CN105788312B - A kind of through street variable speed-limiting control method based on bus or train route collaboration - Google Patents
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Abstract
The invention discloses a kind of through street variable speed-limiting control method based on bus or train route collaboration, this method passes through vehicle and trackside advices plate and the Collaborative Control of control centre, to realize the limits value of adjustment through street in real time, road traffic accident rate is reduced, improves traffic safety.The present invention includes following steps：Car speed, positional information are detected, opens variable speed-limit control, issues the step such as variable speed-limit information, control car speed.The inventive method design is simple, is easy to calculate；By bus or train route Collaborative Control, the defects of existing variable speed-limit can be overcome to control, road traffic accident is reduced, effectively improves the traffic safety of through street.Variable speed-limit method based on bus or train route collaboration in through street traffic administration and control aspect there is very actual engineering application to be worth.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic management and control, and particularly relates to a variable speed-limiting control method for an expressway based on vehicle-road cooperation.
Background
With the improvement of the living standard of people, the number of automobiles in China is increasing day by day, and the quantity of motor vehicles in China reaches 2.4 hundred million margin and the number of the motor vehicle drivers reaches 2.6 hundred million and is continuously increased by 2012 years according to the relevant data display of the ministry of public security. The increased number of motor vehicles brings great traffic pressure and has great influence on traffic safety. The data shows that in 2010 only, traffic accidents 210821 occurred nationwide with as many as 6.5 million deaths. In many accidents, the overspeed and rear-end collision of the expressway vehicle occupy a large proportion, and great loss is brought to the life and property safety of people. How to effectively solve the problem of speed limit of the expressway vehicle to prevent rear-end collision is of great importance.
In the prior art, a variable speed limit control method is used to dynamically adjust the speed of a vehicle on a highway, so that the risk of accidents is reduced, and the traffic safety is improved. However, the existing control method has two obvious defects, firstly, the existing speed limit control detects traffic flow data based on a road section detector, a large number of detectors need to be laid on an expressway, and the method is expensive in cost, inconvenient to maintain and easy to damage the road surface; secondly, the existing variable speed limit control method releases visual speed limit information through a speed limit board, so that the phenomenon that a driver does not timely perceive dynamic speed limit information or does not obey the speed limit requirement often exists, and the variable speed limit control effect is difficult to guarantee under the condition.
With the rapid development of intelligent traffic technology, the vehicle-road cooperation technology has also gained wide attention. The vehicle-road cooperation technology can realize wireless transmission of information and real-time control of traffic through wireless connection of modules such as vehicles, road side facilities and control centers, and therefore a very good foundation is laid for variable speed limit control of express roads. Through the intensive research of the inventor, the inventor finds that the vehicle-road cooperative technology is applied to the expressway, and the variable speed limit control can be well realized through the close connection of the vehicle-road-control center, so that the huge defects in the existing research are overcome. Therefore, the variable speed limit control method based on the vehicle-road cooperation technology has very important engineering application value for improving the current traffic safety situation of the expressway in China.
Disclosure of Invention
In order to overcome two defects of the existing variable speed limit control, effectively reduce the road traffic accident rate and improve the traffic safety, the invention aims to provide a expressway variable speed limit control method based on vehicle-road cooperation, which avoids laying a large number of road detectors by providing and transmitting traffic information in real time by vehicles; meanwhile, the timely deceleration of the vehicle is realized through the information transmission and control between the control center, the roadside information board and the vehicle, and the problems of the existing control method are solved.
In order to realize the purpose, the invention adopts the technical scheme that:
a variable speed-limiting control method based on vehicle-road cooperation is characterized in that a vehicle sends vehicle information to a control center in real time, the control center judges whether speed-limiting control is carried out or not according to the vehicle information, different speed-limiting values are adopted in different express road sections, a road side information board is adopted to issue speed-limiting information and carry out speed control on the vehicle, and the specific steps are as follows:
1) The expressway is segmented at equal intervals, the number of each segment is I =1,2, \8230, I, roadside information boards are arranged on each segment, the distance between every two adjacent roadside information boards is L, and the initial speed limit value of the expressway is set to be V 0 ；
2) The method comprises the steps that vehicles running on each road section send vehicle information to a control center in real time, wherein the vehicle information comprises vehicle speed, position and quantity;
3) The control center counts the average vehicle speed v of all vehicles on each road section i i Average value theta of collision risk indexes with all vehicles i I =1,2, \ 8230;, I, counted once per cycle, with a period Δ t;
4) Judging whether to start variable speed limit control according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: v. of i (t-. DELTA.t) and v i (t) is the average speed of vehicles running on two adjacent periodic road sections I, wherein I is the total number of the road sections, and V A Is a critical value of speed;
if it isStarting variable speed limit control, and turning to step 5); otherwise, the variable speed limit control is not started, and the initial speed limit value V is kept 0 And turning to step 11);
5) Judging to adopt a variable speed-limiting scheme 1 or a variable speed-limiting scheme 2 according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: theta A For the risk of collision of the whole sectionAn index critical value;
if it isIf yes, starting the variable speed-limiting scheme 1, and turning to step 6); otherwise, starting the variable speed limit scheme 2, and turning to the step 8);
6) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
(v i+1 (t)-v i (t))/L>Θ B
wherein: v. of i+1 (t) and v i (t) is the average value of the speeds of two adjacent road sections of the running vehicles in the t-th period respectively, theta B A collision risk index critical value of an adjacent road section;
(v i+1 (t)-v i (t))/L>Θ B if yes, not issuing speed limit information, and turning to step 7); otherwise, turning to step 10);
7) Adjusting the speed limit value Vl of the section i +1 i+1 ，Vl i+1 ＝Θ B /L+v i (t) adding Vl i+1 Approximately to the nearest multiple of 5; i = i +1, go to step 6);
8) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
v i+1 (t)-v i (t)>V B
wherein: v. of i+1 (t) and v i (t) is the average speed value V of two adjacent road sections of running vehicles in the t-th period B Is a critical value of the vehicle speed;
v i+1 (t)-v i (t)>V B if yes, not issuing speed limit information, and turning to step 9); otherwise, turning to step 10);
9) Adjusting the speed limit value Vl of the section i +1 i+1 ，Vl i+1 ＝v i (t)+V B Will Vl i+1 Approximately to the nearest multiple of 5; i = i +1, go to step 8);
10 Road side intelligence board releases variable speed limit information, and transmits to vehicle by wireless;
11 The vehicle receives variable speed limit information issued by the roadside intelligence board and operates according to the speed limit information; entering the next period, and repeating the steps 2) to 10) to dynamically adjust the variable speed limit of the road section.
In step 3), the average value v of the vehicle speed i The calculation method comprises the following steps:
wherein: v. of i,j J =1,2, \ 8230for the speed of vehicle J traveling within section i, J being the total number of vehicles traveling within section i;
in step 3), the average value theta of the collision risk index i The calculation method comprises the following steps:
wherein: v. of i,j For the speed, v, of a vehicle j travelling in a section i i,j-1 Speed, x, of a preceding vehicle j-1 of a vehicle j traveling within a section i i,j For the position, x, of a vehicle j travelling in a section i i,j-1 J =1,2, \ 8230for the position of the lead car J-1 of the vehicle J traveling within the section i, J being the total number of vehicles traveling within the section i.
Has the advantages that: the invention provides a variable speed-limiting control method of an expressway based on vehicle-road cooperation, which fully utilizes the advantages of the cooperation of a vehicle, a roadside information board and a control center, transmits traffic information in real time through the vehicle, judges whether to start variable speed limiting through the control center, and if the variable speed limiting is started, releases speed-limiting information through the roadside information board and controls the vehicle to decelerate in time; if the variable speed limit is not performed, the next cycle is entered.
Compared with the existing variable speed limit control method (for example, liu Pan and the like put forward a variable speed limit control method for expressway based on traffic flow running state), the invention solves two defects in the existing method. Firstly, traffic information is provided and transmitted through vehicles, so that the accuracy is higher, the problem that a large number of detectors are laid on a road section by the existing control method can be solved, the damage of the detector laying to the road surface is reduced, frequent maintenance is not needed, and a large amount of manpower and material resources can be saved; secondly, speed limit information is issued through a roadside intelligence board and the running vehicle is directly controlled to be decelerated in order, so that the problems that a driver does not obey speed limit rules or cannot timely perceive speed limit requirements and the like in the existing variable speed limit control method can be effectively solved.
In conclusion, the invention can effectively reduce the vehicle running speed, improve the traffic safety and reduce a large amount of manpower and material resources, thereby having strong application prospect.
Drawings
FIG. 1 is an overall control flow diagram of the present invention;
FIG. 2 is a schematic diagram of the cooperative variable speed limit control of the expressway vehicle-road.
In FIG. 2, 1 is the control center, 2 is the roadside intelligence board, and 3 is the vehicle.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and 2, the variable speed-limiting control method based on vehicle-road cooperation provided by the invention is characterized in that a vehicle sends real-time information to a control center, the control center judges whether to carry out speed-limiting control according to the vehicle information, different speed-limiting values are adopted for different expressway sections, a roadside information board is adopted to issue speed-limiting information and carry out speed control on the vehicle, and the method specifically comprises the following steps:
1) The expressway is segmented at equal intervals, the number of each segment is I =1,2, \ 8230, I, a roadside information board is arranged on each segment, and two adjacent segments are arrangedThe distance between the information boards is L, and the initial speed limit value of the expressway is set to be V 0 (ii) a L is generally 1km, 2km or 5km, and the speed limit value V 0 According to actual situation references (in technical Standard for Highway engineering (JTG B01-2014));
2) The method comprises the steps that vehicles running on each road section send information to a control center in real time, wherein the real-time information comprises the speed, the position and the number of the vehicles;
3) The control center counts the average speed v of all vehicles on each road section i i Average value Θ of collision risk indicators with all vehicles i I =1,2, \ 8230;, I, counted once per cycle, with a period Δ t;
average value v of vehicle speed i The calculating method comprises the following steps:
wherein: v. of i,j J =1,2, \8230forthe speed of vehicle J traveling within section i, J being the total number of vehicles traveling within section i;
average of collision risk indicators Θ i The calculation method comprises the following steps:
wherein: v. of i,j For the speed, v, of a vehicle j travelling in a section i i,j-1 Speed, x, of a preceding vehicle j-1 of a vehicle j traveling within a section i i,j For the position, x, of a vehicle j travelling in a section i i,j-1 J =1,2, \ 8230for the position of the lead car J-1 of the vehicle J traveling within the section i, J being the total number of vehicles traveling within the section i;
4) Judging whether to start variable speed limit control according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: v. of i (t-. DELTA.t) and v i (t) is the average speed of vehicles running on two adjacent periodic road sections I, wherein I is the total number of the road sections, and V A Is a critical value of speed, V A Generally taking 20km/h, 30km/h or 40km/h;
if it isThe speed of the road section is suddenly reduced, the influence on the upstream vehicle is generated, the variable speed limit control is started at the moment, and the step 5 is carried out); otherwise, the variable speed limit control is not started, and the initial speed limit value V is kept 0 And turning to the step 11);
5) Judging to adopt a variable speed-limiting scheme 1 or a variable speed-limiting scheme 2 according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: theta A Is a critical value of a collision risk index of the whole road section; theta A Generally 0.5, 1.0 or 1.5;
if it isIf yes, starting the variable speed-limiting scheme 1, and turning to the step 6); otherwise, starting the variable speed limit scheme 2, and turning to the step 8);
6) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
(v i+1 (t)-v i (t))/L>Θ B
wherein: v. of i+1 (t) and v i (t) is the average value of the speeds of two adjacent road sections of the running vehicles in the t-th period respectively, theta B Is a collision risk index critical value of an adjacent road section,Θ B typically 1.5, 2.0, 2.5 or 3.0;
(v i+1 (t)-v i (t))/L>Θ B if yes, not issuing speed limit information, and turning to the step 7); otherwise, turning to step 10);
7) Adjusting the speed limit value Vl of the section i +1 i+1 ，Vl i+1 ＝Θ B /L+v i (t) adding Vl i+1 Approximately to the nearest multiple of 5; i = i +1, go to step 6);
8) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
v i+1 (t)-v i (t)>V B
wherein: v. of i+1 (t) and v i (t) is the average speed value V of two adjacent road sections of running vehicles in the t-th period B Is a critical value of vehicle speed, V B Generally, 10km/h, 20km/h or 30km/h is taken;
v i+1 (t)-v i (t)>V B if yes, not issuing speed limit information, and turning to the step 9); otherwise, turning to step 10);
9) Adjusting the speed limit value Vl of the section i +1 i+1 ，Vl i+1 ＝v i (t)+V B Will Vl i+1 Approximately to the nearest multiple of 5; i = i +1, go to step 8);
10 Road side intelligence board issues variable speed limit information, which is transmitted to the vehicle by wireless. The roadside information board issues speed limit information to a driver, and simultaneously controls the running of all vehicles in the road section through wireless signal transmission to enable the vehicles to decelerate orderly so as to meet the speed limit requirement;
11 The vehicle receives variable speed limit information issued by the roadside intelligence board and operates according to the speed limit information; entering the next period, and repeating the steps 2) to 10) to dynamically adjust the variable speed limit of the road section.
Examples
One specific example is given below. Fig. 2 shows a one-way three-lane (two-way six-lane) expressway, and the reference numbers in the figure mean: 1-control center, 2-roadside intelligence board, 3-vehicle. The invention is adopted to control the expressway.
Step 1, segmenting the expressway at equal intervals to obtain 10 road sections, wherein the number of each road section is i =1,2, \ 8230, 10, road side information boards are arranged on each road section, the distance between every two adjacent information boards is L =1km, and the initial speed limit value is V 0 ＝120km/h；
Step 2, the vehicles running on each road section send information to a control center in real time, wherein the real-time information comprises the speed, the position and the number of the vehicles;
step 3, the control center counts the average speed v of all vehicles on each road section i i Average value theta of collision risk indexes with all vehicles i I =1,2, \8230, 10, counted once per cycle with a period Δ t =30s;
average value v of vehicle speed i The calculation method comprises the following steps:
wherein: v. of i,j J =1,2, \ 8230for the speed of vehicle J traveling within section i, J being the total number of vehicles traveling within section i;
average of collision risk indicators Θ i The calculation method comprises the following steps:
wherein: v. of i,j For the speed, v, of a vehicle j travelling in a section i i,j-1 Speed, x, of a preceding vehicle j-1 of a vehicle j traveling within a section i i,j For the position of a vehicle j travelling within a section i, x i,j-1 Front vehicle j-1 of vehicle j running in road section iJ =1,2, \ 8230j, J being the total number of vehicles travelling within the section i;
step 4, judging whether to start variable speed limit control according to the data counted in the step 3, wherein the judgment standard is as follows:
the average speed of the vehicles running in two adjacent periods of 10 road sections is shown in the following table:
| road section | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
| v i (t-Δt)(km/h) | 115 | 120 | 108 | 118 | 100 | 117 | 105 | 107 | 108 | 110 |
| v i (t)(km/h) | 58 | 90 | 76 | 80 | 85 | 77 | 89 | 91 | 95 | 73 |
Then:
speed critical value V A Taking 20km/h, 29.4&20, indicating that the speed of the road section suddenly drops, and influencing an upstream vehicle, starting variable speed limit control at the moment, and turning to the step 5);
and 5, judging to adopt a variable speed-limiting scheme 1 or a variable speed-limiting scheme 2 according to the data counted in the step 3, wherein the judgment standard is as follows:
the collision risk indicators for the t-th cycle of 10 road segments are shown in the following table:
| road section | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 |
| Θ i | 3.5 | 2 | 2.1 | 1.8 | 1.9 | 0.9 | 0.8 | 1.6 | 2.3 | 3.0 |
Then:
all-road-section collision risk index critical value theta A Taking 0.5;
at this time, 1.99 >;
step 6, judging whether to issue speed limit information according to the data counted in the step 3, wherein the judgment standard is as follows:
(v i+1 (t)-v i (t))/L>Θ B
take i =1, then v i (t)＝90km/h，v i+1 (t)＝58km/h，
(v i+1 (t)-v i (t))/L
＝(90-58)/1＝32
Collision risk index critical value theta of adjacent road sections B Get 2, then 32>, 2, turning to the step 7;
step 7, adjusting the speed limit value Vl of the road section i +1 i+1 ，Vl i+1 ＝Θ B /L+v i (t) =2/1+58=60km/h, will Vl i+1 The approximate multiple to the nearest 5 is still 60km/h; i = i +1, go to step 6;
and 8, after the speed limit value is determined, the roadside intelligence board issues variable speed limit information, and the variable speed limit information is transmitted to the vehicle in a wireless mode. The roadside information board issues speed limit information to a driver, and simultaneously controls the running of all vehicles in the road section through wireless signal transmission to ensure that the vehicles are decelerated in order to meet the speed limit requirement;
step 9, the vehicle receives variable speed limit information issued by the roadside information board and operates according to the speed limit information; entering the next period, and repeating the steps 2) to 7) to dynamically adjust the variable speed limit of the road section.
The above are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. A variable speed-limiting control method of an expressway based on vehicle-road cooperation is characterized by comprising the following steps: the method comprises the following steps that vehicle information is sent to a control center in real time by a vehicle, the control center judges whether to carry out speed limit control according to the vehicle information, different speed limit values are adopted for different expressway sections, a roadside information board is adopted to release the speed limit information and carry out speed control on the vehicle, and the method specifically comprises the following steps:
1) The method comprises the steps of segmenting the expressway at equal intervals, wherein the number of each segment is I =1,2, \8230, I, arranging roadside information boards on each segment, setting the distance between every two adjacent roadside information boards to be L, and setting the initial speed limit value of the expressway to be V 0 ；
2) The method comprises the steps that vehicles running on each road section send vehicle information to a control center in real time, wherein the vehicle information comprises vehicle speed, positions and quantity;
3) The control center counts the average speed v of all vehicles on each road section i i Average value Θ of collision risk indicators with all vehicles i I =1,2, \8230;, I, counted once per cycle with a period Δ t;
4) Judging whether to start variable speed limit control according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: v. of i (t-. DELTA.t) and v i (t) is the average speed of vehicles running on two adjacent periodic road sections I, wherein I is the total number of the road sections, and V A Is a critical value of speed;
if it isStarting variable speed limit control, and turning to step 5); otherwise, the variable speed limit control is not started, and the initial speed limit value V is kept 0 And turning to step 11);
5) Judging to adopt a variable speed-limiting scheme 1 or a variable speed-limiting scheme 2 according to the data counted in the step 3), wherein the judgment standard is as follows:
wherein: theta A Is a critical value of a collision risk index of the whole road section;
if it isIf yes, starting the variable speed-limiting scheme 1, and turning to step 6); otherwise, starting the variable speed limit scheme 2, and turning to the step 8);
6) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
(v i+1 (t)-v i (t))/L>Θ B
wherein: v. of i+1 (t) and v i (t) is the average value of the speeds of two adjacent road sections of running vehicles in the t-th period respectively, theta B A collision risk index critical value of an adjacent road section;
(v i+1 (t)-v i (t))/L>Θ B if yes, not issuing speed limit information, and turning to step 7); otherwise, turning to step 10);
7) Adjusting the speed limit value Vl of the section i +1 i+1 ，Vl i+1 ＝Θ B /L+v i (t) converting Vl i+1 Approximately to the nearest multiple of 5; i =i +1, and then the step 6) is carried out;
8) Judging whether to issue speed limit information according to the data counted in the step 3), wherein the judgment standard is as follows:
v i+1 (t)-v i (t)>V B
wherein: v. of i+1 (t) and v i (t) is the average speed value V of two adjacent road sections of running vehicles in the t-th period B Is a critical value of the vehicle speed;
v i+1 (t)-v i (t)>V B if yes, not issuing speed limit information, and turning to the step 9); otherwise, go to step 10);
9) Adjusting the speed limit value Vl of the road section i +1 i+1 ，Vl i+1 ＝v i (t)+V B Will be Vl i+1 Approximately to the nearest multiple of 5; i = i +1, go to step 8);
10 Road side intelligence board releases variable speed limit information, and transmits to vehicle by wireless;
11 The vehicle receives variable speed limit information issued by the roadside intelligence board and operates according to the speed limit information; entering the next period, and repeating the steps 2) to 10) to dynamically adjust the variable speed limit of the road section.
2. The expressway variable speed limit control method based on vehicle-road cooperation according to claim 1, wherein: in step 1), the distance L between two adjacent roadside information boards is 1km, 2km, or 5km.
3. The expressway variable speed limit control method based on vehicle-road cooperation according to claim 1, wherein: in step 3), the average value v of the vehicle speed i The calculation method comprises the following steps:
wherein: v. of i,j J =1,2, \ 8230for the speed of vehicle J traveling within section i, J being the total number of vehicles traveling within section i.
4. The expressway variable speed limit control method based on vehicle-road cooperation according to claim 1, wherein: in step 3), the average value theta of the collision risk index i The calculating method comprises the following steps:
wherein: v. of i,j For the speed, v, of a vehicle j travelling in a section i i,j-1 Speed, x, of a preceding vehicle j-1 of a vehicle j traveling within a section i i,j For the position, x, of a vehicle j travelling in a section i i,j-1 J =1,2, \ 8230for the position of the lead car J-1 of the vehicle J traveling within the section i, J being the total number of vehicles traveling within the section i.
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| CN115223381A (en) * | 2021-04-19 | 2022-10-21 | 阿里巴巴新加坡控股有限公司 | Traffic information processing method and device, electronic equipment and computer storage medium |
| CN113516847A (en) * | 2021-06-24 | 2021-10-19 | 华砺智行(武汉)科技有限公司 | Expressway anti-congestion control method and system based on Internet of vehicles V2X |
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| KR100330134B1 (en) * | 1999-12-29 | 2002-03-27 | 류명선 | System and method for alarming speed limit and guiding traffic information |
| JP2002307974A (en) * | 2001-04-13 | 2002-10-23 | Yazaki Corp | Speed controller, speed control method, and speed control program |
| CN102542823B (en) * | 2011-12-16 | 2014-02-26 | 东南大学 | Expressway variable speed limit control method on basis of operation state of traffic flow |
| CN102982689B (en) * | 2012-10-30 | 2014-10-01 | 武汉理工大学 | Freeway changeable speed limit control system and control method in rainy environment |
| CN103413460B (en) * | 2013-07-17 | 2016-01-20 | 北京航空航天大学 | A kind of curve traffic method for early warning collaborative based on bus or train route |
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