CN104916152A - Cooperative vehicle infrastructure system-based intersection vehicle right turning guidance system and guidance method thereof - Google Patents

Abstract

The invention relates to a cooperative vehicle infrastructure system-based intersection vehicle right turning guidance system and a guidance method thereof. The guidance system includes a road-side device, a monitoring center and at least one vehicle-mounted device. When a vehicle entering an intersection communication range of the road-side device, a vehicle-mounted main control module performs analysis and judgment according to the static information of the vehicle, vehicle operating location information, vehicle driving direction, vehicle speed and traffic status information of an intersection where the vehicle is located; if judging that conflict between a motor vehicle and a non-motor vehicle or conflict between motor vehicles will occur in the future, the vehicle-mounted main control module analyzes safe vehicle speed required by right turning and transmits the safe vehicle speed to a prompt module and a vehicle speed control module; a driver will be prompted with the safe vehicle speed required by right turning through the prompt module; and the vehicle-mounted main control module monitors whether the vehicle drives at the safe vehicle speed; and if the vehicle-mounted main control module monitors that the vehicle does not drive at the safe vehicle speed, the vehicle speed control module will automatically control the speed of the vehicle.

Description

The intersection vehicles right-hand rotation guidance system collaborative based on bus or train route and bootstrap technique thereof

Technical field

The bus or train route that the invention belongs in intelligent transportation system is worked in coordination with and safety control technology, relates to a kind of intersection vehicles right-hand rotation guidance system collaborative based on bus or train route and bootstrap technique thereof.

Background technology

In the most of signalized intersections in city, do not arrange special right-hand rotation phase place, the interference conflict phenomenon of right-turning vehicles and adjacent columns vehicle, street pedestrian, bicycle is very common, and this has had a strong impact on traffic safety and the traffic efficiency of whole crossing.Had to research and propose in the past and special right-hand rotation phase place is set solves vehicle and to turn right the potential safety hazard brought, but certainly will the wasting of resources be caused for the smaller crossing of the magnitude of traffic flow.Along with developing rapidly and application of electronic information and wireless communication technology, " bus or train route is worked in coordination with " system Cooperative Vehicles Infrastructure System based on car car, bus or train route communication, hereinafter referred to as CVIS) become the effective means of transport solution problem, under bus or train route cooperative surroundings, car car, bus or train route carry out information interaction, greatly improve safety factor of travel, can effectively avoid various collision accident, this makes the elimination of intersection traffic conflict become possibility, and this also will thoroughly change traditional traffic administration and control mode.

During by retrieving the known existing patent of existing patent and mainly turning right for hazardous location, crossing vehicle, early warning is carried out to vehicle, pedestrian, bicycle etc., and fundamentally can not solve the problem of vehicle right-hand rotation.As No. 201410461619.2nd, Chinese patent application discloses early warning system when a kind of lorry is turned right, it is arranged by vehicle-mounted and roadbed, adopts zigbee network mode to carry out data transfer instruction, thus realizes alerting drivers and pedestrian; No. 201320171998.8th, Chinese patent application discloses a kind of lorry right-hand bend hazardous location early warning system collaborative based on bus or train route, and it when pedestrian, bicycle cross road, can be reported to the police to the vehicle sailing road into, thus avoid accident to occur.

The device of disclosed intersection assisting vehicle travel safety is prior-warning device at present, and apparatus function is single, the generation that can not fundamentally avoid traffic accident, and is difficult to the traffic safety realized truly.

Summary of the invention

For solving the problems of the technologies described above, the object of this invention is to provide a kind of by force preventative, without the need to changing crossbar signal timing scheme, the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route of traffic safety can be improved.

The intersection vehicles right-hand rotation guidance system collaborative based on bus or train route of the present invention, comprises roadside device and Surveillance center and at least one mobile unit; Between described mobile unit and roadside device, mobile unit and mobile unit and all carry out information transmission by cordless communication network between roadside device and Surveillance center;

Described each mobile unit comprises vehicle-mounted main control module and the vehicle essential information storage module, the GPS locating module that are connected with described vehicle-mounted main control module signal respectively, travel and be intended to acquisition module, speed data collection module, speed of a motor vehicle control module and reminding module; Described vehicle essential information storage module prestores the static information of this car; GPS locating module collection vehicle run location information; Travel the travel direction of intention acquisition module Real-time Obtaining vehicle; Speed data collection module Real-time Collection car speed; Speed of a motor vehicle control module controls car speed; Described reminding module prompting driver vehicle turns right required safe speed, and reminding module comprises speed information display screen and voice playing module;

Described roadside device comprises trackside main control module, crossing essential information storage module, signal condition acquisition module and bicycle and pedestrian information acquisition module; Crossing essential information storage module prestores road conditions essential information; Described signal condition acquisition module obtains signal lamp state and count down time; Bicycle and pedestrian information acquisition module gather bicycle, pedestrian position and velocity information; Described trackside main control module forms intersection traffic status information to signal lamp state and count down time and bicycle, pedestrian position and velocity information analysis;

When vehicle enters the crossing communication range of roadside device, between mobile unit and roadside device, information interaction is carried out between mobile unit and mobile unit, described vehicle-mounted main control module is according to passing through vehicle essential information storage module, GPS locating module, the static information of this car that traveling intention acquisition module and speed data collection module acquires arrive, vehicle operating positional information, the travel direction of vehicle and car speed and the intersection traffic status information residing for this car are carried out analysis and are judged, if understand generator motor-car and bicycle conflict or motor vehicle in judgement future time to conflict with motor vehicle, then vehicle-mounted main control module analysis show that safe speed needed for right-hand rotation is to reminding module and speed of a motor vehicle control module, to be turned right required safe speed by reminding module prompting driver, whether vehicle-mounted main control module can travel to safe speed by institute by monitoring vehicle simultaneously, if monitor vehicle not travel by safe speed, speed of a motor vehicle control module controls the speed of vehicle automatically.

Further, described vehicle-mounted main control module draws the safe speed needed for right-hand rotation by following ANALYSIS OF CALCULATING, comprises following several situation:

(1) when right-turning vehicles importer is to during for green light, and when walkway is passed through without pedestrian, the safe speed v needed for right-turning vehicles right-hand rotation _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{{\mathrm{\πS}}_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs;

(2) when right-turning vehicles importer is to for green light and when walkway having bicycle and pedestrian, vehicle turn right needed for safe speed v _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{\mathrm{\πS}}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

(3) when right-turning vehicles importer is to during for red light, the safe speed v needed for vehicle right-hand rotation _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

(4) after eliminating vehicle-bicycle conflict, the conflict of people's car, the safe speed v needed for vehicle right-hand rotation _rcomputing method are divided into the following two kinds situation:

If right-turning vehicles arrives crossing prior to through vehicles, then target equation is:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

If arrive crossing in through vehicles after right-turning vehicles, then have

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.

Further, described mobile unit also comprises the in-vehicle wireless communication module be connected with described vehicle-mounted main control module signal, described roadside device also comprises the trackside wireless communication module be connected with described trackside main control module signal, described in-vehicle wireless communication module, trackside wireless communication module carry out information transmission respectively by cordless communication network, and described each mobile unit will send to the in-vehicle wireless communication module of the mobile unit of other vehicles by the in-vehicle wireless communication module from car from truck position and movable information.

Further, described mobile unit also comprises the interface unit be connected on vehicle.

Further, described reminding module comprises speed information display screen and/or voice playing module, wherein said speed information display screen be connected with vehicle-mounted main control module signal with show vehicle turn right needed for safe speed, described voice playing module be connected with vehicle-mounted main control module signal with play vehicle turn right needed for safe speed.

Further, described static information comprises model, size, the owner information of vehicle, and described road conditions essential information comprises crossing geometric configuration, physical dimension, road canalization, signal time distributing conception.

Further, described speed of a motor vehicle control module controls the brake pedal driving vehicle.

Further, described bicycle and pedestrian information acquisition module comprise bicycle and pedestrian's video detector and bicycle and pedestrian's identification module, described bicycle and pedestrian's video detector carry out monitoring to obtain monitor video in real time to bicycle lane and walkway, and the monitor video of acquisition is sent to bicycle and pedestrian's identification module, and by described bicycle and pedestrian's identification module, motion estimate is carried out to monitor video, to obtain bicycle, pedestrian position and velocity information.

Present invention also offers a kind of bootstrap technique of intersection vehicles right-hand rotation guidance system of working in coordination with based on bus or train route, described guidance system comprises the roadside device being arranged on intersection and the mobile unit be mounted on motor vehicle, and described bootstrap technique comprises the steps:

The position of the mobile unit Real-time Collection vehicle of step one, right-turning vehicles and movable information, when entering crossing communication zone, at once receive the information of signal lamp state that roadside device and other right-turning vehicles mobile units send, bicycle, pedestrian and other vehicles;

The information of step 2, the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the mobile unit of this right-turning vehicles judges right-turning vehicles import directional signal light state and walkway bicycle, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step 5;

If step 3 green light and walkway does not have moving target, then right-turning vehicles mobile unit according to green light to calculate excess time vehicle turn right needed for safe speed v _rG, at the end of green light, right-turning vehicles is according to safe speed v _rGsail out of crossing, otherwise perform step 4;

If step 4 green light and walkway has bicycle and pedestrian, then right-turning vehicles mobile unit according to the motion state of the bicycle on walkway and pedestrian calculate vehicle turn right needed for safe speed v _rGY, guaranteeing that the condition infradextroversion vehicle of pedestrains safety by crossing is quickly through sailing out of crossing;

The information of step 5, the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the mobile unit of right-turning vehicles judges that right-turning vehicles importer is to walkway having motor vehicle and pedestrian pass through as red light, then right-turning vehicles mobile unit according to the motion state of the bicycle on walkway and pedestrian calculate vehicle to turn right needed for safe speed v _rRYif this mobile unit monitors vehicle not by safe speed v _rRYtravel, then go to step eight execution;

The mobile unit of step 6, right-turning vehicles judges that right-turning vehicles importer is to as red light, walkway being passed through without motor vehicle and pedestrian, but can occur to collaborate to conflict with the through vehicles in adjacent direction, if detect, right-turning vehicles can arrive conflict area prior to through vehicles, then right-turning vehicles mobile unit can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRXif this mobile unit monitors vehicle not by safe speed v _rRXtravel, then go to step eight execution;

If step 7 detect right-turning vehicles after the meeting in through vehicles arrive conflict area, then right-turning vehicles mobile unit can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRHif this mobile unit detects vehicle not by safe speed v _rRHtravel, then go to step eight execution;

Whether step 8, interpretation vehicle press safe speed travels, then the brake pedal that this mobile unit controls this vehicle by force makes it reach safe speed;

Step 9, judge whether vehicle sails out of crossing, if do not have, then go to step an execution, otherwise, terminate this vehicle and turn right and guide.

Further, in described step 3, described safe speed v _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{{\mathrm{\πS}}_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs;

In described step 4, described safe speed v _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{\mathrm{\πS}}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

In described step 5, described safe speed v _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

In described step 6, described safe speed v _rRXcomputing method are as follows: if right-turning vehicles arrives crossing prior to through vehicles, then target equation is:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

In described step 7, described safe speed v _rRHcomputing method are as follows:

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.

By such scheme, the present invention at least has the following advantages:

(1) vehicle right-hand rotation guidance system of the present invention just can receive the dangerous information that roadside device sends before right-turning vehicles enters crossing during 100m-150m, comprise signal information and other vehicles, bicycle, pedestrian information, and safe speed can be provided to driver, be convenient to driver have time enough to take risk avoidance measures and guarantee that vehicle safety is quickly through crossing, compared with in the past independent vehicle early warning system, this system is preventative enhancing in vehicle active safety;

(2) vehicle right-hand rotation guidance system of the present invention can realize the message exchange between vehicle and vehicle, between vehicle and road infrastructure, does not need to change intersection signal timing scheme, and technology is simple and reliable;

(3) vehicle right-hand rotation guidance system of the present invention and bootstrap technique thereof can for driver provide vehicle turn right needed for safe speed, greatly eliminate nervous psychology when vehicle driver enters crossing; And when driver's energy is not concentrated, vehicle can be controlled by force, avoid unnecessary collision accident occurs, drastically increase the traffic safety level of crossing;

(4) vehicle right-hand rotation guidance system of the present invention and bootstrap technique thereof are applicable to the early warning of vehicle under any road traffic state and the speed of a motor vehicle guides, be particularly useful for No-shell culture and the bad crossing of sighting distance, practicality is very strong, the security level that can improve crossing can improve traffic efficiency again, contributes again for reducing crossing exhaust emission.

(5) vehicle right-hand rotation guidance system of the present invention can realize seamless link with city management department, administrative authority's Real-time Obtaining road traffic state and travel condition of vehicle information, really realizes Traffic monitoring, manages and is controlled in one.

Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of instructions, coordinates accompanying drawing to be described in detail as follows below with preferred embodiment of the present invention.

Accompanying drawing explanation

Fig. 1 is intersection roadside device, mobile unit places schematic diagram;

Fig. 2 is intersection vehicle right-hand rotation guidance system structured flowchart;

Fig. 3 is intersection right-turning vehicles vehicle-mounted guiding device interface display schematic diagram;

Fig. 4 is the flow chart of steps of intersection vehicle right-hand rotation bootstrap technique of the present invention;

Fig. 5 is that the safe speed that in embodiment of the present invention step 6, right-turning vehicles sails out of crossing prior to through vehicles calculates schematic diagram;

Fig. 6 is for sailing out of the safe speed calculating schematic diagram of crossing in through vehicles after right-turning vehicles in embodiment of the present invention step 6.

Embodiment

Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.

See Fig. 1 to Fig. 4, a kind of intersection vehicles right-hand rotation guidance system collaborative based on bus or train route described in a preferred embodiment of the present invention comprises roadside device 2 and Surveillance center 3 and at least one mobile unit 1, between described mobile unit 1 and roadside device 2, mobile unit 1 and mobile unit 1 and all carry out information transmission by cordless communication network 4 between roadside device 2 and Surveillance center 3.

Described each mobile unit 1 comprise vehicle-mounted main control module 11 with the vehicle essential information storage module 12, the GPS locating module 13 that are connected with described vehicle-mounted main control module 11 signal respectively, travel the interface unit being intended to acquisition module 14, speed data collection module 15, speed of a motor vehicle control module 16, reminding module 17 and being connected to by this mobile unit 1 on vehicle; Described vehicle essential information storage module 17 prestores the static information of this car, and wherein, this static information comprises the model, size, owner information etc. of vehicle; GPS locating module 13 collection vehicle run location information; Travel the travel direction of intention acquisition module 14 Real-time Obtaining vehicle; Speed data collection module 15 Real-time Collection car speed; Speed of a motor vehicle control module 16 controls car speed; Described reminding module 17 points out driver vehicle the brake pedal of turning right required safe speed, described speed of a motor vehicle control module 16 control driving vehicle.

Described roadside device 2 comprises trackside main control module 21, crossing essential information storage module 22, signal condition acquisition module 23 and bicycle and pedestrian information acquisition module 24, crossing essential information storage module 22 prestores road conditions essential information, and wherein, this road conditions essential information comprises crossing geometric configuration, physical dimension, road canalization, signal time distributing conception etc., described signal condition acquisition module 23 obtains signal lamp state and count down time, bicycle and pedestrian information acquisition module 24 gather bicycle, pedestrian position and velocity information, concrete: described bicycle and pedestrian information acquisition module 24 comprise bicycle and pedestrian's video detector and bicycle and pedestrian's identification module, described bicycle and pedestrian's video detector carry out monitoring to obtain monitor video in real time to bicycle lane and walkway, and the monitor video of acquisition is sent to bicycle and pedestrian's identification module, and by described bicycle and pedestrian's identification module, motion estimate is carried out to monitor video, to obtain bicycle, pedestrian position and velocity information, described trackside main control module 21 pairs of signal lamp states and count down time and bicycle, pedestrian position and velocity information analysis form intersection traffic status information.

When vehicle enters the crossing communication range of roadside device 2, between mobile unit 1 and roadside device 2, information interaction is carried out between mobile unit 1 and mobile unit 1, described vehicle-mounted main control module 11 is according to passing through vehicle essential information storage module 17, GPS locating module 13, the static information of this car that traveling intention acquisition module 14 and speed data collection module 15 collect, vehicle operating positional information, the travel direction of vehicle and car speed and the intersection traffic status information residing for this car are carried out analysis and are judged, if understand generator motor-car and bicycle conflict or motor vehicle in judgement future time to conflict with motor vehicle, then the analysis of vehicle-mounted main control module 11 show that safe speed needed for right-hand rotation is to reminding module 17 and speed of a motor vehicle control module 16, driver is pointed out to turn right required safe speed by reminding module 17, whether vehicle-mounted main control module 11 can travel to safe speed by institute by monitoring vehicle simultaneously, if monitor vehicle not travel by safe speed, speed of a motor vehicle control module 16 controls the speed of vehicle automatically.

Above-mentioned vehicle-mounted main control module 11 draws the safe speed needed for right-hand rotation by following ANALYSIS OF CALCULATING, comprises following several situation:

(1) when right-turning vehicles importer is to during for green light, and on walkway without pedestrian by time, then right-turning vehicles must quickly through crossing before green light terminates, now, right-turning vehicles turn right needed for safe speed v _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{{\mathrm{\πS}}_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device 2 can send this information and represent that right-turning vehicles is the acceleration reaching safe speed needs to right-turning vehicles mobile unit 1, a (t);

(2) when right-turning vehicles importer is to for green light and when walkway having bicycle and pedestrian, right-turning vehicles can clash with the pedestrian on the walkway, right side of equidirectional or bicycle, when to the generation that avoids conflict, then right-turning vehicles reaches stop line, last pedestrian need walk out explosive area, walkway, now, the safe speed v needed for vehicle right-hand rotation _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{\mathrm{\πS}}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device 2 can send this information to right-turning vehicles mobile unit 1, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

(3) when right-turning vehicles importer is to during for red light, right-turning vehicles can clash perpendicular to the pedestrian on the walkway of stop line or bicycle with adjacent direction, when to the generation that avoids conflict, then right-turning vehicles arrives stop line, pedestrian need walk out hazardous location, walkway, now, the safe speed v needed for vehicle right-hand rotation _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

(4) after eliminating vehicle-bicycle conflict, the conflict of people's car, the vehicle that right-turning vehicles also may be kept straight on adjacent direction clashes, specify by traffic law, right-turning vehicles must not disturb the current of through vehicles, so right-turning vehicles is by also avoiding during crossing colliding with other through vehicles, but in order to improve the traffic efficiency of crossing, right-turning vehicles also there is no need to wait for that through vehicles has all been let pass and passes through crossing again, right-turning vehicles can sail out of crossing according to the principle adjustment speed of a motor vehicle of first in first out, the safe speed v needed for now vehicle right-hand rotation _rcomputing method are divided into the following two kinds situation:

If right-turning vehicles arrives crossing prior to through vehicles, because the target track of a car is identical, so there is unnecessary collision in order to avoid two car conflict areas, also need the safe distance between vehicles after consideration two car interflow, also will consider traffic efficiency (that is: making two cars complete two following distances minimally safe distance between vehicles behind interflow), then target equation is simultaneously:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

If sail in through vehicles after right-turning vehicles and reach crossing, collide after thoroughly eliminating two car interflow, make two cars complete two following distances minimally safe distance between vehicles behind interflow, then have

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.

Described roadside device 2 also comprises the trackside wireless communication module 25 be connected with described trackside main control module 21 signal, described in-vehicle wireless communication module 18, trackside wireless communication module 25 carries out information transmission respectively by cordless communication network 4, each mobile unit 1 will send to the in-vehicle wireless communication module 18 of the mobile unit 1 of other vehicles by the in-vehicle wireless communication module 18 from car from truck position and movable information, by respective position and movable information being carried out alternately between the in-vehicle wireless communication module 18 of each mobile unit 1, thus right-turning vehicles can be made to learn the information of conflict vehicle, more effective calculate vehicle want the best safety speed of a motor vehicle.

Described reminding module 17 comprises speed information display screen 171 and/or voice playing module 172, wherein said speed information display screen 171 be connected with vehicle-mounted main control module 11 signal with show vehicle turn right needed for safe speed, described voice playing module 172 be connected with vehicle-mounted main control module 11 signal with play vehicle turn right needed for safe speed.

The bootstrap technique of a kind of intersection vehicles right-hand rotation guidance system of working in coordination with based on bus or train route of the present invention, wherein said guidance system comprises the roadside device 2 being arranged on intersection, be mounted in the mobile unit 1 on motor vehicle and Surveillance center 3, this guidance system is described above, therefore repeat no more, described bootstrap technique comprises nine steps, wherein it should be noted that, the mobile unit 1 of this right-turning vehicles is when being just mounted to vehicle, it is connected with vehicle OBD interface by interface unit, now, mobile unit 1 knows the static information of this vehicle by the vehicle essential information storage module 12 of its inside, as the model of vehicle, size, owner information etc., after this roadside device 2 is installed to intersection, store road conditions essential information by the crossing essential information storage module 22 of its inside, this road conditions essential information comprises crossing geometric configuration, physical dimension, road canalization, signal time distributing conception etc., this mobile unit 1 knows the step of static information, and roadside device 2 stores road conditions essential information and can be included in following step one.

Step one, the mobile unit 1 of right-turning vehicles passes through the GPS locating module 13 of its inside, travel intention acquisition module 14, the position of speed data collection module 15 Real-time Collection vehicle and movable information (comprising travel direction and the car speed of vehicle), when entering crossing communication zone, at once the signal lamp state of roadside device 2 and the transmission of other right-turning vehicles mobile units 1 is received, bicycle, the information of pedestrian and other vehicles, wherein, signal lamp state, bicycle, pedestrian information is by the signal condition acquisition module 23 in roadside device 2, bicycle and pedestrian information acquisition module 24 gather and obtained, then mutual to obtain by roadside device 2 and the mobile unit 1 of right-turning vehicles, in addition, in this step, mobile unit 1 is except from obtaining obtaining except above-mentioned information in roadside device 2, also can obtain the count down time of signal lamp, this count down time gathered by signal condition acquisition module 23 equally.Above-mentioned signal lamp state, bicycle, pedestrian information and count down time occur to mobile unit 1 after can being analyzed by the trackside main control module 21 in roadside device 2 and forming intersection traffic status information.The information of other vehicles is gathered by the mobile unit 1 in other vehicles, is then passed to the mobile unit 1 of right-turning vehicles by cordless communication network 4 information of carrying out.

The information of step 2, the signal lamp state gathered according to the mobile unit 1 of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the vehicle-mounted main control module 11 of the mobile unit 1 of this right-turning vehicles judges right-turning vehicles import directional signal light state and walkway bicycle, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step 5.

If step 3 green light and walkway does not have moving target, then the mobile unit 1 of right-turning vehicles vehicle-mounted main control module 11 according to green light to calculate excess time vehicle turn right needed for safe speed v _rG, at the end of green light, right-turning vehicles is according to safe speed v _rGsail out of crossing, otherwise perform step 4; In this step, this safe speed v _rGpoint out driver by the reminding module 17 of mobile unit 1, this reminding module 17 comprises by showing this safe speed v in digital form _rGspeed information display screen 171 and play this safe speed v in the form of sound _rGvoice playing module 172, this voice playing module 172 is connected with the loudspeaker (as Fig. 3) played sound.Certainly, in other embodiments, this reminding module 17 only can arrange the one in speed information display screen 171, voice playing module 172.

If step 4 green light and walkway has bicycle and pedestrian, then the mobile unit 1 of right-turning vehicles vehicle-mounted main control module 11 according to the motion state of the bicycle on walkway and pedestrian calculate vehicle turn right needed for safe speed v _rGY, guaranteeing that the condition infradextroversion vehicle of pedestrains safety by crossing is quickly through sailing out of crossing;

The information of step 5, the signal lamp state gathered according to the mobile unit 1 of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the vehicle-mounted main control module 11 of the mobile unit 1 of right-turning vehicles judges that right-turning vehicles importer is to walkway having motor vehicle and pedestrian pass through as red light, then the mobile unit 1 of right-turning vehicles vehicle-mounted main control module 11 according to the motion state of the bicycle on walkway and pedestrian calculate vehicle to turn right needed for safe speed v _rRYif this mobile unit 1 monitors vehicle not by safe speed v _rRYtravel, then go to step eight execution.In this step, this safe speed v _rRYpoint out driver by the reminding module 17 of mobile unit 1, this reminding module 17 comprises by showing this safe speed v in digital form _rRYspeed information display screen 171 and play this safe speed v in the form of sound _rRYvoice playing module 172, this voice playing module 172 is connected with the loudspeaker (as Fig. 3) played sound.Certainly, in other embodiments, this reminding module 17 only can arrange the one in speed information display screen 171, voice playing module 172.

The vehicle-mounted main control module 11 of the mobile unit 1 of step 6, right-turning vehicles judges that right-turning vehicles importer is to as red light, walkway being passed through without motor vehicle and pedestrian, but can occur to collaborate to conflict with the through vehicles in adjacent direction, if detect, right-turning vehicles can arrive conflict area prior to through vehicles, then the mobile unit 1 of right-turning vehicles vehicle-mounted main control module 11 can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRXif this mobile unit 1 monitors vehicle not by safe speed v _rRXtravel, then go to step eight execution.In this step, this safe speed v _rRXpoint out driver by the reminding module 17 of mobile unit 1, this reminding module 17 comprises by showing this safe speed v in digital form _rRXspeed information display screen 171 and play this safe speed v in the form of sound _rRXvoice playing module 172, this voice playing module 172 is connected with the loudspeaker (as Fig. 3) played sound.Certainly, in other embodiments, this reminding module 17 only can arrange the one in speed information display screen 171, voice playing module 172.

If step 7 detect right-turning vehicles after the meeting in through vehicles arrive conflict area, then the mobile unit 1 of right-turning vehicles vehicle-mounted main control module 11 can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRHif the vehicle-mounted main control module 11 of this mobile unit 1 detects vehicle not by safe speed v _rRHtravel, then go to step eight execution.In this step, this safe speed v _rRHpoint out driver by the reminding module 17 of mobile unit 1, this reminding module 17 comprises by showing this safe speed v in digital form _rRHspeed information display screen 171 and play this safe speed v in the form of sound _rRHvoice playing module 172, this voice playing module 172 is connected with the loudspeaker (as Fig. 3) played sound.Certainly, in other embodiments, this reminding module 17 only can arrange the one in speed information display screen 171, voice playing module 172.

Whether step 8, interpretation vehicle press safe speed travels, then the brake pedal that the speed of a motor vehicle control module Final 16 row of this mobile unit 1 controls this vehicle makes it reach safe speed.

Step 9, judge whether vehicle sails out of crossing, if do not have, then go to step an execution, otherwise, terminate this vehicle and turn right and guide.

It should be noted that at this: in described step 3, described safe speed v _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{{\mathrm{\πS}}_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device 2 can send this information and represent that right-turning vehicles is the acceleration reaching safe speed needs to right-turning vehicles mobile unit 1, a (t);

In described step 4, described safe speed v _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{{\mathrm{\πS}}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device 2 can send this information to right-turning vehicles mobile unit 1, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

In described step 5, described safe speed v _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

In described step 6, described safe speed v _rRXcomputing method following (see Fig. 5): if right-turning vehicles arrives crossing prior to through vehicles, because the target track of two cars is identical, so there is unnecessary collision in conflict area in order to avoid two cars, also need the safe distance between vehicles after consideration two car interflow, also will consider traffic efficiency (that is: making two cars complete two following distances minimally safe distance between vehicles behind interflow), then target equation is simultaneously:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

In described step 7, if arrive crossing in through vehicles after right-turning vehicles, collide after thoroughly eliminating two car interflow, make two cars complete two following distances minimally safe distance between vehicles, then described safe speed v behind interflow _rRHcomputing method following (see Fig. 6):

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.

In sum: the above-mentioned intersection vehicles right-hand rotation guidance system collaborative based on bus or train route and bootstrap technique thereof at least have the following advantages:

(1) vehicle right-hand rotation guidance system of the present invention just can receive the dangerous information that roadside device 2 sends before right-turning vehicles enters crossing during 100m-150m, comprise signal information and other vehicles, bicycle, pedestrian information, and safe speed can be provided to driver, be convenient to driver have time enough to take risk avoidance measures and guarantee that vehicle safety is quickly through crossing, compared with in the past independent vehicle early warning system, this system is preventative enhancing in vehicle active safety;

(2) vehicle right-hand rotation guidance system of the present invention can realize the message exchange between vehicle and vehicle, between vehicle and road infrastructure, does not need to change intersection signal timing scheme, and technology is simple and reliable;

(3) vehicle right-hand rotation guidance system of the present invention and bootstrap technique thereof can for driver provide vehicle turn right needed for safe speed, greatly eliminate nervous psychology when vehicle driver enters crossing; And when driver's energy is not concentrated, vehicle can be controlled by force, avoid unnecessary collision accident occurs, drastically increase the traffic safety level of crossing;

(4) vehicle right-hand rotation guidance system of the present invention and bootstrap technique thereof are applicable to the early warning of vehicle under any road traffic state and the speed of a motor vehicle guides, be particularly useful for No-shell culture and the bad crossing of sighting distance, practicality is very strong, the security level that can improve crossing can improve traffic efficiency again, contributes for reducing crossing exhaust emission.

(5) vehicle right-hand rotation guidance system of the present invention can realize seamless link with city management department, administrative authority's Real-time Obtaining road traffic state and travel condition of vehicle information, really realizes Traffic monitoring, manages and is controlled in one.

The above is only the preferred embodiment of the present invention; be not limited to the present invention; should be understood that; for those skilled in the art; under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.

Claims (10)

1. based on the intersection vehicles right-hand rotation guidance system that bus or train route is collaborative, it is characterized in that: comprise roadside device and Surveillance center and at least one mobile unit; Between described mobile unit and roadside device, mobile unit and mobile unit and all carry out information transmission by cordless communication network between roadside device and Surveillance center;

Described each mobile unit comprises vehicle-mounted main control module and the vehicle essential information storage module, the GPS locating module that are connected with described vehicle-mounted main control module signal respectively, travel and be intended to acquisition module, speed data collection module, speed of a motor vehicle control module and reminding module; Described vehicle essential information storage module prestores the static information of this car; GPS locating module collection vehicle run location information; Travel the travel direction of intention acquisition module Real-time Obtaining vehicle; Speed data collection module Real-time Collection car speed; Speed of a motor vehicle control module controls car speed; Described reminding module prompting driver vehicle turns right required safe speed;

Described roadside device comprises trackside main control module, crossing essential information storage module, signal condition acquisition module and bicycle and pedestrian information acquisition module; Crossing essential information storage module prestores road conditions essential information; Described signal condition acquisition module obtains signal lamp state and count down time; Bicycle and pedestrian information acquisition module gather bicycle, pedestrian position and velocity information; Described trackside main control module forms intersection traffic status information to signal lamp state and count down time and bicycle, pedestrian position and velocity information analysis;

When vehicle enters the crossing communication range of roadside device, between mobile unit and roadside device, information interaction is carried out between mobile unit and mobile unit, described vehicle-mounted main control module is according to passing through vehicle essential information storage module, GPS locating module, the static information of this car that traveling intention acquisition module and speed data collection module acquires arrive, vehicle operating positional information, the travel direction of vehicle and car speed and the intersection traffic status information residing for this car are carried out analysis and are judged, if understand generator motor-car and bicycle conflict or motor vehicle in judgement future time to conflict with motor vehicle, then vehicle-mounted main control module analysis show that safe speed needed for right-hand rotation is to reminding module and speed of a motor vehicle control module, to be turned right required safe speed by reminding module prompting driver, whether vehicle-mounted main control module can travel to safe speed by institute by monitoring vehicle simultaneously, if monitor vehicle not travel by safe speed, speed of a motor vehicle control module controls the speed of vehicle automatically.

2. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, is characterized in that: described vehicle-mounted main control module draws the safe speed needed for right-hand rotation by following ANALYSIS OF CALCULATING, comprises following several situation:

(1) when right-turning vehicles importer is to during for green light, and when walkway is passed through without pedestrian, the safe speed v needed for right-turning vehicles right-hand rotation _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{\mathrm{\π}{S_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs;

(2) when right-turning vehicles importer is to for green light and when walkway having bicycle and pedestrian, vehicle turn right needed for safe speed v _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{\mathrm{\π}{S}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

(3) when right-turning vehicles importer is to during for red light, the safe speed v needed for vehicle right-hand rotation _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

(4) after eliminating vehicle-bicycle conflict, the conflict of people's car, the safe speed computing method needed for vehicle right-hand rotation are divided into the following two kinds situation:

If right-turning vehicles arrives crossing prior to through vehicles, then target equation is:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

If arrive crossing in through vehicles after right-turning vehicles, then have

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.

3. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, it is characterized in that: described mobile unit also comprises the in-vehicle wireless communication module be connected with described vehicle-mounted main control module signal, described roadside device also comprises the trackside wireless communication module be connected with described trackside main control module signal, described in-vehicle wireless communication module, trackside wireless communication module carries out information transmission respectively by cordless communication network, described each mobile unit will be sent to the in-vehicle wireless communication module of the mobile unit of other vehicles by the in-vehicle wireless communication module from car from truck position and movable information.

4. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, is characterized in that: described mobile unit also comprises the interface unit be connected on vehicle.

5. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, it is characterized in that: described reminding module comprises speed information display screen and/or voice playing module, wherein said speed information display screen be connected with vehicle-mounted main control module signal with show vehicle turn right needed for safe speed, described voice playing module be connected with vehicle-mounted main control module signal with play vehicle turn right needed for safe speed.

6. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, it is characterized in that: described static information comprises model, size, the owner information of vehicle, described road conditions essential information comprises crossing geometric configuration, physical dimension, road canalization, signal time distributing conception.

7. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, is characterized in that: described speed of a motor vehicle control module controls to drive the brake pedal of vehicle.

8. the intersection vehicles right-hand rotation guidance system collaborative based on bus or train route according to claim 1, it is characterized in that: described bicycle and pedestrian information acquisition module comprise bicycle and pedestrian's video detector and bicycle and pedestrian's identification module, described bicycle and pedestrian's video detector carry out monitoring to obtain monitor video in real time to bicycle lane and walkway, and the monitor video of acquisition is sent to bicycle and pedestrian's identification module, and by described bicycle and pedestrian's identification module, motion estimate is carried out to monitor video, to obtain bicycle, pedestrian position and velocity information.

9. a bootstrap technique for the intersection vehicles right-hand rotation guidance system of working in coordination with based on bus or train route, is characterized in that: described guidance system comprises the roadside device being arranged on intersection and the mobile unit be mounted on motor vehicle, and described bootstrap technique comprises the steps:

The position of the mobile unit Real-time Collection vehicle of step one, right-turning vehicles and movable information, when entering crossing communication zone, at once receive the information of signal lamp state that roadside device and other right-turning vehicles mobile units send, bicycle, pedestrian and other vehicles;

The information of step 2, the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the mobile unit of this right-turning vehicles judges right-turning vehicles import directional signal light state and walkway bicycle, pedestrian movement's state, if green light, then perform step 3, if red light, then perform step 5;

If step 3 green light and walkway does not have moving target, then right-turning vehicles mobile unit according to green light to calculate excess time vehicle turn right needed for safe speed v _rG, at the end of green light, right-turning vehicles is according to safe speed v _rGsail out of crossing, otherwise perform step 4;

If step 4 green light and walkway has bicycle and pedestrian, then right-turning vehicles mobile unit according to the motion state of the bicycle on walkway and pedestrian calculate vehicle turn right needed for safe speed v _rGY, guaranteeing that the condition infradextroversion vehicle of pedestrains safety by crossing is quickly through sailing out of crossing;

The information of step 5, the signal lamp state gathered according to the mobile unit of right-turning vehicles in step one, bicycle, pedestrian and other vehicles, the mobile unit of right-turning vehicles judges that right-turning vehicles importer is to walkway having motor vehicle and pedestrian pass through as red light, then right-turning vehicles mobile unit according to the motion state of the bicycle on walkway and pedestrian calculate vehicle to turn right needed for safe speed v _rRYif this mobile unit monitors vehicle not by safe speed v _rRYtravel, then go to step eight execution;

The mobile unit of step 6, right-turning vehicles judges that right-turning vehicles importer is to as red light, walkway being passed through without motor vehicle and pedestrian, but can occur to collaborate to conflict with the through vehicles in adjacent direction, if detect, right-turning vehicles can arrive conflict area prior to through vehicles, then right-turning vehicles mobile unit can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRXif this mobile unit monitors vehicle not by safe speed v _rRXtravel, then go to step eight execution;

If step 7 detect right-turning vehicles after the meeting in through vehicles arrive conflict area, then right-turning vehicles mobile unit can according to the motion state of through vehicles calculate vehicle turn right needed for safe speed v _rRHif this mobile unit detects vehicle not by safe speed v _rRHtravel, then go to step eight execution;

Whether step 8, interpretation vehicle press safe speed travels, then the brake pedal that this mobile unit controls this vehicle by force makes it reach safe speed;

Step 9, judge whether vehicle sails out of crossing, if do not have, then go to step an execution, otherwise, terminate this vehicle and turn right and guide.

10. the bootstrap technique of intersection vehicles right-hand rotation guidance system of working in coordination with based on bus or train route according to claim 9, is characterized in that:

In described step 3, described safe speed v _rGcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RG}}\left(t_{R1}\right)=v_{\mathrm{RG}}\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_{\mathrm{RG}}\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{\mathrm{\π}{S_R}^2}{4}=v_{\mathrm{RG}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GS}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gSrepresent that right-turning vehicles importer is to green light excess time, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, and a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs;

In described step 4, described safe speed v _rGYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RGY}}\left(t_{R1}\right)=v_R\left(0\right)+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{R1}+{\∫}_0^{t_{R1}}a\left(t\right)\mathrm{tdt}\\ \frac{\mathrm{\π}{S}_R}{4}=v_{\mathrm{RGY}}\left(t_{R1}\right)\·t_{\mathrm{RZ}}\\ t_{\mathrm{GX}}=t_{R1}+t_{\mathrm{RZ}}\end{array}\right.$

Wherein, t _r1represent that right-turning vehicles arrives the time of stop line, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, S _rrepresent the radius of turn during right-hand rotation of right-turning vehicles, roadside device can send this information to right-turning vehicles mobile unit, t _rZrepresent right-turning vehicles from turn right to the time of sailing out of walkway, crossing, t _gXrepresent that last pedestrian of walkway or bicycle pass through the time of hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _gXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _gXrepresent the speed of pedestrian or bicycle, L _gXrepresent the length of crossing;

In described step 5, described safe speed v _rRYcomputing method are as follows:

$\left\{\begin{array}{c}{v}_{\mathrm{RRY}}\left(t_{\mathrm{RX}}\right)=v_R\left(0\right)+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{dt}\\ L_R=v_R\left(0\right)t_{\mathrm{RX}}+{\∫}_0^{t_{\mathrm{RX}}}a\left(t\right)\mathrm{tdt}\end{array}\right.$

Wherein, v _r(0) initial velocity when representing that right-turning vehicles enters crossing area communication scope, a (t) represents that right-turning vehicles is the acceleration reaching safe speed needs, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, t _rXrepresent last pedestrian of walkway, adjacent direction or the bicycle time by hazardous location, walkway, computing method are as follows: if last pedestrian or bicycle are near right-turning vehicles, then if last pedestrian or bicycle are away from right-turning vehicles, then wherein, S _rXrepresent the distance of last pedestrian of walkway or bicycle distance walkway terminal, v _rXrepresent the speed of pedestrian or bicycle, L _rXrepresent the length of crossing;

In described step 6, described safe speed v _rRXcomputing method are as follows: if right-turning vehicles arrives crossing prior to through vehicles, then target equation is:

$\min L_{\mathrm{RZ}}=\min (L_R+v_{\mathrm{RRX}}{t}_{R1}-{\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-l_R)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRX}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, v _rRXsafe speed required when representing that right-turning vehicles sails out of crossing prior to through vehicles, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, l _rrepresent the length of wagon of right-turning vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow;

In described step 7, described safe speed v _rRHcomputing method are as follows:

$\min L_{\mathrm{RZ}}=\min ({\∫}_0^{t_{R1}+t_{R2}}{v}_Z\left(t\right)\mathrm{dt}-L_R-v_{\mathrm{RRH}}{t}_{R1}-l_Z)$

Its constraint condition is:

$s.t.\left\{\begin{array}{c}{a}_R\left(t_0\right)=a_R\left(t_{R1}\right)=0\\ v_R\left(t_{R1}\right)=v_{\mathrm{RRH}}\\ v_R\left(t_0\right)=v_R\left(0\right)\\ v_Z\left(t_0\right)=v_Z\left(0\right)\\ 0\≤v\≤v_{\max }\\ a_{\min }\≤a\≤a_{\max }\end{array}\right.$

Wherein, L _rZrepresent the safe distance between vehicles after right-turning vehicles and through vehicles interflow, t _r1represent that right-turning vehicles arrives the time of stop line, t _r2represent right-turning vehicles from turn right to the time that two cars have collaborated needs, v _zrepresent the speed of through vehicles, L _rthe position of distance stop line when representing that right-turning vehicles enters crossing area communication scope, l _zrepresent the length of wagon of through vehicles, a _rrepresent the acceleration of right-turning vehicles, v _rrepresent the speed of right-turning vehicles, v _rRHsafe speed required when through vehicles sails out of crossing after representing right-turning vehicles, t ₀represent that two cars carry out the initial time of radio communication connection, v _maxrepresent that vehicle travels the max speed that can allow, a _maxand a _minrepresent that vehicle travels the peak acceleration and minimum acceleration that can allow.