AU2020103671A4 - A method of leading traffic on low visibility expressway - Google Patents
A method of leading traffic on low visibility expressway Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000035484 reaction time Effects 0.000 claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 11
- 238000007477 logistic regression Methods 0.000 claims abstract description 10
- 238000013210 evaluation model Methods 0.000 claims abstract description 5
- 229910052739 hydrogen Inorganic materials 0.000 claims abstract description 4
- 238000004088 simulation Methods 0.000 claims abstract description 4
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 abstract description 3
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 abstract description 2
- 238000007726 management method Methods 0.000 description 12
- 238000004364 calculation method Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010022998 Irritability Diseases 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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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
- G08G1/048—Detecting movement of traffic to be counted or controlled with provision for compensation of environmental or other condition, e.g. snow, vehicle stopped at detector
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a low visibility highway leading traffic method, which includes
the following steps: utilizing the simulation platform to collect the line shape, the position of
the preceding vehicle and the driver, the speed and the acceleration and deceleration points at
any time; According to the collected position and speed of the driver's vehicle, calculating the
headway h; According to the collected acceleration and deceleration time points of the driver's
vehicle, calculating the reaction time T of the driver; According to the collected vehicle speed,
calculating the minimum safe headway hmin; Evaluating the safety of car-following driving at
the certain time Ah=h-hmin; Evaluating the following driving safety of the whole road section
A; According to the obtained following distance and the variation range of vehicle speed,
analyzing the choice of leading vehicle speed; Determining the traffic plan for leading the team.
By establishing the highway driving safety evaluation model under the low visibility condition,
the invention provides suggestions for the highway traffic flow operation management under
the low visibility condition, which ensures the driving safety on the road while realizing the
continuous operation of the highway under the low visibility condition.
1 / 1
Utilizing th siunationplatfonn to collect the line shape, t1 positionof th precedng
vehicle and the driver, the speed and the acceleration and deceleration points at any tine
Accordng to the collected position and speed o f the driver's vehicle, calculating the
headway
According to th collected accderation and deceleration tine points o f te diver's
veicle, calciiating t1 reaction tine T of th driver
Accordng to th collected vehicle speed calclatng th nminu nsafe headway
Evahating the safety of following driving at a certain point in time Ah=h-hm-in
Evaluafmg the following driving safetyofthe whole roadsection
Collecting data fror multiple vehicles at the sane tin, perfornng Logistic regression to
obtain the mo del fomul P=f( , V, H, T): when the household 20.5, it is urmafe, whe1P
<0.5, it is safe to fellow the car
Analyzing the selection o f the leading vehcle speed based on the variation range o f the
following distance and vehicle speed obtained in step I
Deternng the leading traffic plan
Figure 1. The logic block diagram of the method of leading traffic on low visibility
expressway of the invention
Description
1/ 1
Utilizing th siunationplatfonn to collect the line shape, t1 positionofth precedng vehicle and the driver, the speed and the acceleration and deceleration points at any tine
Accordng to the collected position and speed o f the driver's vehicle, calculating the headway
According to th collected accderation and deceleration tine points o f te diver's veicle, calciiating t1 reaction tine T ofth driver
Accordng to th collected vehicle speed calclatng th nminunsafe headway
Evahating the safety of following driving at a certain point in time Ah=h-hm-in
Evaluafmg the following driving safetyofthe whole roadsection
Collecting data fror multiple vehicles at the sane tin, perfornng Logistic regression to obtain the mo del fomul P=f( , H,V, T): when the household 20.5, it is urmafe, whe1P <0.5, it is safe to fellow the car
Analyzing the selection o f the leading vehcle speed based on the variation range o f the following distance and vehicle speed obtained in step I
Deternng the leading traffic plan
Figure 1. The logic block diagram of the method of leading traffic on low visibility
expressway of the invention
PATENTS ACT 1990
A method of leading traffic on low visibility expressway
The invention is described in the following statement:-
A method of leading traffic on low visibility expressway
Technical field
The invention belongs to the technical field of traffic safety management, and relates
to a low-visibility expressway leading method.
At present, it is difficult for drivers to observe the surrounding environment due to the
fast driving speed on the expressway. Especially under the condition of low visibility, the
traffic accident rate and fatality rate of expressway in our country are high, and it is easy
to cause secondary accidents and serious traffic accidents, which will cause wide social
repercussions.
In this regard, China's "Road Traffic Safety Law of the People's Republic of China",
"Regulation on the Implementation ofthe Road Traffic Safety Law ofthe People'sRepublic
of China" and "Highway Traffic Emergency Management Procedures" released by
Ministry of public security and other laws and regulations have made provisions on driving
safety management means and emergency management procedures under heavy fog
conditions. The main control method is speed control, but the effect is not ideal. The reason
is that fog or haze has the characteristics of rapid aggregation and difficult to predict, which
easily leads to the closure of expressways, which affects the operation of highway
management units, and further leads to a large number of vehicle delays and economic
losses.
In order to ensure the normal operation of expressways under low visibility conditions,
according to the local actual management system, highway traffic conditions and natural
environment, some provincial and municipal expressway sections in China have explored
different management methods for special heavy fog conditions according to the local
actual management system, highway traffic conditions and natural environment. For
example, the implementation of "closing early at night and opening early during the day,
queuing on the main line and leading the road at the proper time", implements Chengdu
Chongqing foggy weather special case management for modular fleet passing, and
specifying specific procedures for leading the road on the main line. However, these
management methods all rely on the experience of traffic police to lead traffic, which
consumes human and material resources.
In view of this, it is necessary to evaluate the traffic safety of expressways under low
visibility conditions through the data-based calculation results, as well as establish a safety
oriented and standardized leading traffic method to provide effective guidance for practical
application.
In order to overcome the shortcomings of the existing technology, this paper provides
a low visibility highway leading traffic method. Through the establishment of the highway
traffic safety evaluation model under low visibility conditions, it provides suggestions for
the operation and management of highway traffic flow under low visibility conditions, so
as to realize the continuous operation of Expressway under low visibility conditions, and ensure the traffic safety on the road.
In order to achieve the above purpose, the solution of the invention is to provide a low
visibility highway leading traffic method, which comprises the following steps:
I. Utilizing the simulation platform to collect the line shape, the position of the
preceding vehicle and the driver, the speed and the acceleration and deceleration points at
any time;
II. According to the collected position and speed of the driver's vehicle, calculating
the headway h;
III. According to the collected acceleration and deceleration time points of the driver's
vehicle, calculating the reaction time T of the driver.
According to the collected vehicle speed, calculating the minimum safe headway:
hm -V +v 2 T+3.6b 70.56(pz+i) V1
In the formula, hmin is the minimum safe headway, VI is the speed of the preceding
vehicle, V2 is the speed of the following vehicle, T is the reaction time of the driver of the
following vehicle, z is the longitudinal adhesion coefficient of the road, the longitudinal
slope of the section i, and b is the body length of the preceding vehicle;
V. Evaluating the safety of following driving at a certain point in time Ah=h-hmin,
that is, when Ah<O, it is considered unsafe to follow the car, and when Ah>, it is
considered safe to follow the car;
Vi. Evaluating the following driving safety of the whole road section:
L Lw In the formula, L is the length of the road section with Ah<0, and Lw is the whole
road section length, when A=0, it means safe, otherwise it means unsafe;
VII. Collecting data from multiple vehicles at the same time, taking visibility, driver
speed, following distance and reaction time as factors, driving safety as variables, and
performing Logistic regression to obtain the model formula P=f(L, V, H, T). In the formula,
L is the visibility, V is the speed of the leading vehicle, H is the following distance, and T
is the driver's reaction time. Judging by the model formula, when the household > 0.5, it is
unsafe, when P<0.5, it is safe to follow the car;
VIII. Analyzing the selection of the leading vehicle speed based on the variation range
of the following distance and vehicle speed obtained in step I;
IX. Determining the leading traffic plan.
Preferably, before proceeding to step IX, the following steps are also included:
According to the model formula p in step VII, taking different visibility levels 1, so
that p < 0.5, as for V, taking the vehicle speed in step g, and find the following distance H,
so as to obtain the required standard of the following distance.
Preferably, the process of analyzing the speed selection of the leading vehicle includes
the following contents:
When the visibility is 20 m, it is not suitable to follow the car on the expressway for
a long time;
When the visibility is 30-50m, the speed of the leading vehicle should be 20km / h;
When the visibility is 50-100m, the speed of the leading vehicle should be 40km / h;
When the visibility is more than 100m, there is no need to lead the traffic.
Optimally, when implementing step VII, the following safety evaluation model
formula is obtained after logistic regression:
1 1 + e -(5.469-0.033L -8.248H/v+1.953T)
In the formula, aa, bb, cc, and dd are the variable parameters of the model P after
measurement for different sections; According to the model formula P, the required
standards for the selection of the speed of the leading vehicle and the following distance
are determined.
As a preference, the formula for calculating the headway is as follows:
h= K1 - K 2 V2
In the formula, h is the headway, H is the following distance, Ki is the coordinate of
the preceding vehicle, K 2 is the coordinate of the following vehicle, and V2 is the relative
speed of the following vehicle assuming that the preceding vehicle is stationary.
Preferably, the formula for calculating the driver's reaction time is T=t2-tl, wherein
T is the reaction time, ti is the time when the preceding vehicle starts to decelerate, and t2
is the reaction time for the driver of the following vehicle to brake when the preceding vehicle starts to decelerate.
The beneficial effects of the low-visibility expressway leading method of the present
invention is as follows:
It provides detailed and optional advice for the operation and management of
expressway traffic flow under low-visibility conditions. While realizing the continuous
operation of expressways under low-visibility conditions, it also guarantees road safety.
Fig. 1 is the logic block diagram of the method of leading traffic on low visibility
expressway of the invention.
The present invention will be further described below in conjunction with the
embodiments shown in the drawings.
As shown in Figure 1, the present invention provides a low-visibility expressway
leading method, which specifically includes the following implementation processes in
practical applications:
(1) The 8-DOF driving simulation platform is applied to simulate the expressway
environment with visibility of 20m, 50m, 100m, 150m and 200m. The driver can follow
the vehicle on the platform and collect the line shape, position, speed, acceleration and
deceleration of the vehicle in front of the driver;
(2) Calculating the headway time based on the collected position and vehicle speed:
h K1 - K 2 V2
In the formula: h is the time distance between two cars, H is the following distance,
Ki is the coordinate of the preceding car, K 2 is the coordinate of the following car, and V2
is the relative speed of the following car assuming that the preceding car is stopped;
(3) According to the collected acceleration and deceleration time points, calculating
the driver's reaction time T=t2-t, in the formula: T is the reaction time, tl is the time when
the preceding vehicle starts to decelerate, and t2 is the driving of the following vehicle
because the preceding vehicle starts to decelerate The reaction time of the brake;
(4) Calculating the minimum safe headway according to the collected vehicle speed:
hmin v21 - v1 v2T + 3.6b 70.56(p, + i) V1
In the formula: hmin is the minimum safe headway, Vi is the speed of the preceding
vehicle, V2 is the speed of the following vehicle, T is the reaction time of the driver of the
following vehicle, z is the longitudinal adhesion coefficient of the road surface, taking
0.45~0.7, and i is the longitudinal slope of the road section, b is 8, the length of the front
car body;
(5) Evaluating the safety of car following driving at a certain point in time Ah=h-hmin:
(calculation for a single vehicle at a single point in time)When Ah<O, it is considered unsafe
to follow the car, when Ah>O, it is considered safe to follow the car;
(6) Evaluating the following driving safety of the whole road section.
Lw Lw
In the formula, L is the length of the road section with Ah<0|, and Lw is the total
length of the road section. When A=O, the safety S=1, it means safety, otherwise S=O, it
means unsafe.
Through the above steps, it is determined to formulate a leading traffic plan for the
road section, which includes collecting the vehicle position, vehicle speed and vehicle
acceleration and deceleration on the road in the early stage, calculating the headway and
reaction time, evaluating safety, etc., in order to obtain the data as shown in Table 1:
Table 1 Data of each variable on road section
Car following Safety SpeedV/km-h-1 distanceH/m ReactionT/s VisibilityL/ml
0 20 19.2 1.775 20
0 20 22.4 2.600 50
1 40 58.4 3.325 100
1 60 100.3 3.261 150
(7) Taking visibility, driver speed, following distance and reaction time as factors, and
driving safety as variables, performing Logistic regression to obtain the model P=f(L, V,
H, T), in the formula: when P When >0.5, S=1, it is unsafe, when P<0.5, S=, following
the car is safe, while L is the visibility, V is the speed of the leading vehicle, H is the following distance, and T is the reaction time. In this step, data of multiple vehicles need to be collected to obtain the model with statistical results. By controlling the factors, the result is safe.
Specifically, logistic regression is performed to obtain a car-following safety
evaluation model. The prediction results are as follows to obtain the model. The total
prediction accuracy of the model is 88.9%.
Table 2 Logistic regression results
Factor Ratio P
Visibility 0.968 0.008 Average headway 0.101 0.000
Reaction time 7.047 0.000
1
1+e-(5.469--.33L 8.248H/V+1.933) Formula 1
In the formula: L is the visibility (m); H is the following distance (m); T is the reaction
time, generally 3-5s; For different road sections, the parameters (5.469, -0.033, -8.248,
1.953) of the model P may be different. The formula can be replaced by aa, bb, cc, and dd.
The judgment principle is that it is unsafe when P>0.5, and it is safe to follow the car
when P<0.5.
(8) Comparing the variation range of following distance and vehicle speed under
different combinations of visibility and vehicle speed to determine respectively:
When the visibility is 20m, it is not suitable for driving on the highway for a long time
according to the driver's feedback; When the visibility is 30-50m, the speed of the leading
vehicle should be 20km/h; When the visibility is 50-100m, the speed of the leading vehicle
should be 40km/h; When the visibility is above 100m, there is no need to lead the traffic;
According to formula 1, the conclusion is obtained: when the visibility is 30-50m, the
following distance should be higher than 30m, and when the visibility is 50-100m, the
vehicle following distance should be higher than 50m.
(9) According to the formula (7), taking different visibility levels L, and the reaction
time T is the general reaction time, which is 5s. In order to make P<0.5, V is the medium
speed of (8), so as to obtain the value of the following distance H. Then t the following
distance requirement standard can be obtained.
In the end, the lead-through plan can be obtained:
1) When the visibility is less than 30m, the expressway should be closed;
2) When the visibility is 30-50m, the speed of the vehicle ahead is 20km/h, and the
following distance is higher than 30m;
3) When the visibility is 50-100m, the speed of the vehicle ahead is 40km/h, and the
following distance is higher than 50m;
4) When the visibility is higher than 100m, the driver can drive freely more stably.
Compulsive following may lead to driver's irritability, which can't promise the safety.
After completing the above implementation process, the following characteristics of
the present invention should be reflected:
For (4) and (5), the safety of single vehicle following at single time point is accurately
judged. Combined with (6), the safety of single vehicle following in the whole section is
accurately judged. Through the logistic regression calculation before (7), it is statistically
significant to accurately judge the safety of most vehicles following in this section.
The foregoing description of the embodiments is to facilitate those skilled in the art to
understand and apply the present invention. Those skilled in the art can obviously easily
make various modifications to these embodiments, and apply the general principles
described here to other embodiments without creative work. Therefore, the present
invention is not limited to the above-mentioned embodiments. Improvements and
modifications made by those skilled in the art based on the disclosure of the present
invention without departing from the scope of the present invention should fall within the
protection scope of the present invention.
Claims (6)
1. The low visibility highway leading traffic method is characterized in that it
comprises the following steps:
I. Utilizing the simulation platform to collect the line shape, the position of the
preceding vehicle and the driver, the speed and the acceleration and deceleration points at
any time;
II. According to the collected position and speed of the driver's vehicle, calculating
the headway h;
III. According to the collected acceleration and deceleration time points of the driver's
vehicle, calculating the reaction time T of the driver.
According to the collected vehicle speed, calculating the minimum safe headway:
V2,_,+V T±3.6b 2 hmn 70.S6(p,+i) 1
In the formula, hmin is the minimum safe headway, VI is the speed of the preceding
vehicle, V2 is the speed of the following vehicle, T is the reaction time of the driver of the
following vehicle, z is the longitudinal adhesion coefficient of the road, the longitudinal
slope of the section i, and b is the body length of the preceding vehicle;
V. Evaluating the safety of following driving at a certain point in time Ah=h-hmin,
that is, when Ah<O, it is considered unsafe to follow the car, and when Ah>, it is
considered safe to follow the car;
Vi. Evaluating the following driving safety of the whole road section:
L Lw In the formula, L is the length of the road section with Ah<0, and Lw is the whole
road section length, when A=0, it means safe, otherwise it means unsafe;
VII. Collecting data from multiple vehicles at the same time, taking visibility, driver
speed, following distance and reaction time as factors, driving safety as variables, and
performing Logistic regression to obtain the model formula P=f(L, V, H, T). In the formula,
L is the visibility, V is the speed of the leading vehicle, H is the following distance, and T
is the driver's reaction time. Judging by the model formula, when the household > 0.5, it is
unsafe, when P<0.5, it is safe to follow the car;
VIII. Analyzing the selection of the leading vehicle speed based on the variation range
of the following distance and vehicle speed obtained in step I;
IX. Determining the leading traffic plan.
2. The low visibility highway leading traffic method according to claim 1, it is
characterized in that: before proceeding to step IX, the following steps are also included:
According to the model formula p in step VII, taking different visibility levels 1, so
that p < 0.5, as for V, taking the vehicle speed in step g, andfind the following distance H,
so as to obtain the required standard of the following distance.
3.The low visibility highway leading traffic method according to claim 2, it is
characterized in that: the process of analyzing the speed selection of the leading vehicle
includes the following contents:
When the visibility is 20 m, it is not suitable to follow the car on the expressway for a long time;
When the visibility is 30-50m, the speed of the leading vehicle should be 20km / h;
When the visibility is 50-100m, the speed of the leading vehicle should be 40km / h;
When the visibility is more than l00m, there is no need to lead the traffic.
4. The low visibility highway leading traffic method according to claim 3, it is
characterized in that:
When implementing step VII, the following safety evaluation model formula is
obtained after logistic regression:
1 1 + e -(5.469-0.033L -8.248H/v+1.953T)
In the formula, aa, bb, cc, and dd are the variable parameters of the model P after
measurement for different sections; According to the model formula P, the required
standards for the selection of the speed of the leading vehicle and the following distance
are determined.
5. The method for leading a low-visibility expressway according to any one of claim
1 to claim 4, wherein the formula for calculating the headway is as follows:
h= K1 - K 2 V2
In the formula, h is the headway, H is the following distance, Ki is the coordinate
of the preceding vehicle, K 2 is the coordinate of the following vehicle, and V2 is the relative speed of the following vehicle assuming that the preceding vehicle is stationary.
6. The low-visibility expressway driving method according to any one of claim 1 to
claim 4, which is characterized in that the formula for calculating the driver's reaction time
is T=t2-tl, wherein T is the reaction time, tl is the time when the preceding vehicle starts
to decelerate, and t2 is the reaction time for the driver of the following vehicle to brake
when the preceding vehicle starts to decelerate.
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