CN102926337A - Method for setting safe driving prompt marking line on inlet lane at signalized intersection - Google Patents
Method for setting safe driving prompt marking line on inlet lane at signalized intersection Download PDFInfo
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- CN102926337A CN102926337A CN2012104212096A CN201210421209A CN102926337A CN 102926337 A CN102926337 A CN 102926337A CN 2012104212096 A CN2012104212096 A CN 2012104212096A CN 201210421209 A CN201210421209 A CN 201210421209A CN 102926337 A CN102926337 A CN 102926337A
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Abstract
The invention discloses a method for setting a safe driving prompt marking line on an inlet lane at a signalized intersection. According to the invention, safe amber-light time durations are set for each added turning lane of the intersection, and an induced marking line is arranged on the inlet lane at the intersection. When a vehicle travels to the induced marking line, if the traffic signal is still a green light, the vehicle keeps the speed thereof and passes across the intersection, and if the traffic signal is an amber light or red light, the vehicle is subjected to checking brake so as to safely stop in front of a stop mark. According to the invention, traffic conflicts and traffic accidents at intersections caused by the misjudgment of drivers are effectively avoided.
Description
Technical field
The invention belongs to the control of traffic and road field, be specifically related to the method to set up of a kind of signalized crossing import track safe driving prompting graticule, take safe driving behavior in order to guide the driver.
Background technology
There is potential safety hazard in each import track green light of signalized crossing latter stage, and reason is: green light latter stage, human pilot only decides driving behavior according to individual subjective judgement, does not have objective criterion guiding human pilot to take correct behavior.Generally, the driver can not prepare determines whether own residing position can roll intersection (perhaps determine accurately own residing position whether can under stop line place safe stopping) away from.
Summary of the invention
The objective of the invention is to overcome the uncertainty of each import track green light driver in latter stage behavior of signalized crossing, a kind of method to set up of signalized crossing safe driving prompting graticule is provided, by the prompting graticule is set, delimit the prompting zone, the guiding driver makes safe Driving Decision-making latter stage at green light, eliminate safe hidden trouble, improve the safety of signalized crossing.
The technical solution used in the present invention is: a kind of signalized crossing import track safe driving prompting graticule method to set up, and the method may further comprise the steps:
Step 1: collect the basic traffic management information in each import track, intersection and the data of traffic design.Data content comprises: the speed limit of intersection linking-up road, surface friction coefficient, road grade, cornering ratio, the horizontal superelevation gradient, the turning radius of left turn lane and the turning radius of right-turn lane;
Step 2: the shortest braking distance that calculates the crossing inlet track.
Step 3: according to position and the shortest braking distance of each import track stop line, determine the position in the amber light prompting zone in each track, and point out accordingly graticule at this region division.Simultaneously, the trackside in this prompting zone arranges the concrete meaning that a sign board is explained graticule.Vehicle Driving Cycle if the place ahead, track, place still is green light, then can keep the former speed of a motor vehicle to move on the safety intersection when pointing out the graticule position; If the place ahead is shown as amber light or red light, then vehicle need be braked immediately with under the safe stopping before stop line.
Step 4: according to the turning radius of the cornering ratio of intersection, the horizontal superelevation gradient, turning roadway, determine the safety turning speed of a motor vehicle of left turning vehicle and the safety turning speed of a motor vehicle of right-hand rotation vehicle;
Step 5: determine respectively the yellow time (yellow time is required to be integer) of each track (keep straight on, turn left, turn right), and the amber light duration of signal controlling machine is adjusted accordingly.For the straight right side share track, a straight left side share the track and straight about share the track, its yellow time calculates according to the computational methods of craspedodrome, left-hand rotation, right-turn lane yellow time respectively, and share the yellow time in track with the maximum value among the three as this, and the amber light duration of signal controlling machine is adjusted accordingly.
As preferably, in the described step 2 the crossing inlet track the computational methods of short braking distance be:
S wherein
MinBe the shortest braking distance in crossing inlet track, unit is m, and t is driver's reaction time, gets 1s; G is acceleration of gravity, gets 9.8m/s
2, v
LimitBe the restricted speed in import track, unit is m/s;
Be the friction factor on road surface, β is the gradient in import track.The value of above-mentioned parameter is collected by above-mentioned steps 1.If the import track is for going up a slope, following formula denominator ± get positive sign; If the import track is descending, following formula denominator ± get negative sign.
The computational methods of the safety turning speed of a motor vehicle of left turn lane are in the described step 3:
V wherein
LBe the intersection left-hand bend vehicle safety turning speed of a motor vehicle, unit is km/h, R
LBe the turning radius of left turn lane, unit is m;
Be cornering ratio; i
HlFor doing the horizontal superelevation gradient of turning vehicle;
The computational methods of the safety turning speed of a motor vehicle of the right turning vehicle of described step 3 are:
V wherein
RBe the intersection right-hand bend vehicle safety turning speed of a motor vehicle, the km/h of unit; R
RBe the turning radius of right-turn lane, unit is m;
Be cornering ratio; i
HrThe right-hand bend vehicle be the horizontal superelevation gradient.
The computational methods of direct lane amber light duration are in the described step 5:
The computational methods of left turn lane amber light duration are in the described step 5:
The computational methods of right-turn lane amber light duration are in the described step 5:
As preferably, track, intersection amber light highlight field prompt graticule method to set up is in the described step 3: at the imported car track pitch from stop line S
MinA prompting zone delimited in the position.Prompting zone requires to be rectangle, and rectangle length is identical with this import lane width, and the rectangle width is 2m, and with " amber light " two signs in the rectangular area.The color of the regional used graticule of above prompting, font all adopts yellow; Need to use the good coating of reflective function.
Beneficial effect of the present invention:
Divided lane of the present invention calculates the setting position of prompting graticule, and the yellow time of left turn phase and right-hand rotation phase place is adjusted accordingly, helps the human pilot in each track in green light safe driving in latter stage.
One, the present invention can effectively improve the safety of driving in signalized intersections green light latter stage, and especially for the relatively more crude and rash human pilot of personality, it opens decrease when bright at amber light, accelerates the possibility of passing through by force the intersection.
Two, the present invention has the advantages such as enforcement is simple, with low cost, instant effect.
Description of drawings
Fig. 1 is that track, intersection of the present invention amber light highlight field prompt graticule arranges schematic diagram;
Fig. 2 is the embodiment of the invention two certain intersection example schematic.
The specific embodiment
The present invention will be further described below in conjunction with the drawings and specific embodiments.
Embodiment one
With reference to Fig. 1, signalized crossing import provided by the invention track safe driving prompting graticule method to set up is achieved in that
Step 1: collect the basic traffic management information of each entrance driveway of signalized intersections and the related data of traffic design, data content comprises: the speed limit of intersection linking-up road, surface friction coefficient, road grade, cornering ratio, the horizontal superelevation gradient, the turning radius of left turn lane and the turning radius of right-turn lane;
Step 2: the shortest braking distance S that calculates each import track
MinThe import track computational methods of short braking distance is:
Wherein: v
LimitBe the restricted speed in import track, unit is m/s; T is driver's reaction time, and unit is second, gets 1s;
Be the friction factor on road surface, β is the gradient in import track.If the import track is for going up a slope, in the following formula denominator ± get positive sign; If the import track is descending, in the following formula denominator ± get negative sign.
Step 3: according to position and the shortest braking distance of each import track stop line, determine the position in amber light prompting zone, each track, corresponding prompting graticule is set, and to be that 2 meters yellow graticule draws prompting regional with high at the critical localisation place.
Step 4: calculate the safety turning speed of a motor vehicle of left turning vehicle and the safety turning speed of a motor vehicle of right-hand rotation vehicle.The computational methods of the safety turning speed of a motor vehicle of left turn lane are:
V wherein
LBe the intersection left-hand bend vehicle safety turning speed of a motor vehicle, unit is km/h, R
LBe the turning radius of left turn lane, unit is m;
Be cornering ratio; i
HlThe left-hand bend vehicle be the horizontal superelevation gradient; The computational methods of the safety turning speed of a motor vehicle of right-hand bend vehicle are:
V wherein
RBe the intersection right-hand bend vehicle safety turning speed of a motor vehicle, the km/h of unit; R
RBe the turning radius of right-turn lane, unit is m;
Be cornering ratio; i
HrThe horizontal superelevation gradient for the right-hand bend vehicle.
Step 5: according to the shortest braking distance in each import track and the design data of intersection, calculate the yellow time in each track, and round numbers; Simultaneously the amber light duration of signal controlling machine is adjusted accordingly.The computational methods of direct lane yellow time are:
Wherein: S
MinBe the shortest braking distance, unit is m; v
LimitBe restricted speed, unit is m/s; The computational methods of left turn lane yellow time are:
Wherein: v
LimitBe restricted speed, v
LBe left-hand bend vehicle safe speed, unit is m/s; Right-turn lane amber light duration is:
S
MinBe the shortest braking distance, unit is m; v
LimitBe restricted speed, unit is m/s; v
RBe left-hand bend vehicle safe speed, unit is m/s.
Embodiment is complete.
Embodiment two
The method to set up of signalized crossing import track safe driving prompting graticule is specifically set forth as shown in Figure 2 in a certain actual intersection below in conjunction with Fig. 2.
(1) through investigation, the basic transport information in intersection and traffic design data are as shown in table 1 below:
Table 1: the basic traffic data in intersection
(2) the shortest braking distance is
The related data substitution can be calculated, S
Min=33m.Keep straight on yellow time
For guaranteeing traffic safety, yellow time rounds, i.e. 2s; More than for the computational process in highlight territory, craspedodrome import track.
(3) according to described formula
Calculate the safety turning speed of a motor vehicle v of intersection left-hand bend vehicle
L=48km/h.Utilize described formula
Calculate the yellow time T of left turn lane
L=2.2s, for guaranteeing traffic safety, the round numbers of amber light duration is 3s.Computational process finishes, and changes specific operation process over to.Left-hand rotation import track safe driving points out regional method to set up can be divided into following three steps to carry out the first step: rearward extend 33m from the stop line in left-hand rotation import track, this place is the setting position of critical graticule; Second step: delimit the prompting zone in above-mentioned position, specific requirement is: the prompting zone requires to be rectangle, and rectangle length is identical with this import lane width, and the rectangle width is 2m, and with " amber light " two signs in the rectangular area.The color of the regional used graticule of above prompting, font all adopts yellow; Need to use the good coating of reflective function; The 3rd step: according to the result of calculation of amber light duration, the amber light duration of intersection signal controller left turn phase is adjusted into 3s.
(4) according to described formula
The safety turning speed of a motor vehicle that calculates intersection right-hand rotation vehicle is v
R=34km/h utilizes described formula
Calculate the yellow time T of right-turn lane
L=2.5s, for guaranteeing traffic safety, the round numbers of amber light duration is 3s.Computational process finishes, and changes specific operation process over to.
(5) among Fig. 2, keep straight on and turn right as share the track.Therefore, the amber light duration of signal controlling machine answers that cut-off is capable, right-turn lane amber light duration calculation result's maximum value, is 3s.Computational process finishes, and changes specific operation process over to.The straight right side is share the safe driving of import track and pointed out regional method to set up can be divided into following three steps to carry out the first step: the stop line that share the import track from the straight right side rearward extends 33m, and this place is the setting position of critical graticule; Second step: delimit the prompting zone in above-mentioned position, specific requirement is: the prompting zone requires to be rectangle, and rectangle length is identical with this import lane width, and the rectangle width is 2m, and with " amber light " two signs in the rectangular area.The color of the regional used graticule of above prompting, font all adopts yellow; Need to use the good coating of reflective function; The 3rd step: according to the result of calculation of amber light duration, the amber light duration of the straight right phase place of intersection signal controller is adjusted into 3s.
Embodiment two finishes.
Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.In the present embodiment not clear and definite each ingredient all available prior art realized.
Claims (3)
1. the graticule method to set up is pointed out in a signalized crossing import track safe driving, and it is characterized in that: the method may further comprise the steps:
Step 1: collect the basic traffic management information in each import track, intersection and the data of traffic design; Data content comprises: the speed limit of intersection linking-up road, surface friction coefficient, road grade, cornering ratio, the horizontal superelevation gradient, the turning radius of left turn lane and the turning radius of right-turn lane;
Step 2: the shortest braking distance that calculates the crossing inlet track;
Step 3: according to position and the shortest braking distance of each import track stop line, determine the position in the amber light prompting zone in each track, and point out accordingly graticule at this region division; Simultaneously, the trackside in this prompting zone arranges the concrete meaning that a sign board is explained graticule; Vehicle Driving Cycle if the place ahead, track, place still is green light, then can keep the former speed of a motor vehicle to move on the safety intersection when pointing out the graticule position; If the place ahead is shown as amber light or red light, then vehicle need be braked immediately with under the safe stopping before stop line;
Step 4: according to the turning radius of the cornering ratio of intersection, the horizontal superelevation gradient, turning roadway, determine the safety turning speed of a motor vehicle of left turning vehicle and the safety turning speed of a motor vehicle of right-hand rotation vehicle;
Step 5: determine respectively the yellow time of keeping straight on, turn left, turn right in each track, and the amber light duration of signal controlling machine is adjusted accordingly; For the straight right side share track, a straight left side share the track and straight about share the track, its yellow time calculates according to the computational methods of craspedodrome, left-hand rotation, right-turn lane yellow time respectively, and share the yellow time in track with the maximum value among the three as this, and the amber light duration of signal controlling machine is adjusted accordingly.
2. a kind of signalized crossing import according to claim 1 track safe driving prompting graticule method to set up is characterized in that: in the described step 2 the crossing inlet track the computational methods of short braking distance be:
The computational methods of the safety turning speed of a motor vehicle of left turn lane are in the described step 3:
V wherein
LBe the intersection left-hand bend vehicle safety turning speed of a motor vehicle, unit is km/h, R
LBe the turning radius of left turn lane, unit is m;
Be cornering ratio; i
HlThe horizontal superelevation gradient for the left-hand bend vehicle;
The computational methods of the safety turning speed of a motor vehicle of the right turning vehicle of described step 3 are:
The computational methods of direct lane amber light duration are in the described step 5:
The computational methods of left turn lane amber light duration are in the described step 5:
Wherein: T
LBe left turn lane yellow time, S
MinBe the shortest braking distance in import track, unit is m; v
LimitBe the restricted speed in import track, unit is m/s; v
LBe the left turning vehicle safety turning speed of a motor vehicle;
The computational methods of right-turn lane amber light duration are in the described step 5:
3. a kind of signalized crossing import according to claim 1 track safe driving prompting graticule method to set up, it is characterized in that: track, intersection amber light highlight field prompt graticule method to set up is in the described step 3: at the imported car track pitch from stop line S
MinA prompting zone delimited in the position; Prompting zone requires to be rectangle, and rectangle is long identical with this import lane width, and rectangle is wide to be 2m, and with " amber light " two signs in the rectangular area; The color of the regional used graticule of above prompting, font all adopts yellow; Need to use the good coating of reflective function.
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Cited By (9)
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| CN103956053A (en) * | 2014-05-15 | 2014-07-30 | 东南大学 | Method for arranging non-motor vehicle stop-in-advance line at two-phase signal-controlled intersection |
| CN106320210A (en) * | 2016-08-22 | 2017-01-11 | 武汉理工大学 | Lane guide device for entrance section of signal intersection |
| CN106571049A (en) * | 2016-11-07 | 2017-04-19 | 宁波大学 | Method for setting comity zebra crossing motor vehicle safe driving prompt marking line |
| CN106780269A (en) * | 2016-11-28 | 2017-05-31 | 东南大学 | A kind of mountain highway descending sharp turn long section vibrates the method to set up of speed reduction marking |
| CN107146423A (en) * | 2017-06-15 | 2017-09-08 | 华南理工大学 | A kind of crossing inlet track vehicle guiding signal control device and method |
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| CN108510769A (en) * | 2018-05-28 | 2018-09-07 | 北京交通大学 | Movable block intersection speed based on bus or train route collaboration guides system and method |
| CN109887287A (en) * | 2019-03-25 | 2019-06-14 | 浙江大学 | Green light time interval setting method under car networking environment |
| CN114987549A (en) * | 2022-06-22 | 2022-09-02 | 小米汽车科技有限公司 | Vehicle control method, device, storage medium and vehicle |
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| CN103956053B (en) * | 2014-05-15 | 2016-02-24 | 东南大学 | Two-phases signal controls crossing bicycle and shifts to an earlier date stop line method to set up |
| CN103956053A (en) * | 2014-05-15 | 2014-07-30 | 东南大学 | Method for arranging non-motor vehicle stop-in-advance line at two-phase signal-controlled intersection |
| CN106320210B (en) * | 2016-08-22 | 2019-07-23 | 武汉理工大学 | A kind of signalized intersections inducer lane guiding device |
| CN106320210A (en) * | 2016-08-22 | 2017-01-11 | 武汉理工大学 | Lane guide device for entrance section of signal intersection |
| CN106571049A (en) * | 2016-11-07 | 2017-04-19 | 宁波大学 | Method for setting comity zebra crossing motor vehicle safe driving prompt marking line |
| CN108068693A (en) * | 2016-11-18 | 2018-05-25 | 丰田自动车株式会社 | Drive assistance device |
| CN108068693B (en) * | 2016-11-18 | 2021-01-15 | 丰田自动车株式会社 | Driving support device |
| CN106780269A (en) * | 2016-11-28 | 2017-05-31 | 东南大学 | A kind of mountain highway descending sharp turn long section vibrates the method to set up of speed reduction marking |
| CN107146423A (en) * | 2017-06-15 | 2017-09-08 | 华南理工大学 | A kind of crossing inlet track vehicle guiding signal control device and method |
| CN107146423B (en) * | 2017-06-15 | 2024-04-09 | 华南理工大学 | Intersection entrance lane vehicle guiding type signal control device and method |
| CN108510769A (en) * | 2018-05-28 | 2018-09-07 | 北京交通大学 | Movable block intersection speed based on bus or train route collaboration guides system and method |
| CN108510769B (en) * | 2018-05-28 | 2020-12-22 | 北京交通大学 | Mobile block intersection vehicle speed guiding system and method based on vehicle-road cooperation |
| CN109887287A (en) * | 2019-03-25 | 2019-06-14 | 浙江大学 | Green light time interval setting method under car networking environment |
| CN114987549A (en) * | 2022-06-22 | 2022-09-02 | 小米汽车科技有限公司 | Vehicle control method, device, storage medium and vehicle |
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Application publication date: 20130213 |