CN105279979A - Variable lane driving direction switching method based on vehicle position on tracking lane - Google Patents
Variable lane driving direction switching method based on vehicle position on tracking lane Download PDFInfo
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- CN105279979A CN105279979A CN201510671528.6A CN201510671528A CN105279979A CN 105279979 A CN105279979 A CN 105279979A CN 201510671528 A CN201510671528 A CN 201510671528A CN 105279979 A CN105279979 A CN 105279979A
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Abstract
The invention discloses a variable lane driving direction switching method based on the vehicle position on a tracking lane. According to the method, an LED light is applied to the field of lane markings for the first time; a variable lane gantry and a signal light are used as road guidance; according to the real-time locations of vehicles on a road and the road conditions, by tracking the location of the last vehicle LV in a variable lane, the gantry signal light and dashed and solid lines of the lane markings are controlled; and the road resource behind the last vehicle LV driving in the original direction in the variable lane is fully used to improve the operation efficiency. The variable lane driving direction switching method provided by the invention is suitable for variable lane roads of a variety of numbers of lanes, and has the advantages of improved road utilization, good economic benefit, being universal and the like.
Description
Technical field
The present invention relates to dynamic transport management technical field, referring in particular to a kind of changeable driveway travel direction changing method based on following the tracks of vehicle location on track, the direction that can be used in changeable driveway travel direction dynamic control process switches.
Background technology
In recent years, along with the fast development of national economy, urbanization process is accelerated, and occurs serious traffic tidal phenomena between downtown area and residence.In order to address this problem, changeable driveway arises at the historic moment, and it changes the traffic capacity of both direction by controlling driveway travel directions, evacuate the vehicle blocked up neatly.Although changeable driveway can be raised the efficiency on the whole, possess advance, carefully find, the mode that in its operational process of changeable driveway, road direction switches is but very backward.
On Rossfu's bridge that several, Washington, DC city expressway converges, there is an engineering truck specially, pass in and out the setting in track, city for the every day of mobile middle cement separation mound adjustment sooner or later.In changing Lane travel direction process, Rossfu's bridge many roads need to empty one hour, and no through traffic; At home, liberation northern overhead three lanes section in Guangzhou is provided with changeable driveway, by the direction of the Signalized control changeable driveway on portal frame.In the process that driveway travel directions switches, first forbid that vehicle enters middle changeable driveway, after middle changeable driveway empties completely, another direction vehicle can be allowed to enter, thus realize the conversion of driveway travel directions.
In general, existing changeable driveway handover scheme must be the vehicle first emptying whole piece changeable driveway, then changes track traffic direction.This means that this track does not have vehicle to pass through within a period of time, thus cause the waste of path resource.If changeable driveway direction switching frequency increases, the time of clearing out a gathering place also can increase thereupon, will cause larger path resource waste and produce larger delay.
The present invention is by following the tracks of last car (LASTVEHICLE of changeable driveway, hereinafter referred LV), utilize the control of changeable driveway graticule (LED), portal frame signal lamp, allow opposed vehicle enter changeable driveway in advance, removing " clearing out a gathering place the time ".
Summary of the invention
The object of the invention is the switching mode in order to improve in existing changeable driveway switching direction process, removing " clearing out a gathering place the time ", reduce path resource waste, proposing a kind of changeable driveway travel direction changing method based on following the tracks of vehicle location on track.
For achieving the above object, technical scheme provided by the present invention is: based on the changeable driveway travel direction changing method following the tracks of vehicle location on track, and employ LED traffic lane line and portal frame signal lamp as auxiliary equipment, it comprises the following steps:
1) changeable driveway direction switching command is received;
2) find and follow the tracks of last car of changeable driveway LV, and to mark its position be S
1;
3) safe distance D is calculated, S by road average speed v and driver's average reaction time t
1position mark after rear reserved safe distance D is S
2;
4) according to S
2adjustment changeable driveway graticule and portal frame signal lamp;
5) judge last car of changeable driveway LV whether by whole changeable driveway section, if not by; return step 2), continue the position of following the tracks of last car LV, if pass through, direction, track has switched.
In step 2) in, last car of changeable driveway LV is defined as: on changeable driveway, in the vehicle travelled with former travel direction, and a car nearest apart from former travel direction starting point, is called LV.
In step 3) in, safe distance D gets empirical value according to road average speed v and driver's average reaction time t.
In step 4) in, changeable driveway graticule is the novel traffic lane line of state variable, uses LED as traffic lane line, it can automatically show hidden LED by several and form, by controlling the switch of LED, road shows dotted line or solid line, and its change procedure is as follows:
4.1) before changeable driveway switching direction, former travel direction be A to B, with A to B direction for positive dirction, the two road graticule on the left of changeable driveway is double solid line, and the two road graticule on right side is doublet;
4.2) when receiving changeable driveway direction switching signal, the two road graticule on the right side of changeable driveway becomes interior-asthenia and exterior-sthenia line, and prevent right side track vehicle incision changeable driveway in the same way, switch track and cause interference, left side keeps double solid line;
4.3) along with the movement of last car of changeable driveway LV, S
2the traffic lane line of both sides, rear changes thereupon, waits to become on the left of track to become doublet, and right side becomes double solid line;
4.4), when the graticule between BA direction lane and changeable driveway is doublet, BA travel direction vehicle and changeable track, to waiting to become lanes, make full use of the path resource after former travel direction automobile body;
4.5) when last car of the former travel direction of changeable driveway LV is completely by after changeable driveway, direction, whole track handoff procedure completes.
In step 5) in, use supporting portal frame to equidistantly distribute at changeable driveway two ends and centre, each portal frame has the signal lamp in corresponding each track and each direction, show particular state on other occasions, control corresponding section respectively; Signal lamp has three kinds: " green to upward arrow " is " allowing current ", " yellow is arrow obliquely " is " lane change of taking care ", " red-green crossover " is " not allowing to pass through ", only have the signal lamp controlling changeable driveway to change, the portal frame signal lamp in the track that corresponding both sides traffic direction is constant does not change; The change of changeable driveway portal frame signal lamp is as follows:
5.1) before changeable driveway switching direction, former travel direction be A to B, AB to portal frame signal lamp be all " green arrow ", BA to portal frame signal lamp be all " red-green crossover ";
5.2) when receiving changeable driveway direction switching signal, AB is " red-green crossover " to the signal lamp capable of converting lanes of first portal frame, forbids that AB sails changeable driveway into driving vehicle; AB is " yellow arrows " to the signal lamp capable of converting lanes of all the other portal frames, lane change of taking care, and BA is " red-green crossover " to portal frame signal lamp capable of converting lanes;
5.3) along with the movement of last car of changeable driveway LV, S
2can through each portal frame of changeable driveway; S
2through certain portal frame, S
2upstream portal frame AB is " red-green crossover " to signal lamp, and downstream AB is still " yellow arrows " to signal lamp; S
2upstream portal frame BA is " green arrow " to signal lamp, and downstream BA is still " red-green crossover " to signal lamp;
5.4) when the portal frame signal lamp capable of converting lanes that distance BA direction vehicle is nearest is green light, BA to vehicle and interchangeable road to changeable driveway, make full use of the path resource after former travel direction automobile body;
5.5) when last car of the former travel direction of changeable driveway LV is completely by last portal frame, changeable driveway direction has switched, and the AB of changeable driveway is red light to signal lamp entirely, and BA is green light to signal lamp entirely.
Compared with prior art, tool has the following advantages and beneficial effect in the present invention:
1, the present invention proposes variable traffic lane line compared with original immutable coating formula tide traffic lane line, according to the concrete situation of road and traffic control demand real-time change, can accomplish the management more become more meticulous.
2, whether the dotted line of variable roadmarking of the present invention and solid line can truly reflect can lane change, compensate for the defect that existing tide traffic lane line can not clearly indicate.
3, the road switching mode of vehicle location on tracking road of the present invention, can reduce the path resource waste of original mode of clearing out a gathering place, driveway travel directions switching efficiency is higher, substantially increases road operational efficiency.
Accompanying drawing explanation
Fig. 1 is the logic flow schematic diagram of the inventive method.
Fig. 2 is three kinds of patterns of portal frame signal lamp of the present invention.
Fig. 3 is the schematic diagram of changeable driveway of the present invention last car LV position and home.
Fig. 4 is the original state schematic diagram in handoff procedure.
Fig. 5 is that handoff procedure Central Plains travel direction changeable driveway forbids that vehicle gets the hang of schematic diagram.
Fig. 6 is lane line variable condition schematic diagram in changeable driveway both sides in handoff procedure.
Fig. 7 is that in handoff procedure, opposed vehicle changes to former travel direction changeable driveway schematic diagram.
Fig. 8 is that switching completes schematic diagram.
Embodiment
Below in conjunction with specific embodiment, the invention will be further described.
Changeable driveway travel direction changing method based on following the tracks of vehicle location on track of the present invention, its basic thought follows the tracks of last car LV that on changeable driveway, former travel direction is run, by changing the state of changeable driveway graticule, after allowing opposed vehicle lane change to last vehicle body, reduce the waste of path resource, improve the efficiency in changing Lane direction.
As shown in Figure 1, the described changeable driveway travel direction changing method based on vehicle location on tracking track, comprises the following steps:
1) changeable driveway direction switching command is received.
2) find and follow the tracks of last car of changeable driveway LV, and to mark its position be S
1, wherein, last car of changeable driveway LV is defined as: on changeable driveway, in the vehicle travelled with former travel direction, and a car nearest apart from former travel direction starting point, is called LV; Along with vehicle lane change travels, the vehicle being marked as LV also may change.
3) calculate safe distance D by road average speed v and driver's average reaction time t, safe distance D gets empirical value, S according to road average speed v and driver's average reaction time t
1position mark after rear reserved safe distance D is S
2, as shown in Figure 3.
4) changeable driveway graticule and portal frame signal lamp change accordingly according to home S2, the vehicle of Facing Movement can, according to the state of the prompting of portal frame signal lamp and changeable driveway graticule, switch into changeable driveway (rear of home S2); Changeable driveway graticule is the novel traffic lane line of state variable, and use LED as traffic lane line, it can automatically show hidden LED by several and form, and by controlling the switch of LED, road shows dotted line or solid line, and its change procedure is as follows:
4.1) before changeable driveway switching direction, former travel direction be A to B, with A to B direction for positive dirction, the two road graticule on the left of changeable driveway is double solid line, and the two road graticule on right side is doublet, as shown in Figure 4;
4.2) when receiving changeable driveway direction switching signal, the two road graticule on the right side of changeable driveway becomes interior-asthenia and exterior-sthenia line, and prevent right side track vehicle incision changeable driveway in the same way, switch track and cause interference, left side keeps double solid line, as shown in Figure 5;
4.3) along with the movement of last car of changeable driveway LV, S
2the traffic lane line of both sides, rear changes thereupon, waits to become on the left of track to become doublet, and right side becomes double solid line, as shown in Figure 6;
4.4), when the graticule between BA direction lane and changeable driveway is doublet, BA travel direction vehicle and changeable track, to waiting to become lanes, make full use of the path resource after former travel direction automobile body, as shown in Figure 7;
4.5) when last car of the former travel direction of changeable driveway LV is completely by after changeable driveway, direction, whole track handoff procedure completes, as shown in Figure 8.In addition, when existence two or more is in time becoming the changeable driveway in track, wait to become LED lane line between track and remain doublet always.
5) judge last car of changeable driveway LV whether by whole changeable driveway section, if not by; return step 2), continue the position of following the tracks of last car LV, if pass through, direction, track has switched.Wherein, use supporting portal frame to equidistantly distribute at changeable driveway two ends and centre, each portal frame has the signal lamp in corresponding each track and each direction, show particular state on other occasions, control corresponding section respectively; As shown in Figure 2, signal lamp has three kinds (not showing green, yellow, redness in figure): " green to upward arrow " is " allowing current ", " yellow is arrow obliquely " is " lane change of taking care ", " red-green crossover " is " not allowing to pass through ", only have the signal lamp controlling changeable driveway to change, the portal frame signal lamp in the track that corresponding both sides traffic direction is constant does not change; The change of changeable driveway portal frame signal lamp is as follows:
5.1) before changeable driveway switching direction, former travel direction be A to B, AB to portal frame signal lamp be all " green arrow ", BA to portal frame signal lamp be all " red-green crossover ";
5.2) when receiving changeable driveway direction switching signal, AB is " red-green crossover " to the signal lamp capable of converting lanes of first portal frame, forbids that AB sails changeable driveway into driving vehicle; AB is " yellow arrows " to the signal lamp capable of converting lanes of all the other portal frames, lane change of taking care, and BA is " red-green crossover " to portal frame signal lamp capable of converting lanes;
5.3) along with the movement of last car of changeable driveway LV, S
2can through each portal frame of changeable driveway; S
2through certain portal frame, S
2upstream portal frame AB is " red-green crossover " to signal lamp, and downstream AB is still " yellow arrows " to signal lamp; S
2upstream portal frame BA is " green arrow " to signal lamp, and downstream BA is still " red-green crossover " to signal lamp;
5.4) when the portal frame signal lamp capable of converting lanes that distance BA direction vehicle is nearest is green light, BA to vehicle and interchangeable road to changeable driveway, make full use of the path resource after former travel direction automobile body;
5.5) when last car of the former travel direction of changeable driveway LV is completely by last portal frame, changeable driveway direction has switched, and the AB of changeable driveway is red light to signal lamp entirely, and BA is green light to signal lamp entirely.
We are described the above-mentioned changeable driveway travel direction changing method based on following the tracks of vehicle location on track of the present invention in conjunction with design parameter below, and its situation is as follows:
Choose the changeable driveway section of certain three lanes, middle lane is variable traveling direction lane (i.e. 1, No. 3 track not switching direction, No. 2 track switching directions, as shown in Figure 4), this research section arranges LED changeable driveway graticule, four portal frames and signal lamp device thereof.Changeable driveway road section length is 1200m, desired speed 20-40km/h, and section speed limit is 40km/h, and the former travel direction of middle changeable driveway vehicle is from east orientation west.
Portal frame signal lamp original state: four portal frame east side signal lamps, No. 1, No. 2 tracks are green light, and No. 3 tracks are red light; Signal lamp 1, No. 2 tracks in west side are red light, and No. 3 is green light.
LED changeable driveway graticule original state: 1, between 2 tracks be doublet is double solid line between 2, No. 3 tracks.
Step 1: traffic police sends control decision, order changeable driveway direction switches to from West to East, and control system receives direction, track switching command;
Step 2: No. 2, portal frame 4 east side lane signal lamp sends out a warning, forbids that east is entered vehicle and entered middle waiting and become track; Portal frame 1, portal frame 2, No. 2, portal frame 3 east side lane signal lamp glassy yellow arrow, remind driver safety to change.Take east-west direction as positive dirction, the two road graticule on the right side of No. 2 tracks becomes interior-asthenia and exterior-sthenia line, and the vehicle preventing No. 1 track from travelling in the same way is cut and waited to become track, causes interference.As shown in Figure 5;
Step 3: system, from last car LV in motion tracking No. 2 tracks, is demarcated as S
1; Road vehicle average speed is 30km/h, and the reaction time of driver is about 1.5s, and safe distance D gets empirical value and is approximately 15m.According to LV position S
1with safe distance D, determine home S
2, S
2the traffic lane line of both sides, rear changes thereupon, until LV passes through changeable driveway completely: become doublet on the left of changeable driveway, right side becomes double solid line, as shown in Figure 6.When the left side graticule in reverse track is doublet, namely this changeable track of direction driving vehicle is to waiting to become lanes, makes full use of the road after former travel direction automobile body, as shown in Figure 7;
Step 4:LV is by after portal frame 3, and No. 2, portal frame 3 east side lane signal lamp becomes red light from yellow arrows; No. 2, portal frame 4 west side lane signal lamp becomes green light from red light, represents that portal frame 3 to portal frame 4 No. 2, section track vehicle heading is to west eastwards, as shown in Figure 6;
Step 5:LV is by after portal frame 2, and No. 2, portal frame 2 east side lane signal lamp becomes red light from yellow arrows; No. 2, portal frame 3 west side lane signal lamp becomes green light from red light, represents that portal frame 2 to portal frame 4 No. 2, section track vehicle heading is to west eastwards, as shown in Figure 7;
Step 6:LV is by after portal frame 1, and No. 2, portal frame 1 east side lane signal lamp becomes red light from yellow arrows, and No. 2, west side lane signal lamp becomes green light from red light; No. 2, portal frame 3 west side lane signal lamp becomes green light from red light.Now, No. 2 tracks are without the vehicle sailed that heads west from east orientation, and changeable driveway direction has switched, as shown in Figure 8.
The examples of implementation of the above are only the preferred embodiment of the present invention, not limit practical range of the present invention with this, therefore the change that all shapes according to the present invention, principle are done, all should be encompassed in protection scope of the present invention.
Claims (5)
1. based on the changeable driveway travel direction changing method following the tracks of vehicle location on track, it is characterized in that, employ LED traffic lane line and portal frame signal lamp as auxiliary equipment, it comprises the following steps:
1) changeable driveway direction switching command is received;
2) find and follow the tracks of last car of changeable driveway LV, and to mark its position be S
1;
3) safe distance D is calculated, S by road average speed v and driver's average reaction time t
1position mark after rear reserved safe distance D is S
2;
4) according to S
2adjustment changeable driveway graticule and portal frame signal lamp;
5) judge last car of changeable driveway LV whether by whole changeable driveway section, if not by; return step 2), continue the position of following the tracks of last car LV, if pass through, direction, track has switched.
2. the changeable driveway travel direction changing method based on following the tracks of vehicle location on track according to claim 1, it is characterized in that: in step 2) in, last car of changeable driveway LV is defined as: on changeable driveway, in the vehicle travelled with former travel direction, a car nearest apart from former travel direction starting point, is called LV.
3. the changeable driveway travel direction changing method based on following the tracks of vehicle location on track according to claim 1, is characterized in that: in step 3) in, safe distance D gets empirical value according to road average speed v and driver's average reaction time t.
4. the changeable driveway travel direction changing method based on following the tracks of vehicle location on track according to claim 1, it is characterized in that: in step 4) in, changeable driveway graticule is the novel traffic lane line of state variable, use LED as traffic lane line, it can automatically show hidden LED by several and form, by controlling the switch of LED, road shows dotted line or solid line, and its change procedure is as follows:
4.1) before changeable driveway switching direction, former travel direction be A to B, with A to B direction for positive dirction, the two road graticule on the left of changeable driveway is double solid line, and the two road graticule on right side is doublet;
4.2) when receiving changeable driveway direction switching signal, the two road graticule on the right side of changeable driveway becomes interior-asthenia and exterior-sthenia line, and prevent right side track vehicle incision changeable driveway in the same way, switch track and cause interference, left side keeps double solid line;
4.3) along with the movement of last car of changeable driveway LV, S
2the traffic lane line of both sides, rear changes thereupon, waits to become on the left of track to become doublet, and right side becomes double solid line;
4.4), when the graticule between BA direction lane and changeable driveway is doublet, BA travel direction vehicle and changeable track, to waiting to become lanes, make full use of the path resource after former travel direction automobile body;
4.5) when last car of the former travel direction of changeable driveway LV is completely by after changeable driveway, direction, whole track handoff procedure completes.
5. the changeable driveway travel direction changing method based on following the tracks of vehicle location on track according to claim 1, it is characterized in that: in step 5) in, supporting portal frame is used to equidistantly distribute at changeable driveway two ends and centre, each portal frame there is the signal lamp in corresponding each track and each direction, show particular state on other occasions, control corresponding section respectively; Signal lamp has three kinds: " green to upward arrow " is " allowing current ", " yellow is arrow obliquely " is " lane change of taking care ", " red-green crossover " is " not allowing to pass through ", only have the signal lamp controlling changeable driveway to change, the portal frame signal lamp in the track that corresponding both sides traffic direction is constant does not change; The change of changeable driveway portal frame signal lamp is as follows:
5.1) before changeable driveway switching direction, former travel direction be A to B, AB to portal frame signal lamp be all " green arrow ", BA to portal frame signal lamp be all " red-green crossover ";
5.2) when receiving changeable driveway direction switching signal, AB is " red-green crossover " to the signal lamp capable of converting lanes of first portal frame, forbids that AB sails changeable driveway into driving vehicle; AB is " yellow arrows " to the signal lamp capable of converting lanes of all the other portal frames, lane change of taking care, and BA is " red-green crossover " to portal frame signal lamp capable of converting lanes;
5.3) along with the movement of last car of changeable driveway LV, S
2can through each portal frame of changeable driveway; S
2through certain portal frame, S
2upstream portal frame AB is " red-green crossover " to signal lamp, and downstream AB is still " yellow arrows " to signal lamp; S
2upstream portal frame BA is " green arrow " to signal lamp, and downstream BA is still " red-green crossover " to signal lamp;
5.4) when the portal frame signal lamp capable of converting lanes that distance BA direction vehicle is nearest is green light, BA to vehicle and interchangeable road to changeable driveway, make full use of the path resource after former travel direction automobile body;
5.5) when last car of the former travel direction of changeable driveway LV is completely by last portal frame, changeable driveway direction has switched, and the AB of changeable driveway is red light to signal lamp entirely, and BA is green light to signal lamp entirely.
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