CN112967499B

CN112967499B - Method for judging setting conditions of signal-controlled intersection timing type CAV (computer aided design) special straight-going entrance lane

Info

Publication number: CN112967499B
Application number: CN202110155394.8A
Authority: CN
Inventors: 宗芳; 李宇暄; 张慧永; 曾梦; 王猛; 岳圣; 刘怿轩; 石佩鑫
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2020-10-28
Filing date: 2021-02-04
Publication date: 2022-03-04
Anticipated expiration: 2041-02-04
Also published as: CN112967499A

Abstract

The invention discloses a method for judging the setting conditions of a timing type CAV (vehicle access control) special straight-going entrance lane for a signal-controlled intersection, which is suitable for the timing control signal-controlled intersection with the number of the straight-going lanes at the entrance lane not less than 2, the hourly traffic volume of all the entrance lanes in the driving direction of the timing type CAV special straight-going entrance lane to be set not less than 550pcu/h and the difference between the maximum value and the minimum value greater than 120 pcu/h. The method quantitatively provides the setting conditions which need to be met by the driving direction of the straight-going entrance road specially used for the CAV according to the number of the straight-going lanes on the entrance road, the traffic volume, the effective green light duration and the green-to-traffic ratio. The method is used as a judgment standard to guide the setting of the special straight-going entrance lane for CAV, the characteristic that traffic influence factors change along with time is considered, the passing efficiency of mixed-traveling traffic flow at the signal-controlled intersection is improved, delay and oil consumption are reduced, and a method support is provided for optimizing the traffic organization of the entrance lane at the signal-controlled intersection in the mixed-traveling traffic flow environment.

Description

Method for judging setting conditions of signal-controlled intersection timing type CAV (computer aided design) special straight-going entrance lane

Technical Field

The invention relates to the field of urban road traffic organization control, in particular to a method for judging the setting conditions of a timing type CAV (vehicle access control) special straight-going entrance lane at a signal-controlled intersection.

Background

In recent years, advances in sensor technology, communication, and network technology have facilitated the development of the intelligent networked automobile industry. In the process of market popularization of the intelligent internet vehicle, the environment of hybrid driving of the intelligent internet vehicle and the manually-driven vehicle exists for a long time, so that the hybrid traffic flow organization optimization research has important significance. Research shows that under the mature intelligent internet traffic technical condition, the CAV can obviously reduce casualties caused by traffic accidents, and in addition, a continuous CAV queue is formed to keep smaller headway time, so that the road traffic capacity is improved.

The signal control intersection is an important node in an urban road network, and the straight-going inlet road is the part with the largest traffic flow. The direct-driving entrance lane special for CAV is arranged, so that CAV can drive on the road more safely and efficiently, the interference of manual driving of automobiles is reduced, the driving delay is reduced, and the crossing traffic efficiency is improved. However, most of the existing researches take highways as research scenes, and quantitative researches on the setting conditions of the special CAV straight-going entrance lane under urban working conditions are lacked, so that a method for judging the setting conditions of the special CAV straight-going entrance lane is urgently needed, factors which change along with time and are traffic volume, CAV proportion and signal timing of a signal control intersection are comprehensively considered, and a timing type special CAV straight-going entrance lane is set in a time period meeting the setting conditions, so that the utilization rate of the road is improved, quick response is realized, and the traffic organization optimization theory and application system under the mixed traffic environment of the signal control intersection is further perfected.

Disclosure of Invention

In view of the defects of the existing research, the invention aims to solve the technical problem of determining quantitative setting standards according to the possible combination conditions of various traffic influence factors at different time intervals and providing a method for judging the setting conditions of a timing type CAV (vehicle access control) special straight-going entrance lane of a signal-controlled intersection.

The invention is realized by adopting the following technical scheme, which is described as follows:

1. a method for judging the setting condition of a timing type CAV (vehicle access control) special straight-going inlet lane at a signal-controlled intersection is characterized in that the following three conditions are simultaneously met when the driving direction of the timing type CAV special straight-going inlet lane is set:

firstly, the number n of straight lanes on an entrance lane is more than or equal to 2;

secondly, setting traffic flow data of the traffic direction of a timing type CAV special straight-going entrance road at 20 Wednesday on illegal holiday investigation in one year, recording all day-by-day traffic volume of all entrance roads in the traffic direction as A, and requiring the minimum value A of all the entrance road hour traffic volume in the traffic direction_minNot less than 550pcu/h, and the maximum value A of the hourly traffic volume of all the entrance roads_maxWith a minimum value A_minThe phase difference is more than 120pcu/h, and the traffic signal machine at the signal control intersection is in a timing control mode;

thirdly, recording the effective green light time length of the traffic direction of the straight-going entrance road specially used for the timing type CAV as G, recording the green signal ratio as lambda, defining the ratio of the CAV quantity of all the entrance roads in the traffic direction to A as the CAV ratio mu, and recording the minimum CAV ratio value required by the straight-going entrance road specially used for the timing type CAV as the critical CAV ratio mu_Face，μ_FaceThe maximum and minimum values in one day are recorded as μ_maxAnd mu_minAnd the actual CAV ratio value obtained by investigation is recorded as mu_{Fruit of Chinese wolfberry}And when any one of the following conditions is met, the condition is considered to be met:

when n is 2, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.50, A is more than or equal to 550pcu/h and less than 1500pcu/h, mu_Face＝0.70、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.40, A is more than or equal to 1500pcu/h and less than 2400pcu/h, mu_Face＝0.70、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 30s and less than 90s, lambda is more than 0.40 and less than or equal to 0.50, A is more than or equal to 1500pcu/h and less than 2400pcu/h, mu_Face＝0.65、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.30, A is more than or equal to 2400pcu/h, mu_Face＝0.65、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 30s and less than 90s, lambda is more than 0.30 and less than or equal to 0.50, A is more than or equal to 2400pcu/h, mu_Face＝0.60、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.50, A is more than or equal to 550pcu/h and less than or equal to 1200pcu/h, and mu_Face＝0.70、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.45, A is more than or equal to 1200pcu/h and less than 1500pcu/h, mu_Face＝0.60、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.45 and less than or equal to 0.50, A is more than or equal to 1200pcu/h and less than 1500pcu/h, mu_Face＝0.55、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.40, A is more than or equal to 1500pcu/h, mu_Face＝0.60、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.40 and less than or equal to 0.50, A is more than or equal to 1500pcu/h, mu_Face＝0.50、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.30, A is more than or equal to 550pcu/h and less than or equal to 900pcu/h, mu_Face＝0.45、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.30, A is more than or equal to 900pcu/h and less than 1200pcu/h, mu_Face＝0.40、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.30, A is more than or equal to 900pcu/h and less than 1800pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than or equal to 0.25 and less than or equal to 0.30, A is more than or equal to 1800pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than 0.30 and less than or equal to 0.35, A is more than or equal to 550pcu/h and less than or equal to 1500pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than 0.30 and less than or equal to 0.35, A is more than or equal to 1500pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3,30s≤G＜90s、0.35＜λ≤0.40、550pcu/h≤A＜1200pcu/h、μ_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than 0.30 and less than or equal to 0.40, A is more than or equal to 1200pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than or equal to 90s, lambda is more than 0.40 and less than or equal to 0.50, A is more than or equal to 550pcu/h and less than or equal to 900pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than or equal to 90s, lambda is more than 0.40 and less than or equal to 0.50, A is more than or equal to 900pcu/h and less than 2100pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than or equal to 90s, lambda is more than 0.40 and less than or equal to 0.50, A is more than or equal to 2100pcu/h, mu_Face＝0.25、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.40, A is more than or equal to 550pcu/h and less than or equal to 900pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.40, A is more than or equal to 1500pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.40 and less than or equal to 0.45, A is more than or equal to 550pcu/h and less than or equal to 900pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.40 and less than or equal to 0.45, A is more than or equal to 900pcu/h and less than 1800pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.40 and less than or equal to 0.45, A is more than or equal to 1800pcu/h, mu_Face＝0.25、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.45 and less than or equal to 0.50, A is more than or equal to 900pcu/h and less than or equal to 900pcu/h, mu_Face＝0.30、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.45 and less than or equal to 0.50, A is more than or equal to 900pcu/h, mu_Face＝0.25、μ_{Fruit of Chinese wolfberry}≥μ_Face。

2. A method as claimed in claim 1The method for judging the setting condition of the timing type CAV (computer aided design) special straight-going entrance lane of the signal-controlled intersection is characterized in that_maxAnd mu_minThe relationship with the setting time period of the timing type CAV special straight-going inlet lane is as follows:

mu.s of_{Fruit of Chinese wolfberry}<μ_minIf the running direction of the timing type CAV special straight-going inlet lane is not set to meet the condition of setting the timing type CAV special straight-going inlet lane;

mu.s of_{Fruit of Chinese wolfberry}≥μ_maxSetting the driving direction of the timing type CAV special straight-going inlet lane to meet the condition of setting the CAV special straight-going inlet lane all day long;

mu.s of_min≤μ_{Fruit of Chinese wolfberry}<μ_maxMu corresponding to the ith hour of the day_{Fruit of Chinese wolfberry}≥μ_FaceAnd if the time meets the condition for setting the timing type CAV special straight-going inlet lane, otherwise, the time does not meet the setting condition, the setting judgment of the next hour is continued until all 24 groups of judgment are completed, and the time meeting the condition for setting the timing type CAV special straight-going inlet lane in one day is taken as the time period for setting the timing type CAV special straight-going inlet lane.

Compared with the prior art, the invention has the beneficial effects that:

the method for judging the setting condition of the timing type CAV special straight-going inlet lane for the signal control intersection not only considers the driving characteristics of different types of vehicles (including internet-connected automatic driving vehicles, internet-connected manual driving vehicles, non-internet-connected automatic driving vehicles and non-internet-connected manual driving vehicles) at the inlet lane of the signal control intersection in a mixed-driving traffic environment, but also integrates the influence of effective green light duration and green letter ratio on the setting benefit of the CAV special straight-going inlet lane on the basis of taking the traffic volume and the CAV ratio as consideration factors, provides the quantitative setting condition of the timing type CAV special straight-going inlet lane, and has wide applicability to the timing control signal control intersection under urban working conditions.

Drawings

FIG. 1 is a general flow chart of a method for judging the setting conditions of a timing type CAV (CAV) special straight-going entrance lane at a signal-controlled intersection.

Detailed Description

The detailed description of the present invention and the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The timing type CAV special straight-going inlet lane for the signal-controlled intersection refers to an implementation mode that the CAV special straight-going inlet lane is arranged on the straight-going inlet lane close to the center line of a road in a time period when the driving direction of the timing type CAV special straight-going inlet lane is supposed to be arranged on the signal-controlled intersection and meets the setting condition, and the time period which is not met is not set.

The method for judging the setting conditions of the timing type CAV special straight-going inlet lane at the signal-controlled intersection considers the influence of CAV proportion, traffic volume and signal timing parameters on the traffic operation efficiency of the intersection in different time periods, and has wide applicability for judging the setting conditions of the timing type CAV special straight-going inlet lane at the timing type signal-controlled intersection under various traffic operation conditions.

Referring to fig. 1, the method for determining the setting condition of the timing type CAV-dedicated straight-going entrance lane at the signal-controlled intersection according to the present invention comprises the following steps, which are discussed in detail below:

investigating the traffic condition of the straight-going entrance road specially used for the timing type CAV, recording the number of straight-going lanes of the entrance road in the driving direction of the straight-going entrance road specially used for the timing type CAV as n, recording the effective green light time length in the driving direction of the straight-going entrance road specially used for the timing type CAV as G, recording the green signal ratio as lambda, defining the ratio of the number of CAVs to the A ratio in each hour of all the entrance roads in the driving direction as the CAV ratio mu, and recording the minimum CAV ratio value required for setting the straight-going entrance road specially used for the timing type CAV as the critical CAV ratio mu_Face，μ_FaceThe maximum and minimum values in one day are recorded as μ_maxAnd mu_minAnd the actual CAV ratio value obtained by investigation is recorded as mu_{Fruit of Chinese wolfberry}，μ_{Fruit of Chinese wolfberry}The acquisition method comprises the steps of investigating the ratio of the number of all entrance lane hours CAV and A in the driving direction of a special straight-going entrance lane for a timing type CAV at the intersection by taking the hour as a practical CAV proportional value in the hour; the number of the straight-going lanes of the entrance lane in the traveling direction of the straight-going entrance lane special for the CAV to be set is not less than 2, the difference between the maximum value and the minimum value of the hourly traffic volume of all the entrance lanes is more than 120 standard cars/hour, and the difference between the minimum value and the maximum value is not less than 550 standard cars/hour. The ratio mu of the hourly traffic volume A to the actual CAV of all the entrance roads_{Fruit of Chinese wolfberry}The data survey of (2) requires that the traffic volume data is respectively recorded according to the vehicle types and the vehicle models when being obtained, and the traffic volume obtained by the hourly survey is converted into the hourly traffic volume, namely pcu/h.

The number n of straight-going lanes at the entrance lane, the hourly traffic volume A of all the entrance lanes and the actual CAV proportion mu of the straight-going entrance lane in the driving direction of the special CAV to be set with the timing type_{Fruit of Chinese wolfberry}And comparing the survey data of the effective green light time length G and the green signal ratio lambda with the setting conditions of the timing type CAV special straight-going inlet lane, and performing setting judgment on the timing type CAV special straight-going inlet lane. The determination conditions are as follows, wherein when any one of the conditions is reached, the hour is considered to satisfy the setting requirements of the timing-type CAV-dedicated straight-ahead entrance lane:

When n is 2, 30s is more than or equal to G is less than or equal to 90s, 0.30 is more than or equal to lambda is less than or equal to 0.50, A is more than or equal to 2400 pcu-h、μ_Face＝0.60、μ_{Fruit of Chinese wolfberry}≥μ_Face，

When n is more than or equal to 3, G is more than or equal to 30s and less than 90s, lambda is more than 0.35 and less than or equal to 0.40, A is more than or equal to 550pcu/h and less than or equal to 1200pcu/h, mu_Face＝0.35、μ_{Fruit of Chinese wolfberry}≥μ_Face，

The conditions are summarized in tables 1 and 2:

table 1. timing type CAV-dedicated straight-going entrance lane setting condition for signal-controlled intersection when number of straight-going lanes at entrance lane is 2

TABLE 2 setting conditions of timing type CAV special straight-going entrance lane for signal-controlled intersection when the number of straight-going lanes of entrance lane is more than or equal to 3

Mu in the method_maxAnd mu_minThe relationship with the setting time period of the timing type CAV special straight-going inlet lane is as follows:

Examples

The embodiment of the method for judging the setting condition of the special straight-going entrance lane for timing type CAV (vehicle-aided design) at the signal-controlled intersection is used for giving the implementation process and the inspection result, but the protection scope of the invention is not limited to the following embodiment.

1. Intersection general and timing type CAV special straight-going entrance lane setting scheme

The method selects the intersection between the free road of the Changchun city and the pedestrian street to carry out example analysis. The intersection is a cross signal control intersection, and the hourly traffic volume of all the entrance roads in all directions at different time periods is obtained by investigating the traffic running conditions of the intersection as shown in table 3.

TABLE 3 free road-pedestrian street intersection hourly traffic volume of all entrance roads in different time periods in each direction

Inlet channel	7:00-8:00(pcu/h)	10:00-11:00(pcu/h)	16:00-17:00(pcu/h)
				East	1948	1556	1836
Western medicine	1996	1672	1980
				South China	2548	2184	2532
North China	2728	2390	2756

According to the method for judging the setting condition of the timing type CAV (computer aided design) special straight-going entrance lane for the signal-controlled intersection, the actual CAV proportion mu of the intersection is set_{Fruit of Chinese wolfberry}And the setting condition is 0.25, and the setting scheme of the timing type CAV special straight-going entrance lane for the vehicle direction at the intersection is judged and obtained by contrasting the setting condition of the timing type CAV special straight-going entrance lane, as shown in Table 4.

TABLE 4 timing CAV special straight-going inlet lane setting scheme

Inlet channel	Setting time
		Dong import road	7:00-8:00、16:00-17:00
West inlet channel	7:00-8:00、16:00-17:00
		South entry way	All day
North entry way	All day

2. Simulation evaluation

Establishing a mixed traffic environment of a straight-going entrance lane special for timing type CAV and the intersection under the condition of no setting, taking the actually measured traffic volume and signal timing data as input, setting the simulation duration to be 3600s, programming iteration and carrying out comparative analysis on the simulation result of the straight-going entrance lane special for timing type CAV and the simulation result under the condition of no setting in the peak period, as shown in Table 5.

TABLE 5 simulation results of the inlet lane

The results show that when the timing-type CAV-dedicated straight-going entrance lane is set by the time period shown in table 4, the four-direction timing-type CAV-dedicated straight-going entrance lane setting scheme corresponds to less vehicle-to-vehicle delay, vehicle-to-vehicle oil consumption and greater traffic capacity than that without setting. From the aspect of benefits, the traffic capacity of the intersection four-direction entrance lane is improved at the peak time, the vehicle average delay and the vehicle average oil consumption are all reduced, the effectiveness of the free road-people street signalized intersection timing type CAV special straight-going entrance lane setting scheme is proved, and the method has universal applicability in signaling and controlling intersection traffic organization application in mixed-traffic environment.

Claims

secondly, setting traffic flow data of the traffic direction of a timing type CAV special straight-going entrance road at 20 Wednesday on illegal holiday investigation in one year, recording all day-by-day traffic volume of all entrance roads in the traffic direction as A, and requiring the minimum value A of all the entrance road hour traffic volume in the traffic direction_minNot less than 550pcu/h, and the maximum value A of the hourly traffic volume of all the entrance roads_maxWith a minimum value A_minThe phase difference is more than 120pcu/h, and the signal control intersection is crossedThe signaling machine is in a timing control mode;

When n is 2, G is more than or equal to 90s and less than or equal to 150s, lambda is more than 0.30 and less than or equal to 0.40, and A is more than or equal to 1500pcu/h、μ_Face＝0.60、μ_{Fruit of Chinese wolfberry}≥μ_Face，

2. The method for determining the setting condition of the CAV (computer aided design) special straight-going entrance lane for timing CAV (computer aided design) of the signal-controlled intersection according to claim 1, wherein the setting condition of the mu is determined by the method_maxAnd mu_minThe relationship with the setting time period of the timing type CAV special straight-going inlet lane is as follows: