CN106128125B - A kind of speed bootstrap technique that control intersection is preferentially sensed for main road - Google Patents
A kind of speed bootstrap technique that control intersection is preferentially sensed for main road Download PDFInfo
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- CN106128125B CN106128125B CN201610617427.5A CN201610617427A CN106128125B CN 106128125 B CN106128125 B CN 106128125B CN 201610617427 A CN201610617427 A CN 201610617427A CN 106128125 B CN106128125 B CN 106128125B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
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Abstract
The invention discloses a kind of speed bootstrap techniques that control intersection is preferentially sensed for main road, belong to intelligent transportation field, and the present invention includes step：The basic parameter needed for the speed bootstrap technique that control intersection is preferentially sensed for main road is realized in acquisition；The infrastructure of setting sensing control intersection；Speed boot policy is formulated, including fixed section speed boot policy and sensing section speed boot policy；Finally, speed boot policy is output in trackside speed guiding LED screen and is referred to for driver.The present invention combines the inherent characteristics that main road preferentially senses control intersection, the not parking traveling demand by intersection of vehicle and the demand for security travelled in intersection are considered, the speed boot policy that control intersection is preferentially sensed for main road is formulated, substantially increase traffic efficiency of the vehicle in intersection, the safety that vehicle is travelled in intersection is ensured simultaneously, the speed guiding for sensing control intersection provides effective solution.
Description
Technical field
The invention belongs to intelligent transportation fields, and in particular to a kind of speed that control intersection is preferentially sensed for main road is drawn
Guiding method.
Background technology
In existing traffic signal control system, since vehicle and traffic signaling equipment cannot be driven into the interaction of row information
The person of sailing causes following two situations it is difficult to predict the signal condition of downstream intersection：It is handed over 1. being travelled with current vehicle speed and reaching downstream
Prong green light does not have started, encounters red light；2. with current vehicle speed travel reach downstream intersection green light be over, encounter it is red
Lamp.Both of which can cause the unnecessary parking of vehicle, so as to cause more oil consumption, exhaust emissions, and reduce
The traffic efficiency of intersection.
In view of the above problems, researcher proposes some intersection speed bootstrap techniques both at home and abroad, achieve certain
Effect, but still have some shortcomings：On the one hand, since the signal control method of timing controlled and sensing control is more stable, China
Still there are a large amount of urban intersections using both signal control methods, but existing speed bootstrap technique is both for timing signal
The intersection of control does not study the speed bootstrap technique of domestic also a large amount of existing sensing control intersections also；The opposing party
Face, speed limit of the motor vehicle in section is different with the speed limit into intersection, and existing research does not account for motor vehicle and passes through intersection
Mouthful safety issue, speed too fast initiation traffic accidents when may cause the vehicle to pass through intersection.
Invention content
In view of the deficiencies of the prior art, the present invention proposes a kind of speed that control intersection is preferentially sensed for main road and draws
Guiding method allows vehicle to avoid controlling the unnecessary parking in intersection in sensing, and with accident-free vehicle by acceleration, deceleration mode
Speed substantially increases traffic efficiency of the vehicle in intersection, while also ensured what vehicle was travelled in intersection by intersection
Safety.
The technical scheme is that：
A kind of speed bootstrap technique that control intersection is preferentially sensed for main road, includes the following steps：
The basic parameter needed for the speed bootstrap technique that control intersection is preferentially sensed for main road, packet are realized in S1, acquisition
Include the signal timing dial parameter of section speed limit parameter, intersection speed limit parameter and upstream sensing control intersection；
S1.1 is investigated according to actual traffic and is obtained section speed limit parameter and intersection speed limit parameter, is specifically included section, is handed over
The minimum speed limit v of prongmin, section Maximum speed limit vsmaxWith intersection Maximum speed limit vimax；
The controller of traffic signaling equipment is connected by S1.2 with computer, is directly downloaded by traffic control test software
The signal timing dial parameter of trip sensing control signalized intersections, including main road red light duration R, the most short long green light time G of main roadmin, unit
Continue green time G0With main road maximum green perild Gmax；
S2, the infrastructure of setting sensing control intersection, including first speed guiding graticule and its corresponding trackside
Speed guiding LED screen A, Article 2 speed guiding graticule and its corresponding trackside speed guiding LED screen B and time headway detection
Coil；Wherein, time headway detection coil front position is concordant with first speed guiding graticule；First speed guiding mark
Line, Article 2 speed guiding graticule are respectively L apart from downstream intersection 'STOP' line ahead1、L2；
S3 formulates the speed boot policy that control intersection is preferentially sensed for main road, and plan is guided including fixed section speed
It omits and senses section speed boot policy；
S3.1, by section collected in S1, the minimum speed limit v in intersectionmin, section Maximum speed limit vsmax, intersection highest
Speed limit vimax, main road red light duration R, the most short long green light time G of main roadmin, unit continuity green time G0During with main road longest green light
Between GmaxAnd first speed obtained in S2 guides graticule, Article 2 speed to guide graticule apart from downstream intersection stop line
Distance L1、L2It is manually entered into programmable logic controller (PLC) PLC by Artificial so that it is determined that fixed section speed boot section
Between [ts, tf] value；
S3.2 is started to guide system clock starting point for speed with period main road red light, system is guided according to current vehicle speed
Clock t judges the speed suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided：
Speed boot policy is output in trackside speed guiding LED screen and is referred to for driver by S4；
The programmable logic controller (PLC) PLC and trackside speed guiding LED screen A of program and the guiding of trackside speed will be downloaded
LED screen B connections guide LED screen A and the guiding LED screen B output speed guiding of trackside speed to suggest and with text to trackside speed in real time
Font formula is shown in trackside speed guiding LED screen.
Further, Article 2 speed guides graticule apart from downstream intersection 'STOP' line ahead L in the S22Calculation formula
ForWherein a1Deceleration for vehicle braking.
Further, in the S3.1 fixed section speed guiding section initial time
Further, in the S3.1 fixed section speed guiding section end time
Wherein a2Acceleration for vehicle.
Further, the S3.2 guides system clock t according to current vehicle speed, judges trackside speed guiding LED screen A and trackside
The speed suggestion that speed guiding LED screen B is provided the specific steps are：
S3.2.1, as t ∈ [0, ts) when, the speed of trackside speed guiding LED screen A and the guiding LED screen B offers of trackside speed
It is recommended that it is " asking normal vehicle operation "；
S3.2.2, as t ∈ [ts, tf) when, the guiding of fixed section speed is suggested starting, and trackside speed guiding LED screen B is provided
Safe speed suggestion is " front will enter intersection, please with speed vminSafety traffic ", trackside speed guiding LED screen A are provided
The method of speed suggestion is：By time interval [ts, tf] be divided intoEqual portions, then each equal portions when it is a length ofAs t ∈ [ts+(i-1)*ta, ts+i*ta) when, the speed suggestion that trackside speed guiding LED screen A is provided is vmin+
(i-1) * 5km/h, i value 1,2,3 ... a；
S3.2.3, as t ∈ [tf, tf+Gmax-Gmin], the guiding of fixed section speed is suggested terminating, and the speed guiding of sensing section is suggested
Start, t at the time of time headway detection coil records first car by during time headway detection coilb, and be transferred to and can compile
Journey logic controller PLC, if meeting tb-tf≤2G0, then speed guiding is suggested continuing, as t ∈ [tf, tb] when, the guiding of trackside speed
LED screen A continues suggestion vehicle with vsmaxContinue to travel, " front is for the safe speed suggestion that trackside speed guiding LED screen B is provided
Intersection will be entered, please with speed vminSafety traffic ", turns S3.2.4；Otherwise speed guiding is suggested terminating, the guiding of trackside speed
The suggestion that LED screen A and trackside speed guiding LED screen B are provided is " asking normal vehicle operation "；
S3.2.4, as t ∈ (tb, tf+Gmax-Gmin], time headway detection coil obtains rear car and reaches first vehicle with front truck
The time headway h of speed guiding graticule, and programmable logic controller (PLC) PLC is transferred to, if meeting h ＜ G0, then speed guiding suggestion
Continue, trackside speed guiding LED screen A continues suggestion vehicle with vsmaxContinue to travel, the peace that trackside speed guiding LED screen B is provided
" front will enter intersection, please with speed v for full speed suggestionminSafety traffic ", turns S3.2.5；Otherwise speed guiding is suggested
Terminate, the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided is " asking normal vehicle operation "；
S3.2.5, as t ＞ tf+Gmax-Gmin, until next period main road red light starts, knot is suggested in the speed guiding of sensing section
The guiding of beam, i.e. speed is suggested terminating, and the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided is " please
Normal vehicle operation "；When next period main road red light starts, turn S3.2.1.
Beneficial effects of the present invention are：
1st, the present invention combines the inherent characteristics that main road preferentially senses control intersection, has formulated and has preferentially sensed control for main road
The speed boot policy of intersection processed, the speed guiding for sensing control intersection provide effective solution.
2nd, the speed suggestion that the two pieces of trackside speeds guiding LED screen set in the present invention is shown has considered vehicle and has not stopped
Traveling demand of the vehicle by intersection and the demand for security in intersection traveling, substantially increase current effect of the vehicle in intersection
Rate, while also ensured the safety that vehicle is travelled in intersection.
Description of the drawings
Fig. 1 is the preferential induction control method flow chart of main road；
Fig. 2 is inductive signal fundamental diagram；
Fig. 3 is a kind of speed bootstrap technique flow chart that control intersection is preferentially sensed for main road of the present invention；
Fig. 4 is a kind of infrastructure setting for the speed bootstrap technique that control intersection is preferentially sensed for main road of the present invention
Figure；
Fig. 5 is a kind of schematic diagram for the speed bootstrap technique that control intersection is preferentially sensed for main road of the present invention；
Fig. 6 guides initial time t for fixed section speedsDetermine method figure；
Fig. 7 guides end time t for fixed section speedfDetermine method figure.
Specific embodiment
Below in conjunction with the accompanying drawings and specific example the present invention will be further described, but protection scope of the present invention is not limited to
This.
Main road preferentially senses control and refers to bury induction coil on the main road import track of intersection, and main road wagon flow is passed through
Whether power and green time detect that vehicle reaches and determines, a kind of secondary fixed traffic signals of road green time by induction coil
Control method, is mainly used in that the main road magnitude of traffic flow is big, the small intersection of the secondary road magnitude of traffic flow.As shown in Figure 1, specific control
Flow is：
(1) main road green light opens, as shown in Fig. 2, when main road green light reaches minimum green time GminWhen, preset a list
Position green light perdurabgility G0If detection coil is in G0Period detection has vehicle arrival, then increases a unit green light perdurabgility G0
(G0Value it is ensured that vehicle can pass through intersection)；If detection coil is in G0Period detects no vehicle and arrives, then terminates main road
Green light gives right-of-way to time road；
(2) in this unit green light perdurabgility G0It is interior, if main road does not have vehicle arrival, in G0After, terminate main road
Green light gives right-of-way to time road；
(3) if in each unit green light perdurabgility G0It is interior, there is vehicle arrival, then repeat to increase G0, when increase certain
Secondary G0Afterwards, main road green time is more than the maximum green time G of settingmax, then cancel this perdurabgility, treat former perdurabgility
After, give right-of-way to time road；
(4) if in certain unit green light perdurabgility G0It is interior, it arrives without vehicle, then treats G0After, terminate main road
Green light gives right-of-way to time road；
(5) after secondary road green light, turn (1).
As shown in figure 3, a kind of speed bootstrap technique that control intersection is preferentially sensed for main road, including step：
The basic parameter needed for the speed bootstrap technique that control intersection is preferentially sensed for main road, packet are realized in S1, acquisition
Include the signal timing dial parameter of section speed limit parameter, intersection speed limit parameter and upstream sensing control intersection；
S1.1 is investigated according to actual traffic and is obtained section speed limit parameter and intersection speed limit parameter, is specifically included section, is handed over
The minimum speed limit v of prongmin(consider that the minimum speed limit in section and the intersection minimum speed difference opposite sex are smaller, therefore be set to same value),
Section Maximum speed limit vsmaxWith intersection Maximum speed limit vimax, wherein：Section Maximum speed limit vsmaxSelect the section history speed
85% speed, section and the minimum speed limit v in intersectionminSelect 15% speed of the section history speed, intersection highest limit
Speed takes 30km/h；
The controller of traffic signaling equipment by RS232 connections with computer is connected, is tested by traffic control by S1.2
Software directly downloads the signal timing dial parameter of upstream sensing control signalized intersections, most short green including main road red light duration R, main road
Lamp duration Gmin, unit continue green time G0With main road maximum green perild Gmax。
S2, as shown in figure 4, the infrastructure of setting sensing control intersection, including first speed guiding graticule and its
Corresponding trackside speed guiding LED screen A, Article 2 speed guiding graticule and its corresponding trackside speed guiding LED screen B and vehicle
Away from detection coil during head；Wherein, time headway detection coil front position is concordant with first speed guiding graticule；First vehicle
Speed guiding graticule, Article 2 speed guiding graticule are respectively L apart from downstream intersection 'STOP' line ahead1、L2；L1Size on road
Value in the range of segment length, value are 600~800m；Article 2 speed guides graticule apart from downstream intersection 'STOP' line ahead L2
Calculation formula beWherein a1For the deceleration of vehicle braking, can be obtained by driving simulator experiment statistics
It takes, value 1.5m/s2。
S3, formulates the speed boot policy that control intersection is preferentially sensed for main road, and speed guiding suggested strategies are used for
Vehicle is considered in the not parking traveling demand by intersection in section and in the demand for security that intersection travels, according to working as
Preceding speed guiding system clock t provides speed suggestion, wherein, trackside speed guiding LED screen A, which is shown, avoids vehicle unnecessary
The accident-free vehicle run-up for ensureing that vehicle deceleration enters intersection is shown in the speed suggestion of parking, trackside speed guiding LED screen B
View；As shown in figure 5, speed boot policy includes fixed section speed boot policy and sensing section speed boot policy；Fixed section vehicle
Fast boot policy, can be in speed boot section for the speed guiding during intersection " the most short green light of main road red light+main road "
Between provide the corresponding speed suggestion of vehicle；Section speed boot policy is sensed for the vehicle during intersection " main road continuity green light "
Speed guiding can judge the starting and ending item that sensing section speed guides according to the data that time headway detection coil detects
Part, while provide vehicle corresponding speed suggestion；
S3.1, by section collected in S1, the minimum speed limit v in intersectionmin, section Maximum speed limit vsmax, intersection highest
Speed limit vimax, main road red light duration R, the most short long green light time G of main roadmin, unit continuity green time G0During with main road longest green light
Between GmaxAnd first speed obtained in S2 guides graticule, Article 2 speed to guide graticule apart from downstream intersection stop line
Distance L1、L2It is manually entered into programmable logic controller (PLC) PLC by Artificial so that it is determined that fixed section speed boot section
Between [ts, tf] value, guide the initial time t in sectionsIt is to make " to travel with current vehicle speed and reach downstream intersection green light
Do not have started, encounter red light " vehicle, receive speed guiding suggest avoid in the unnecessary parking in intersection；Guide section
End time tfIt is the vehicle in order to make " be over current vehicle speed traveling arrival downstream intersection green light, encounter red light ",
Receive speed guiding to suggest avoiding in the unnecessary parking in intersection；
As shown in fig. 6, fixed section speed guides section initial time tsCalculating process be：
Consider the fixed section speed guiding initial time t of current vehicle speedsc：
Wherein：t1,RThe time of suggestion speed, t are decelerated to from current vehicle speed for vehicle2,RFor vehicle to suggest speed at the uniform velocity
Drive to the time of downstream intersection stop line, vcThe current vehicle speed at " first speed guides graticule " is reached for vehicle,
X1,R、X2,RRespectively vehicle receives after guide car run-up is discussed in section Reduced Speed Now, the distance at the uniform velocity travelled；
To ensure tscMoment receives the vehicle that speed guiding is suggested can be not parking by intersection, can enable vc=
vsmax, then
As shown in fig. 7, fixed section speed guides section end time tfCalculating process be：
Consider the fixed section speed guiding end time t of current vehicle speedfc：
tfc=R+Gmin-t1, G-t2, G-t3, G (3)
By (3) (4) (5) (6), can obtain
Wherein：t1,GThe time of suggestion speed is accelerated to from current vehicle speed for vehicle；t2,GFor vehicle to suggest speed at the uniform velocity
Drive to the time of " Article 2 speed guides graticule "；t3,GDownstream is decelerated to for vehicle from " Article 2 speed guides graticule " to hand over
The time of prong stop line；a2For the acceleration of vehicle, can be obtained by driving simulator experiment statistics, value 1.5m/s2；
X1,G、X2,GRespectively vehicle receives the distance given it the gun, at the uniform velocity travelled after guide car run-up view；
To ensure tfcMoment receives the vehicle that speed guiding is suggested can be not parking by intersection, can enable vc=vmin,
Then
S3.2 is started to guide system clock starting point for speed with period main road red light, system is guided according to current vehicle speed
Clock t judges the speed suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided：
S3.2.1, as t ∈ [0, ts) when, the speed of trackside speed guiding LED screen A and the guiding LED screen B offers of trackside speed
It is recommended that it is " asking normal vehicle operation "；
S3.2.2, as t ∈ [ts, tf) when, the guiding of fixed section speed is suggested starting, and trackside speed guiding LED screen B is provided
Safe speed suggestion is " front will enter intersection, please with speed vminSafety traffic ", trackside speed guiding LED screen A are provided
The method of speed suggestion is：By time interval [ts, tf] be divided intoEqual portions, then each equal portions when it is a length ofAs t ∈ [ts+(i-1)*ta, ts+i*ta) when, the speed suggestion that trackside speed guiding LED screen A is provided is vmin+
(i-1) * 5km/h, i value 1,2,3 ... a；
S3.2.3, as t ∈ [tf, tf+Gmax-Gmin], the guiding of fixed section speed is suggested terminating, and the speed guiding of sensing section is suggested
Start, t at the time of time headway detection coil records first car by during time headway detection coilb, and pass through RS485 and lead to
Line is interrogated by tbProgrammable logic controller (PLC) PLC is transferred to, if meeting tb-tf≤2G0, then speed guiding is suggested continuing, as t ∈ [tf,
tb] when, trackside speed guiding LED screen A continues suggestion vehicle with vsmaxContinue to travel, the peace that trackside speed guiding LED screen B is provided
" front will enter intersection, please with speed v for full speed suggestionminSafety traffic ", turns S3.2.4；Otherwise speed guiding is suggested
Terminate, the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided is " asking normal vehicle operation "；
S3.2.4, as t ∈ (tb, tf+Gmax-Gmin], time headway detection coil obtains rear car and reaches first vehicle with front truck
The time headway h of speed guiding graticule, and pass through RS485 connections and time headway h is transferred to programmable logic controller (PLC) PLC,
If meet h ＜ G0, then speed guiding suggestion continuation, trackside speed guide LED screen A to continue suggestion vehicle with vsmaxContinue to travel, road
" front will enter intersection, please with speed v for the safe speed suggestion that side speed guiding LED screen B is providedminSafety traffic " turns
S3.2.5；Otherwise speed guiding is suggested terminating, the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided
It is " asking normal vehicle operation "；
S3.2.5, as t ＞ tf+Gmax-Gmin, until next period main road red light starts, knot is suggested in the speed guiding of sensing section
The guiding of beam, i.e. speed is suggested terminating, and the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided is " please
Normal vehicle operation "；When next period main road red light starts, turn S3.2.1.
Speed boot policy is output in trackside speed guiding LED screen and is referred to for driver by S4；
The programmable logic controller (PLC) PLC and trackside speed guiding LED screen A of program and the guiding of trackside speed will be downloaded
LED screen B is connected by RS485 connections, programmable logic controller (PLC) PLC by MODBUS agreements, using data register address as
Medium guides LED screen A and the guiding LED screen B output speed guiding of trackside speed to suggest and with written form to trackside speed in real time
It is shown in trackside speed guiding LED screen.
Above example is merely to illustrate the design philosophy and feature of the present invention, and its object is to make technology in the art
Personnel can understand present disclosure and implement according to this, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, within protection scope of the present invention.
Claims (4)
1. a kind of speed bootstrap technique that control intersection is preferentially sensed for main road, which is characterized in that include the following steps：
S1, the basic parameter needed for the speed bootstrap technique that control intersection is preferentially sensed for main road is realized in acquisition, including road
The signal timing dial parameter of section speed limit parameter, intersection speed limit parameter and upstream sensing control intersection；
S1.1 investigates according to actual traffic and obtains section speed limit parameter and intersection speed limit parameter, specifically includes section, intersection
Minimum speed limit vmin, section Maximum speed limit vsmaxWith intersection Maximum speed limit vimax；
The controller of traffic signaling equipment is connected by S1.2 with computer, and directly downloading upstream by traffic control test software feels
The signal timing dial parameter of signalized intersections should be controlled, including main road red light duration R, the most short long green light time G of main roadmin, unit continue
Green time G0With main road maximum green perild Gmax；
S2, the infrastructure of setting sensing control intersection, including first speed guiding graticule and its corresponding trackside speed
Guide LED screen A, Article 2 speed guiding graticule and its corresponding trackside speed guiding LED screen B and time headway detection line
Circle；Wherein, time headway detection coil front position is concordant with first speed guiding graticule；First speed guiding graticule,
Article 2 speed guiding graticule is respectively L apart from downstream intersection 'STOP' line ahead1、L2；Under Article 2 speed guiding graticule distance
Swim intersection parking linear distance L2Calculation formula beWherein a1Deceleration for vehicle braking；
S3 formulates the speed boot policy that control intersection is preferentially sensed for main road, including fixed section speed boot policy and
Sense section speed boot policy；
S3.1, by section collected in S1, the minimum speed limit v in intersectionmin, section Maximum speed limit vsmax, intersection Maximum speed limit
vimax, main road red light duration R, the most short long green light time G of main roadmin, unit continuity green time G0With main road maximum green perild Gmax
And first speed obtained in S2 guides graticule, Article 2 speed to guide graticule apart from downstream intersection 'STOP' line ahead
L1、L2It is manually entered into programmable logic controller (PLC) PLC by Artificial so that it is determined that fixed section speed guides section
[ts, tf] value；
S3.2 is started to guide system clock starting point for speed with period main road red light, system clock is guided according to current vehicle speed
T judges the speed suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided：
Speed boot policy is output in trackside speed guiding LED screen and is referred to for driver by S4；
The programmable logic controller (PLC) PLC and trackside speed guiding LED screen A of program and trackside speed guiding LED screen B will be downloaded
Connection guides LED screen A and the guiding LED screen B output speed guiding of trackside speed to suggest and with written form to trackside speed in real time
It is shown in trackside speed guiding LED screen.
2. a kind of speed bootstrap technique that control intersection is preferentially sensed for main road according to claim 1, feature
It is, the initial time in fixed section speed guiding section in the S3.1
3. a kind of speed bootstrap technique that control intersection is preferentially sensed for main road according to claim 1, which is characterized in that
The end time in fixed section speed guiding section in the S3.1
Wherein a2Acceleration for vehicle.
4. a kind of speed bootstrap technique that control intersection is preferentially sensed for main road according to claim 1, feature
It is, the S3.2 guides system clock t according to current vehicle speed, judges trackside speed guiding LED screen A and the guiding of trackside speed
LED screen B provide speed suggestion the specific steps are：
S3.2.1, as t ∈ [0, ts) when, the speed suggestion of trackside speed guiding LED screen A and the guiding LED screen B offers of trackside speed
It is " asking normal vehicle operation "；
S3.2.2, as t ∈ [ts, tf] when, the guiding of fixed section speed is suggested starting, the safety that trackside speed guiding LED screen B is provided
Speed suggestion is " front will enter intersection, please with speed vminSafety traffic ", trackside speed guiding LED screen A provide speed
It is recommended that method be：By time interval [ts, tf] be divided intoEqual portions, then each equal portions when it is a length ofAs t ∈ [ts+(i-1)*ta, ts+i*ta) when, the speed suggestion that trackside speed guiding LED screen A is provided is vmin+
(i-1) * 5km/h, i value 1,2,3 ... a；
S3.2.3, as t ∈ [tf, tf+Gmax-Gmin], the guiding of fixed section speed is suggested terminating, and the speed guiding of sensing section is suggested starting,
T at the time of time headway detection coil records first car by during time headway detection coilb, and it is transferred to programmable logic
Controller PLC, if meeting tb-tf≤2G0, then speed guiding is suggested continuing, as t ∈ [tf, tb] when trackside speed guiding LED screen A
Continue suggestion vehicle with vsmaxContinue to travel, " front will enter for the safe speed suggestion that trackside speed guiding LED screen B is provided
Intersection, please with speed vminSafety traffic ", turns S3.2.4；Otherwise speed guiding is suggested terminating, trackside speed guiding LED screen A
It is " asking normal vehicle operation " with the trackside speed guiding LED screen B suggestions provided；
S3.2.4, as t ∈ (tb, tf+Gmax-Gmin], time headway detection coil obtains first speed of rear car and front truck arrival and draws
The time headway h of beacon line, and programmable logic controller (PLC) PLC is transferred to, if meeting h ＜ G0, then speed guiding suggestion continuation,
Trackside speed guiding LED screen A continues suggestion vehicle with vsmaxContinue to travel, the safe speed that trackside speed guiding LED screen B is provided
It is recommended that " front will enter intersection, please with speed vminSafety traffic ", turns S3.2.5；Otherwise speed guiding is suggested terminating, road
The suggestion that side speed guiding LED screen A and trackside speed guiding LED screen B are provided is " asking normal vehicle operation "；
S3.2.5, as t ＞ tf+Gmax-Gmin, until next period main road red light starts, the speed guiding of sensing section is suggested terminating, i.e.,
Speed guiding is suggested terminating, and the suggestion that trackside speed guiding LED screen A and trackside speed guiding LED screen B are provided is " to ask vehicle
Normally travel "；When next period main road red light starts, turn S3.2.1.
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| CN109285363B (en) * | 2018-11-28 | 2020-06-16 | 哈尔滨工业大学 | Trunk line signal coordination control method under non-uniform period duration based on vehicle speed induction |
| CN111833620B (en) * | 2020-06-17 | 2021-06-25 | 东南大学 | Supersaturated traffic state trunk line one-way signal coordination design method and device |
| CN116740965B (en) * | 2023-05-16 | 2024-04-02 | 山东科技大学 | Vehicle safety guiding system and method for rural T-shaped signalless intersection |
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| JP2012221048A (en) * | 2011-04-05 | 2012-11-12 | Sumitomo Electric Ind Ltd | Traffic signal control system and traffic signal control device |
| CN103198686B (en) * | 2013-03-26 | 2015-04-01 | 东南大学 | Vehicle speed induction control method for reducing probability that vehicle breaks yellow light |
| CN104658290A (en) * | 2013-11-19 | 2015-05-27 | 博世汽车部件(苏州)有限公司 | Processing unit, system and method for suggesting crossroad driving |
| CN104680814B (en) * | 2015-02-12 | 2017-03-08 | 华南理工大学 | A kind of crossing steady yellow safe driving control method based on wireless technology |
| CN105719500B (en) * | 2016-04-26 | 2019-03-12 | 北京交通大学 | Time occlusion intersection speed based on bus or train route collaboration guides system and method |
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