in a road, and only needs to be installed and connected for use;
the signal line connecting the geomagnetic induction coil and the signal lamp controller is also common equipment and only needs to adopt a common twisted pair;
the signal lamp controller is a signal lamp controller, and the estimation method designed by the application is based on a small framework calculation load and can directly operate in the traditional traffic signal machine.
Example 2:
as shown in fig. 2, a specific implementation method based on the architecture and scenario of embodiment 1 specifically includes the following steps:
the method comprises the steps of initially setting a controlled area range to be D, initializing the number N of vehicles waiting to run to be 0, initializing a first geomagnetic coil count N1, initializing a second geomagnetic coil count N2 to be 0, initializing time t to be 0, and initializing a controller calculating unit;
the first step is as follows: counting vehicles to be driven in a queue, namely transmitting first geomagnetic induction coil counting information N1 which is 9 and second geomagnetic induction coil counting information N1 which is 0 and is acquired in a controlled area D to a signal lamp controller through a signal wire, automatically counting when the vehicles pass through, and calculating the number of the vehicles to be driven;
the second step is that: randomizing queue parameters of vehicles to be driven, randomly generating the length of each vehicle within the range of the maximum value and the minimum value of the length of the vehicle by utilizing a Gaussian distribution model according to the actual condition of an urban road, randomly generating the static head distance of each vehicle within the range of the maximum value and the minimum value of the static head distance, randomly generating the starting delay of each vehicle within the range of the maximum value and the minimum value of the starting delay, and randomly generating the acceleration delay constant or the deceleration delay constant of each vehicle within the range of the maximum value and the minimum value of the acceleration delay constant or the deceleration delay constant;
specifically, the maximum length of the vehicle body is defined as Lmax5.5m, the minimum length of the car body is Lmin3.5m, the maximum static head distance of the vehicle is Hmax3m, the minimum static head distance of the vehicle is Hmin3m, the maximum starting time delay of the vehicle is Zmax2s, the minimum starting delay of the vehicle is Zmin0.5m, and the maximum acceleration or deceleration delay constant of the vehicle is taumax0.6, the vehicle minimum acceleration or deceleration delay constant is τminWhen the distance between the vehicles is 0.2m, the number of the vehicles waiting for driving at the intersection is N-9, and the length of the jth vehicle is LjThe head distance of the jth vehicle is HjThe starting delay of the jth vehicle is ZjThe acceleration or deceleration delay constant of the jth vehicle is taujThe unit matrix generating function is ones (), and the kronecker product is
And sigma and mu are Gaussian function parameters, j is a mark of the vehicle in the control area, the head vehicle is 1, the tail vehicle is N-9, and then the vehicle parameters based on the Gaussian distribution are as follows:
the third step: calculating the acceleration or deceleration of the vehicle performance delay, adopting a first-order inertia link model and combining random parameters generated in the second step to describe the vehicle delay characteristic, and calculating the acceleration or deceleration of each vehicle in the waiting vehicle queue;
the method comprises the following specific steps:
definition ajAcceleration or deceleration of the jth vehicle, amaxAt maximum acceleration of the vehicle, aminFor the maximum deceleration of the vehicle, | | is a logical or relation symbol, t is the current moment, s is a first-order inertia link mark, then a first-order inertia link is adoptedThe vehicle acceleration or deceleration of (1) is:
the fourth step: calculating the static length of the queue of the vehicles to be driven, assuming that the mass center position of the vehicles is positioned in the middle of the vehicle body, marking the vehicle position by adopting the mass center position, calculating the position of each vehicle when the vehicle is static and the length of the stop line of the distance intersection according to the random vehicle body length and the static head distance generated in the second step, wherein the length of the tail vehicle from the stop line is the length of the queue of the vehicles to be driven;
the method comprises the following specific steps:
definition of SjFor the jth vehicle from the initial position of the intersection stop line, DqjTo the initial length of the queue of vehicles to be driven of the jth vehicle, DqFor the initial total length of the waiting vehicle queue, the jth vehicle is at the initial position S away from the intersection stop linejComprises the following steps:
the jth vehicle is taken as a tail vehicle, and the initial length D of the queue of the vehicles to be drivenqjComprises the following steps:
Dqj＝Sj+0.5Lv
initial static length D of waiting vehicle queueqThe length of the tail vehicle is determined as follows:
Dq＝DqN+0.5LN；
calculating to obtain the static length of the queue to be queued as Dq＝58.5m。
The fifth step: estimating a vehicle queue to be driven, calculating the dynamic length, the passing speed and the passing time of the vehicle queue to be driven by adopting a kinematic model based on the acceleration or the deceleration calculated in the third step, the vehicle position calculated in the fourth step and the length of the vehicle queue to be driven, wherein the specified time when the tail vehicle passes through the intersection stop line is the passing time of the vehicle queue to be driven, and the moving distance of the tail vehicle can represent the dynamic change of the length of the vehicle queue to be driven;
the method comprises the specific steps of carrying out,
defining discrete time interval as delta t, and time for signal lamp to change from current state to next state as tsWhen the signal is fixed, t is 45sinWhen the signal lamp is turned from red to green for 45s, the time is tgrThe time for which the signal lamp keeps red is treThe traffic light state is P (P ═ 0 indicates red light, P ═ 1 indicates green light), and v indicates green lightmaxWhen the maximum speed of the vehicle is 20m/s and the discretization calculation method is adopted, the motion speed v of the jth vehicle in the kth stepjComprises the following steps:
t is obtained from the signal time definitionre＝tgr＝tsThen the jth vehicle running length d at the kth stepqjComprises the following steps:
d, determining whether the to-be-driven vehicle queue passes through the intersection according to whether the tail vehicle passes through the intersection, and determining the motion length of the whole to-be-driven vehicle queue by the tail vehicleq(k)＝dqN(k) From this, the passage time t of the waiting vehicle queue can be calculatedqComprises the following steps:
the estimated queue transit time was calculated to be 67.5 s.
And finishing the estimation of the vehicle queue to be driven when the tail vehicles in the vehicle queue to be driven pass the stop line of the intersection when the signal lamp is changed from the red lamp to the green lamp. The results of the estimated queue static length, dynamic length, transit time, etc. are shown in fig. 3.
In embodiment 2, the number of vehicles counted when the first geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through the same time is increased by 1, the number of vehicles counted when the second geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through the same time is increased by 1, the difference between the two numbers is the number of vehicles waiting to run in the controlled area, and N is N1-N2;
n1 counts and keeps when the first geomagnetic induction coil detects that only the front wheel of the automobile passes through, and sets the static length of the queue of the vehicles to be driven as the length D of the control area, and N2 counts and keeps when the second geomagnetic induction coil 2 detects that only the front wheel of the automobile passes through;
the signal lamp controller integrates the estimation function of the to-be-driven vehicle queue, is connected with the first geomagnetic induction coil and the second geomagnetic induction coil through signal lines, and calculates the static length, the dynamic length, the passing speed and the passing time of the to-be-driven vehicle queue by using the acquired vehicle counting information and the estimation method in the embodiment 2.
Example 1 simulation results are shown in fig. 3, where the actual transit time of the queue is 66.7s, the estimated transit time of the method of the present invention is 67.5s, and the estimated transit time of the queue of the conventional method is 53.8 s; the real length of the queue is 56.1m, the estimated queue length of the method is 58.5m, and the estimated queue length of the traditional method is 58.5 m; the result shows that compared with the traditional method, the method designed by the invention can accurately estimate the passing time of the queue to be driven, and the estimation difference of the lengths of the static queues is small. The method can accurately estimate the motion trail of the queue to be driven.
By the above preferred embodiments 1 and 2, the actual situation and the prior art level are fully considered, and the static length, the dynamic length, the passing speed and the passing time of the vehicle queue to be traveled can be accurately estimated by adopting the vehicle parameter gaussian distribution, the modified IDM method and the vehicle kinematics model.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as used herein is intended to include both the individual components or both.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. A crossing queue estimation method based on a vehicle kinematic model is characterized in that a vehicle queue to be driven exists at a crossing in a controlled area, and the method comprises the following steps: firstly, acquiring the number of vehicles driving into a controlled area by using a geomagnetic induction coil, then calculating the length of a vehicle body, the static head distance, an acceleration or deceleration delay constant and start delay information of each vehicle in a set parameter range by using a Gaussian distribution function, then calculating the acceleration or deceleration of vehicle performance delay, introducing all the information into a vehicle kinematics model, and outputting the static length, the dynamic length, the passing time and the passing speed of a to-be-passed vehicle queue;
the controlled area is an area within a self-defined range from the intersection stop line, and geomagnetic induction coils are arranged at the initial end of the controlled area and at the intersection stop line;
the intersection waiting vehicle queue is defined as a queue formed by waiting for passing vehicles at an intersection stop line when a signal lamp is a red lamp; the geomagnetic induction coil comprises a first geomagnetic induction coil and a second geomagnetic induction coil, wherein the first geomagnetic induction coil is laid on the edge of a controlled area far away from the intersection stop line, and the second geomagnetic induction coil is laid on the intersection stop line.
2. The intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 1, wherein: the method specifically comprises the following steps:
the method comprises the steps of initially setting a controlled area range to be D, initializing the number N of vehicles waiting to run to be 0, initializing a first geomagnetic coil count N1, initializing a second geomagnetic coil count N2 to be 0, initializing time t to be 0, and initializing a controller calculating unit;
the first step is as follows: counting a to-be-driven vehicle queue, and transmitting counting information of a first geomagnetic induction coil and counting information of a second geomagnetic induction coil collected in a controlled area D to a signal lamp controller through a signal line;
the second step is that: randomizing queue parameters of vehicles to be driven, randomly generating the length of each vehicle within the range of the maximum value and the minimum value of the length of the vehicle by utilizing a Gaussian distribution model according to the actual condition of an urban road, randomly generating the static head distance of each vehicle within the range of the maximum value and the minimum value of the static head distance, randomly generating the starting delay of each vehicle within the range of the maximum value and the minimum value of the starting delay, and randomly generating the acceleration delay constant or the deceleration delay constant of each vehicle within the range of the maximum value and the minimum value of the acceleration delay constant or the deceleration delay constant;
the third step: calculating the acceleration or deceleration of the vehicle performance delay, adopting a first-order inertia link model and combining random parameters generated in the second step to describe the vehicle delay characteristic, and calculating the acceleration or deceleration of each vehicle in the waiting vehicle queue;
the fourth step: calculating the static length of the queue of the vehicles to be driven, assuming that the mass center position of the vehicles is positioned in the middle of the vehicle body, marking the vehicle position by adopting the mass center position, calculating the position of each vehicle when the vehicle is static and the length of the stop line of the distance intersection according to the random vehicle body length and the static head distance generated in the second step, wherein the length of the tail vehicle from the stop line is the length of the queue of the vehicles to be driven;
the fifth step: estimating a vehicle queue to be driven, calculating the dynamic length, the passing speed and the passing time of the vehicle queue to be driven by adopting a kinematic model based on the acceleration or the deceleration calculated in the third step, the vehicle position calculated in the fourth step and the length of the vehicle queue to be driven, wherein the specified time when the tail vehicle passes through the intersection stop line is the passing time of the vehicle queue to be driven, and the moving distance of the tail vehicle can represent the dynamic change of the length of the vehicle queue to be driven;
and finishing the estimation of the vehicle queue to be driven when the tail vehicles in the vehicle queue to be driven pass the stop line of the intersection when the signal lamp is changed from the red lamp to the green lamp.
3. The intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 2, wherein: in the second step, the specific steps of calculating by using the Gaussian distribution model are as follows:
defining the maximum length of the vehicle body as LmaxThe minimum length of the car body is LminThe maximum static head distance of the vehicle is HmaxThe minimum static head distance of the vehicle is HminMaximum starting delay of vehicle is ZmaxThe minimum starting delay of the vehicle is ZminThe maximum acceleration or deceleration delay constant of the vehicle is taumaxThe minimum acceleration or deceleration delay constant of the vehicle is tauminThe number of vehicles waiting for driving at the intersection is N, and the length of the jth vehicle is LjThe head distance of the jth vehicle is HjThe starting delay of the jth vehicle is ZjThe acceleration or deceleration delay constant of the jth vehicle is taujThe unit matrix generating function is ones (), and the kronecker product is
And sigma and mu are Gaussian function parameters, j is a mark of the vehicle in the control area, the head vehicle is 1, the tail vehicle is N, and then the vehicle parameters based on the Gaussian distribution are as follows:
4. the intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 3, wherein: in the third step, the specific steps of calculating by adopting a first-order inertia link model are as follows:
definition ajAcceleration or deceleration of the jth vehicle, amaxAt maximum acceleration of the vehicle, aminAs vehiclesThe maximum deceleration, | | is a logical or relation symbol, t is the current moment, s is a first-order inertia link mark, and then the vehicle acceleration or deceleration of the first-order inertia link is adopted as follows:
5. the intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 4, wherein: the fourth step is that the concrete steps of calculating the static length of the queue of the vehicles to be driven are as follows:
definition of SjFor the jth vehicle from the initial position of the intersection stop line, DqjTo the initial length of the queue of vehicles to be driven of the jth vehicle, DqFor the initial total length of the waiting vehicle queue, the jth vehicle is at the initial position S away from the intersection stop linejComprises the following steps:
the jth vehicle is taken as a tail vehicle, and the initial length D of the queue of the vehicles to be drivenqjComprises the following steps:
Dqj＝Sj+0.5Lv
initial static length D of waiting vehicle queueqThe length of the tail vehicle is determined as follows:
Dq＝DqN+0.5LN。
6. the intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 5, wherein: the concrete steps of estimating the queue of the vehicles to be driven in the fifth step are,
establishing a time discretization problem, defining discrete time interval as delta t, and time for changing signal lamp from current state to next state as tsThe fixed timing of the signal is tinThe time for the signal lamp to change from red to green is tgrThe time for which the signal lamp keeps red is treThe signal lamp state is P (P ═ 0 represents red light, and P ═ 0 represents red light1 denotes a green light), vmaxAdopting a discretization calculation method for the maximum speed limited by the road, and then, at the kth step, the motion speed v of the jth vehiclejComprises the following steps:
t is obtained from the signal time definitionre＝tgr＝tsThen the jth vehicle running length d at the kth stepqjComprises the following steps:
d, determining whether the to-be-driven vehicle queue passes through the intersection according to whether the tail vehicle passes through the intersection, and determining the motion length of the whole to-be-driven vehicle queue by the tail vehicleq(k)＝dqN(k) From this, the passage time t of the waiting vehicle queue can be calculatedqComprises the following steps:
7. the intersection queue-to-go estimation method based on the vehicle kinematics model according to claim 2, wherein: the number of the vehicles is counted and added by 1 when the first geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through at the same time, the number of the vehicles is counted and added by 1 when the second geomagnetic induction coil detects that the front wheel and the rear wheel of the vehicle pass through at the same time, the difference between the number of the vehicles and the number of the vehicles to be driven in the controlled area is N1-N2;
n1 counts and keeps when the first geomagnetic induction coil detects that only the front wheel of the automobile passes through, and sets the static length of the queue of the vehicles to be driven as the length D of the control area, and N2 counts and keeps when the second geomagnetic induction coil 2 detects that only the front wheel of the automobile passes through;
the signal lamp controller integrates the estimation function of the queue of the vehicles to be driven and is connected with the first geomagnetic induction coil and the second geomagnetic induction coil through signal lines.
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