CN106601002B - Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment - Google Patents

Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment Download PDF

Info

Publication number
CN106601002B
CN106601002B CN201611047732.1A CN201611047732A CN106601002B CN 106601002 B CN106601002 B CN 106601002B CN 201611047732 A CN201611047732 A CN 201611047732A CN 106601002 B CN106601002 B CN 106601002B
Authority
CN
China
Prior art keywords
vehicle
main line
module
speed
information
Prior art date
Application number
CN201611047732.1A
Other languages
Chinese (zh)
Other versions
CN106601002A (en
Inventor
俄文娟
郑建颖
何英萍
王翔
杨娜
吴戈
张勇
冯建光
肖为周
Original Assignee
苏州大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏州大学 filed Critical 苏州大学
Priority to CN201611047732.1A priority Critical patent/CN106601002B/en
Publication of CN106601002A publication Critical patent/CN106601002A/en
Application granted granted Critical
Publication of CN106601002B publication Critical patent/CN106601002B/en

Links

Classifications

    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element

Abstract

System is guided the invention discloses the Entrance ramp vehicle pass-through under a kind of car networking environment and its bootstrap technique, guidance system include roadside device and monitoring center and main line vehicle on-board equipment and ring road vehicle on-board equipment;Roadside device includes main line car flow information acquisition module, ring road car flow information acquisition module and trackside intelligent decision module;Main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module, vehicle essential information storage module, GPS positioning module, speed data collection module, speed control module and cue module;The running state information of main line kerb lane vehicle and ring road vehicle is acquired by roadside device, carry out conflict prediction estimation, safe speed needed for providing the grouping situation of Entrance ramp vehicle and importing main line wagon flow, and it is sent to the cue module in mobile unit and speed control module, guidance system and its bootstrap technique can be avoided the vehicle collision of through street merging area, improve traffic safety and traffic efficiency.

Description

Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment

Technical field

The present invention relates in intelligent transportation system bus or train route collaboration and safety control technology, and in particular to a kind of car networking ring The city expressway Entrance ramp vehicle pass-through guidance system and its bootstrap technique in border.

Background technique

With the surge of car ownership, the traffic conflict of city expressway merging area and congestion phenomenon are got worse, and are become Lead to one of the main reason for through street is efficient, efficiently operational efficiency weakens increasingly.It is being especially main special to attend a school by taking daily trips The early evening peak of sign, the congestion of merging area does not only result in through street main line traffic flow failure, and Entrance ramp was generated Saturated flow, so that influencing effective operation of surface road traffic system.It can be seen that prevention merging area traffic congestion or quickening are gathered around Stifled dissipation speed is the key that ensure entire road network system safe and reliable operation.

Ramp metering rate is most widely used a kind of dynamic control in administering through street merging area traffic jam issue at present Mode processed, it according to regulation rate control enter merging area vehicle number, but these control modes be limited to information acquiring technology and Traffic control technology, it is difficult to accurately obtain actual traffic condition, it is possible to cause the clearance of mistake.Moreover, ring road merging area The mechanism that congestion occurs not only is only that transport need in general sense has been more than the traffic capacity of ring road merging area, Er Qie The lane change that generates and speed change behavior and main line wagon flow is uncoordinated results in itself and pass through when merging area ring road vehicle imports main line The decline of ability, so that the traffic capacity and the mismatched degree of transport need are deepened.Therefore, simple to enter through street by adjusting The traffic total amount and its spatial and temporal distributions of merging area have seemed insignificant to improve traffic congestion, it is necessary to from microcosmic angle pair Vehicle remittance carries out auxiliary control, realizes real-time response and optimization to traffic flow and its state change.With electronic information and The rapid development and application of wireless communication technique, " car networking " based on vehicle vehicle, bus or train route communication have become solution traffic and ask The effective means of topic, under car networking environment, vehicle vehicle, bus or train route carry out information exchange, greatly improve safety factor of travel, can effectively keep away Exempt from various collision accidents, realizes that zero accident of traffic has become possibility, this also will thoroughly change traditional traffic administration and controlling party Formula.

Control is guided primarily directed to On-Ramp on Freeway merging area by retrieving existing patent known to existing patent System and method processed disclose a kind of On-Ramp on Freeway merging area such as Chinese patent application the 201410724696.2nd Guide control system comprising trackside imports guidance controller and intelligent vehicle-carried equipment, and trackside imports guidance controller for connecing The real time status information of vehicle in ring road and main road upstream certain distance to merging area end ranges is received, and is formed to each vehicle Guiding in real time information, ring road vehicle on-board equipment import main road wagon flow according to the guidance information received, and the method greatly improves The single ring road vehicle of merging area imports safety when main road, but the method guidance is the ring road vehicle taken converges one by one Enter, remittance efficiency is lower, does not account for remittance scheme of the ring road vehicle in the form of fleet;Chinese patent application 201510639084.8 number disclose it is a kind of the safe cooperative control method of highway merging area is carried out based on truck traffic technology, This method is acquired and is transmitted the merging area information such as vehicle location, speed nearby by truck traffic technology, is calculated and is predicted main road The security conflicts that may cause in on-ramp and interference are reached with ring road vehicle, by control coordination approach in advance to driver Member's early warning, adjusts vehicle drive behavior, reduces the odds of security conflicts and congestion, but the method can not be provided clearly Speed guidance when vehicle crosses, only carries out early warning to vehicle driving safety.

The presently disclosed Entrance ramp vehicle pass-through guidance system overwhelming majority is for Entrance ramp vehicle and main line vehicle Interflow when safety problem, do not account for efficiency when interflow, city expressway on-ramp cannot obtain rationally It uses, can not fundamentally solve the problems, such as city expressway merging area traffic congestion, it is difficult to realize peace truly Entirely, efficiently collaborate.

Summary of the invention

In order to solve the above technical problems, through street merging area can be improved the object of the present invention is to provide a kind of preventative strong Entrance ramp vehicle pass-through guidance system and its bootstrap technique under the car networking environment of traffic safety and traffic efficiency.

Entrance ramp vehicle pass-through under a kind of car networking environment proposed by the present invention guides system, including roadside device and Monitoring center and main line vehicle on-board equipment and ring road vehicle on-board equipment;The roadside device, monitoring center, main line vehicle Network carries out information transmitting by wireless communication between mobile unit and ring road vehicle on-board equipment;

The roadside device includes that main line car flow information acquisition module, ring road car flow information acquisition module and trackside are intelligently determined Plan module;The main line car flow information acquisition module and ring road car flow information acquisition module with the trackside intelligent decision module Communication connection;

The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and respectively with it is described The vehicle essential information storage module of vehicle-mounted main control module communication connection, GPS positioning module, speed data collection module, speed control Module and cue module are previously stored with the static information of this vehicle in the vehicle essential information memory module.

Further, the main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted master control mould The in-vehicle wireless communication module of block communication connection, the roadside device further include communicating to connect with the trackside intelligent decision module Trackside wireless communication module, network by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module Carry out information transmitting.

Further, the cue module includes vehicle speed information display screen and voice playing module, and the vehicle speed information is aobvious Display screen and voice playing module are communicated to connect with vehicle-mounted main control module.

Further, the cue module further includes car number display screen, the car number display screen and the vehicle Carry main control module communication connection.

Further, the cue module further includes loudspeaker, the loudspeaker and the voice playing module communication link It connects.

Further, the brake pedal of the speed control module control driving vehicle.

Further, the static information includes owner information, the model of vehicle and size.

The bootstrap technique of Entrance ramp vehicle pass-through guidance system under car networking environment proposed by the present invention, including it is following Step:

Step 1: acquiring position and the motion information of vehicle by mobile unit in real time, collaborates when entering through street When area's communication zone, the friendship of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three Mutually;

Step 2: shape is run according to the vehicle that roadside device in step 1 can be acquired into through street merging area communication zone State information, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information Whether analysis main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains main line Kerb lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line Gap can be inserted, if analysis show that main line kerb lane can insert gap sufficiently large uneven but gap distribution can insert, trackside intelligence Can decision-making module according to information such as vehicle location, the speed of main line kerb lane and Entrance ramp in obtained communication zone, And give car number respectively, meanwhile, analysis with ring road head vehicle will on the outside of the main line that merging area joint clashes vehicle Road car number is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with vehicle according to its upstream vehicle information " may concede insert gap, provide deceleration, " the first main line collaborative vehicle " mobile unit receive roadside device hair The deceleration sent, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping with " the first main line collaborative vehicle " Certain safe distance between vehicles;

Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine entrance circle Road vehicle participate in first group of remittance vehicle fleet size, and will participate in first group of car number to cross and velocity information transmission feed The mouth each vehicle of ring road, mobile unit are immediately performed fleet operation after receiving information, with certain speed in stipulated time, rule Surely the position realization that crosses cooperates with the engagement that can insert gap with first;

Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root According to " the first main line collaborative vehicle " length of upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length Redistributing for gap can be inserted Deng subsequent collaboration is carried out, that is, generating to cooperate with first can insert that gap size is identical, speed is equal Second collaboration can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if cooperate with N can for Entrance ramp The N group vehicle fleet size that slotting gap is meshed is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N is assisted It can accelerate with vehicle, to reduce the gap with front truck;

Step 5: the friendship in gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4 Position and speed is converged, in conjunction with the current running position of per car and velocity information, when vehicle-mounted main control module can calculate per car and cross Safe speed and speed trajectory;

Step 6: the prompt that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module Speed is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle It carries equipment monitoring and does not press safe speed traveling to vehicle, then go to step seven execution;

Step 7: if detecting, vehicle is not travelled by safe speed, which controls the braking of the vehicle by force Pedal reaches safe speed;

Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, otherwise, knot The guidance of Shu Benci vehicle pass-through.

According to the above aspect of the present invention, the present invention has at least the following advantages:

(1) car networking environment lower inlet ring road vehicle pass-through guidance system of the invention vehicle enter merging area main line with The information exchange between vehicle and vehicle, between vehicle and road infrastructure is achieved that before ring road joint when 1000m, only One simple roadside device need to be installed, it is built-in main line car flow information acquisition module, Entrance ramp car flow information acquisition module, wireless Communication apparatus and intelligent decision module, it is technically simple reliable;

(2) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system and its bootstrap technique can be realized fastly Fast road main line kerb lane vehicle can insert redistributing for gap, enough remittance gaps be provided for Entrance ramp vehicle, to drive Required safe speed and speed trajectory when the person of sailing provides vehicle interflow, allows main line vehicle and Entrance ramp vehicle into merging area Have mark that can follow, substantially eliminate the frequent lane-change of merging area vehicle and speed regulation behavior, more alleviate driver enter it is quick Nervous psychology and irritated mood when the merging area of road;And in the case where driver's energy is not concentrated, vehicle can be controlled by force, It avoids that unnecessary collision accident occurs, greatly improves the traffic safety level and traffic efficiency of merging area;

(3) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system and its bootstrap technique are suitable for vehicle Ring road vehicle speed guidance under any main line traffic behavior, it is too long undesirable with sighting distance to be particularly suitable for Entrance ramp queuing The interflow of Entrance ramp vehicle and main line vehicle guides, and practicability is very strong, can solve peak time entrance to a certain extent Ring road is lined up too long problem, makes tribute to reduce the exhaust emission of through street merging area, mitigating intersection traffic loading It offers.

(4) car networking environment lower inlet ring road vehicle pass-through of the invention guidance system can realize nothing with city management department Seam connection, administrative department obtain travel condition of vehicle information in real time, realize the management and control of city expressway Entrance ramp, very It is positive to realize Traffic monitoring, manage and be controlled in one.

The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention, And can be implemented in accordance with the contents of the specification, with presently preferred embodiments of the present invention and attached drawing is cooperated to be described in detail below.

Detailed description of the invention

Fig. 1 is the structural block diagram of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention;

Fig. 2 is the schematic diagram of interface display of mobile unit in the present invention;

Fig. 3 is the step process of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention Figure;

Fig. 4 is the schematic diagram of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment of the present invention.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.Implement below Example is not intended to limit the scope of the invention for illustrating the present invention.

Embodiment: as shown in Figure 1, the Entrance ramp vehicle pass-through under a kind of car networking environment guides system, including trackside Equipment 2 and monitoring center 3 and main line vehicle on-board equipment 5 and ring road vehicle on-board equipment 1;In the roadside device, monitoring Network 4 carries out information transmitting by wireless communication between the heart, main line vehicle on-board equipment and ring road vehicle on-board equipment;

The roadside device includes main line car flow information acquisition module 21, ring road car flow information acquisition module 22 and trackside intelligence It can decision-making module 23;The main line car flow information acquisition module and ring road car flow information acquisition module are intelligently determined with the trackside The communication connection of plan module;

The working method of roadside device is: main line car flow information acquisition module mainly acquires the fortune of main road kerb lane vehicle Row status information;Ring road car flow information acquisition module mainly acquires the running state information of Entrance ramp wagon flow;Trackside is intelligently determined Plan module can insert gap to main line kerb lane according to the main line wagon flow and ring road car flow information that receive and reallocate, and provide The number and speed regulation information of corresponding collaborative vehicle, and gap running state information can be inserted according to main line, volume is sent to ring road vehicle Number and speed regulation information;

The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module 11 and respectively with institute State the vehicle essential information storage module 16 of vehicle-mounted main control module communication connection, GPS positioning module 17, speed data collection module 12, Speed control module 14 and cue module 13 are previously stored with the static letter of this vehicle in the vehicle essential information memory module Breath;

The working method of main line vehicle on-board equipment and ring road vehicle on-board equipment is: GPS positioning module acquires vehicle fortune Row location information;Speed data collection module acquires car speed in real time;Speed control module controls car speed;Cue module prompt Driver vehicle passes through safe speed required when the merging area of through street.

When vehicle enters through street merging area communication range, ring road vehicle on-board equipment, main line vehicle on-board and trackside Carry out information exchange between equipment three, trackside intelligent decision module Quick Acquisition main line kerb lane and ring road vehicle fleet size, The information such as per car latitude and longitude coordinates, every vehicle speed, and vehicle latitude and longitude coordinates are converted into through street on-ramp locality coordinate, The coordinate is using the intersection point of main line kerb lane and ring road as origin;Believed according to the movement of collected main line vehicle and ring road vehicle Breath is respectively numbered each car, and analysis cooperates with the volume for the vehicle that gives way with the main line first that ring road head vehicle will clash Number, deceleration instruction is sent to the first collaboration and is given way vehicle, and according to the volume of main line upstream traffic state information and ring road vehicle Team leader's degree can insert gap to main line kerb lane and redistribute, determine second, third ... the volume of N collaborative vehicle Number and regenerate first, second ... N can insert gap running state information, and the operation in gap can be inserted according to main line Status information is grouped number to ring road vehicle, and packet numbering and speed regulation information are sent to each vehicle on Entrance ramp ?;Main line and ring road vehicle on-board main control module are according to the speed inserted gap running state information and voluntarily adjust vehicle received Degree, and it is sent to cue module and speed control module, safe speed needed for prompting driver by cue module, while vehicle Whether load main control module can monitor vehicle presses institute travels to safe speed, the speed if monitoring vehicle not by safe speed traveling The speed of control module automatic control vehicle.

The main line and ring road vehicle on-board main control module obtain the motion state of other vehicles by vehicle vehicle, bus or train route communication Information.According to main line collaborative vehicle upstream running state information and ring road vehicle queue length between main line kerb lane vehicle Interval of inserting reallocate, the collaboration that determines the deceleration of collaborative vehicle and may concede can insert gap, then basis The collaboration that collaborative vehicle is conceded can insert remittance packet numbering and speed adjustment strategy that gap running state information determines ring road vehicle, meter It calculates and obtains safe speed required when ring road vehicle imports main line.

The main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted main control module communication link The in-vehicle wireless communication module 15 connect, the roadside device further include the trackside with trackside intelligent decision module communication connection Wireless communication module 24, network carries out by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module Information transmitting.

The cue module includes vehicle speed information display screen 131, car number display screen 132,133 and of voice playing module Loudspeaker 134, the vehicle speed information display screen, car number display screen and voice playing module are communicated with vehicle-mounted main control module Connection, the loudspeaker and the voice playing module communicate to connect.

Vehicle speed information display screen vehicle speed information display screen shows safe speed required when vehicle passes through through street merging area, Voice playing module plays vehicle by loudspeaker and passes through safe speed needed for the merging area of through street.

The brake pedal of the speed control module control driving vehicle.

The static information includes owner information, the model of vehicle and size.It certainly can also include its of vehicle Its information.

The mobile unit further includes sending this truck position and motion information to communicate to the vehicle vehicle radio of other conflict vehicles Module.

As shown in Fig. 2, the interface of mobile unit includes the display and voice prompting of vehicle current number and safe speed, with And the interface of power supply and data, wherein vehicle packet numbering display interface first place is alphabetical " R " or " Z ", respectively indicates ring road vehicle Or main line vehicle, the 2nd number to organize into groups belonging to digital representation vehicle, the 3rd sequence being grouped where digital representation, Such as " R15 " indicates the 5th vehicle in the grouping of ring road the 1st.

As shown in figure 3, the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment, including walk as follows It is rapid:

Step 1: acquiring position and the motion information of vehicle by mobile unit in real time, collaborates when entering through street When area's communication zone, the friendship of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three Mutually;

Step 2: shape is run according to the vehicle that roadside device in step 1 can be acquired into through street merging area communication zone State information, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information Whether analysis main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains main line Kerb lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line Gap can be inserted, if analysis show that main line kerb lane can insert gap sufficiently large uneven but gap distribution can insert, trackside intelligence Can decision-making module according to information such as vehicle location, the speed of main line kerb lane and Entrance ramp in obtained communication zone, And give car number respectively, meanwhile, analysis with ring road head vehicle will on the outside of the main line that merging area joint clashes vehicle Road car number is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with vehicle according to its upstream vehicle information " may concede insert gap, provide deceleration, " the first main line collaborative vehicle " mobile unit receive roadside device hair The deceleration sent, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping with " the first main line collaborative vehicle " Certain safe distance between vehicles;

Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine entrance circle Road vehicle participate in first group of remittance vehicle fleet size, and will participate in first group of car number to cross and velocity information transmission feed The mouth each vehicle of ring road, mobile unit are immediately performed fleet operation after receiving information, with certain speed in stipulated time, rule Surely the position realization that crosses cooperates with the engagement that can insert gap with first;

Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root According to " the first main line collaborative vehicle " length of upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length Redistributing for gap can be inserted Deng subsequent collaboration is carried out, that is, generating to cooperate with first can insert that gap size is identical, speed is equal Second collaboration can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if cooperate with N can for Entrance ramp The N group vehicle fleet size that slotting gap is meshed is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N is assisted It can accelerate with vehicle, to reduce the gap with front truck;

Step 5: the friendship in gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4 Position and speed is converged, in conjunction with the current running position of per car and velocity information, when vehicle-mounted main control module can calculate per car and cross Safe speed and speed trajectory;

Step 6: the prompt that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module Speed is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle It carries equipment monitoring and does not press safe speed traveling to vehicle, then go to step seven execution;

Step 7: if detecting, vehicle is not travelled by safe speed, which controls the braking of the vehicle by force Pedal reaches safe speed;

Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, otherwise, knot The guidance of Shu Benci vehicle pass-through.

As shown in figure 4, the schematic diagram of the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment.It is false It is located in the communication range of a certain through street on-ramp, roadside device, which collects main line kerb lane, has j vehicle that will enter conjunction Region is flowed, ring road has i vehicle that will enter on-ramp, reaches main line according to vehicle on the outside of main line and ring road head vehicle and ring road is handed over The rough calculation of meeting point O time determines that the vehicle that will be clashed with ring road head vehicle is the 1st main line collaborative vehicle, and number is " Z11 ", in order to which ring road vehicle smoothly imports main line wagon flow, vehicle Z11 must give way, and gap can be inserted by conceding enough collaborations D1 is imported for ring road vehicle, and collaboration can insert clearance D 1 and must be formed when ring road head vehicle " R11 " reaches joint O, in vehicle The 1st fleet, group of ring road successfully imports main line just when Z11 reaches joint O, i.e., interflow is completed, and R11 is collaborating Cheng Shiyu vehicle Z11 front truck keeps certain safe distance between vehicles and speed is equal, and in order to improve interflow efficiency, R11 must with group vehicle It must be immediately after, it is necessary to be adjusted the speed according to the operating status of R11 and keep certain safe distance between vehicles.

The solution of (1) the 1st main line collaborative vehicle " Z11 " and ring road head vehicle " R11 " speed regulation track.In order to ensure the peace at interflow Quan Xing is enabled in tmerMoment collaboration can insert clearance D 1 and ring road head vehicle reaches joint O, in tendThe 1st fleet of moment ring road and the 1st Collaboration can insert gap and successfully cross, and interflow is completed, and the 1st collaborative vehicle of main line reaches joint O just at this time, and the 1st vehicle of ring road The distance between every two vehicle of team is minimum safe spacing LPeace, in order to improve traffic efficiency, as long as two vehicles after ensuring to collaborate Safe distance between vehicles is t at the time of when per car being enabled to start speed regulation0, and start when speed regulation before the 1st main line collaborative vehicle " Z11 " Vehicle remain a constant speed, then the 1st fleet of ring road successfully collaborates that following target equation need to be met:

MinD1=lR11+lR12+lR13+……+lR1n+(n+1)LPeace

The 1st group of fleet of ring road cooperateed with main line the 1st can insert gap cross successfully need meet target equation:

vBefore Z11(t0)(tend-tmer)-|xZ11(tend) |=D1+lBefore Z11

The constraint condition that the above target equation is all satisfied are as follows:

Wherein, D1 indicates that main line the 1st cooperates with the length that can insert gap, t0Indicate that vehicle enters communication zone and starts speed regulation Moment, tmerAt the time of indicating that ring road head vehicle reaches joint O, tendExpression the 1st fleet of ring road successfully imports the collaboration of main line the 1st can At the time of inserting gap, LZ11(t0) indicate t0The distance between the 1st position collaborative vehicle Z11 of moment main line and joint O, LR11(t0)、LR12(t0)、LR13(t0)、LR1n(t0) indicate t0Moment participates in the ring road vehicle head vehicle and subsequent vehicle at the 1st group of interflow 2,3, the position n is respectively the distance between with joint O, LR11-R12(tmer) indicate tmerMoment ring road vehicle R11 and vehicle Space headway between R12, LR11-R13(tmer) indicate tmerSpace headway between moment ring road vehicle R11 and vehicle R13, LR11-Rn(tmer) indicate tmerSpace headway between moment ring road vehicle R11 and vehicle R1n, xZ11(t0)、xZ11(tmer)、xZ11 (tend) respectively indicate t0、tmer、tendThe 1st collaborative vehicle Z11 of moment main line is in the location of this on-ramp abscissa, vZ11 (t) speed of service of the 1st collaborative vehicle Z11 of main line, v are indicatedBefore Z11(t0) and vBefore Z11(tend) respectively indicate t0、tendMoment main line The speed of service of 1st collaborative vehicle Z11 front truck, vR11(t)、vR12(t)、vR13(t)、vR1n(t) it is small to respectively indicate ring road participation the 1st The speed of group interflow vehicle, lR11、lR12、lR13And lR1nThe length of wagon of vehicle R11, R12, R13 and R1n are respectively indicated, n is indicated Ring road participates in the vehicle fleet size at the 1st group interflow, lBefore Z11Indicate the length of wagon of the 1st collaborative vehicle Z11 front truck of main line, LPeaceIt indicates The minimum safe spacing (desirable 2m) that should be kept between vehicle and vehicle, acceleration needed for a indicates any vehicle operation, v are indicated Speed needed for any vehicle operation, vmaxIndicate vehicle driving the max speed allowed, amaxAnd aminIndicate vehicle driving Peak acceleration and minimum acceleration allowed.

The length of D1 can be obtained by the solution of the above target equation, participate in the quantity of the ring road vehicle at the 1st group of interflow N and main line vehicle Z11, ring road vehicle R11, R12, R13 ..., R1n adjust the speed track accordingly, that is, safety when collaborating Speed.

(2) in order to improve merging area traffic efficiency and keep main line upstream wagon flow stability, the 1st collaborative vehicle of main line Subsequent vehicle needs to keep minimum safe spacing between every two cars, and the 2nd collaboration can insert gap and the 1st collaborative vehicle of main line The distance between it is equal with D1, i.e., it is necessary to meet following condition:

MinD1=lZ11+lZ12+lZ13+……+lZ1m+(m+1)LPeace

The constraint condition that the above target equation is all satisfied are as follows:

Wherein, D1 indicates that main line the 1st cooperates with the length that can insert gap, t0Indicate that vehicle enters communication zone and starts speed regulation Moment, tendIndicate that the 1st fleet of ring road successfully imports the collaboration of main line the 1st at the time of can insert gap, lZ11、lZ12、lZ13And lZ1mRespectively Indicate the length of wagon of vehicle Z11, Z12, Z13 and Z1m, m indicates the quantity of the 1st group of collaborative vehicle of main line, LPeaceIndicate vehicle and vehicle Between the minimum safe spacing (desirable 2m) that should keep, vZ12(t)、vZ13(t) and vZ1m(t) it is small to respectively indicate the collaboration of main line the 1st Speed, the v of the 2nd, 3 and m vehicle in groupZ21(t) speed of the 1st vehicle in the 2nd Coordinte team of main line, L are indicatedZ12(t0)、LZ13 (t0)、LZ1m(t0) indicate t0Moment participate in interflow the 1st collaborative vehicle of main line and subsequent vehicle 2,3, the position m respectively with friendship The distance between meeting point O, LZ11-Z12(tend) indicate tendBetween headstock between moment main line the 1st collaborative vehicle Z11 and vehicle Z12 Away from LZ11-Z13(tend) indicate tendThe space headway between vehicle Z11 and vehicle Z13 in the 1st Coordinte team of moment main line, LZ11-Z1m(tend) indicate tendThe space headway between vehicle Z11 and vehicle Z1m in the 1st Coordinte team of moment main line, LZ21-Z1m (tend) indicate tendThe space headway between vehicle Z1m in the 2nd collaborative vehicle Z21 of moment main line and the 1st Coordinte team of main line, vZ12(t0)、vZ13(t0) and vZ1m(t0) respectively indicate t0The speed of the 2nd, 3 and m vehicle in the 1st Coordinte team of moment main line, vZ21(t0) indicate t0The speed of the 2nd collaborative vehicle of moment main line, vZ11(tend)、vZ12(tend)、vZ13(tend) and vZ1m(tend) point It Biao Shi not t0The speed of the 1st, 2,3 and m vehicle in the 1st Coordinte team of moment main line, vZ21(tend) indicate tendMoment main line The speed of 2 collaborative vehicles, acceleration needed for a indicates any vehicle operation, speed needed for v indicates any vehicle operation, vmax Indicate vehicle driving the max speed allowed, amaxAnd aminIndicate vehicle driving peak acceleration allowed and minimum Acceleration.

The length of D1 can be obtained by the solution of the above target equation, participate in the main line collaborative vehicle at the 1st group of interflow Quantity m and main line collaborative vehicle Z11, Z12, Z13 ..., Z1m adjusts the speed track accordingly, and can determine the 2nd The number of collaborative vehicle and corresponding speed adjustment strategy.

(3) after determining the 2nd collaborative vehicle, the collaboration of main line the 2nd, which can insert gap, to be formed, and gap can be inserted by cooperateing with the 1st Size is identical and speed is identical, then the vehicle that ring road participates in the 2nd group interflow can be cooperateed with according to main line the 2nd can insert gap Operating status formed into columns and adjusted the speed, the solution of speed adjustment strategy is such as the target equation in (1), so as to obtain ring road 2 groups participate in the number and speed adjustment strategy of the vehicle at interflow.Correspondingly, the 3rd collaborative vehicle of main line, N-1 collaboration can insert gap Solution such as the target equation in (2), so that it may between showing that the collaboration of corresponding main line the 3rd can insert gap, N-1 collaboration can insert Gap may thereby determine that the speed adjustment strategy of each collaborative vehicle of main line.

(4) solution of main line N collaborative vehicle and N collaboration gap.The vehicle fleet size at ring road N group interflow may There is the case where being less than vehicle fleet size n, in response to this, needs to keep most between ring road N group interflow vehicle each car Small safe distance between vehicles, the 1st safe spacing between vehicle and last vehicle of N-1 group of ring road N group are D1, so that it may The speed adjustment strategy of RN1 out, the quantity of trackside intelligent decision module meeting quick obtaining ring road N group vehicle, so that it is determined that circle out The queue length DN of Dao N group, then, main line N collaborative vehicle will be carried out according to the queue length DN of ring road N group Speed regulation, until tendMoment forms N and cooperates with gap.

The above is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is noted that for this skill For the those of ordinary skill in art field, without departing from the technical principles of the invention, can also make it is several improvement and Modification, these improvements and modifications also should be regarded as protection scope of the present invention.

Claims (7)

1. under a kind of car networking environment Entrance ramp vehicle pass-through guidance system bootstrap technique, it is characterised in that: including with Lower step:
Step 1: mobile unit acquires position and the motion information of vehicle in real time, when the entrance through street merging area comunication area When domain, the interaction of information is carried out between main line vehicle on-board equipment, ring road vehicle on-board equipment and roadside device three;
Step 2: the travel condition of vehicle letter into through street merging area communication zone can be acquired according to roadside device in step 1 Breath, the information including main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module are analyzed according to car flow information Whether main line kerb lane can concede enough gaps of inserting imports for the wagon flow of Entrance ramp, if analysis obtains on the outside of main line Lane can insert length of wagon of the gap less than a vehicle, then send instructions to Entrance ramp vehicle deceleration and go slowly and wait main line that can insert Gap, if to show that main line kerb lane can insert gap sufficiently large but can insert that gap distribution is uneven, and trackside is intelligently determined for analysis Vehicle location of the plan module according to main line kerb lane and Entrance ramp in obtained communication zone, velocity information, and respectively Car number is given, meanwhile, analysis will be in the main line kerb lane vehicle that merging area joint clashes with ring road head vehicle Number, is defined as " the first main line collaborative vehicle ", and determines that " the first main line collaborative vehicle " may according to its upstream vehicle information That concedes inserts gap, provides deceleration, and " the first main line collaborative vehicle " mobile unit receives subtracting for roadside device transmission Fast information, which is immediately performed, gives way, while notifying its subsequent vehicle deceleration and keeping centainly with " the first main line collaborative vehicle " Safe distance between vehicles;
Step 3: roadside device can insert gap according to the first collaboration that " the first main line collaborative vehicle " is conceded and determine Entrance ramp vehicle The vehicle fleet size of first group of remittance is participated in, and first group of car number to cross and velocity information will be participated in and be sent to entrance circle The each vehicle in road, mobile unit are immediately performed fleet operation after receiving information, are handed over certain speed in stipulated time, regulation The position realization that converges cooperates with the engagement that can insert gap with first;
Step 4: in order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can be according to " the After the length of one main line collaborative vehicle " upstream fleet, the quantity of motion information and Entrance ramp residue vehicle, queue length carry out Continuous collaboration can insert redistributing for gap, that is, the second collaboration that gap size is identical, speed is equal can be inserted with the first collaboration by generating Can insert gap, third collaboration can insert gap ..., N collaboration can insert gap, if Entrance ramp is cooperateed with N can insert gap phase The N group vehicle fleet size of engagement is insufficient, then N, which cooperates with gap to be smaller than the first collaboration, can insert gap, then N collaborative vehicle can Accelerate, to reduce the gap with front truck;
Step 5: the position that crosses of gap and Entrance ramp wagon flow can be inserted according to the main line kerb lane collaboration analyzed in step 4 It sets and speed, in conjunction with the current running position of per car and velocity information, vehicle-mounted main control module can calculate safety when per car crosses Speed and speed trajectory;
Step 6: the prompt speed that the main line vehicle and Entrance ramp vehicle for participating in interflow are issued according to mobile unit cue module It is adjusted the speed, meanwhile, whether mobile unit monitoring vehicle presses the calculated speed trajectory traveling of vehicle-mounted main control module, if vehicle-mounted set It is standby to monitor that vehicle is not travelled by safe speed, then go to step seven execution;
Step 7: if detecting, vehicle is not travelled by safe speed, which controls the brake pedal of the vehicle by force Reach safe speed;
Step 8: judging whether ring road vehicle successfully imports main line wagon flow and go to step an execution if not having, and otherwise, terminates this Secondary vehicle pass-through guidance;
The guidance system, including roadside device and monitoring center and main line vehicle on-board equipment and ring road vehicle on-board are set It is standby;Pass through channel radio between the roadside device, monitoring center, main line vehicle on-board equipment and ring road vehicle on-board equipment Communication network carries out information transmitting;
The roadside device includes main line car flow information acquisition module, ring road car flow information acquisition module and trackside intelligent decision mould Block;The main line car flow information acquisition module and ring road car flow information acquisition module are communicated with the trackside intelligent decision module Connection;
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and respectively with it is described vehicle-mounted The vehicle essential information storage module of main control module communication connection, GPS positioning module, speed data collection module, speed control module And cue module, the static information of this vehicle is previously stored in the vehicle essential information memory module.
2. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 1, Be characterized in that: the main line vehicle on-board equipment and ring road vehicle on-board equipment further include and the vehicle-mounted main control module communication link The in-vehicle wireless communication module connect, the roadside device further include with the trackside intelligent decision module communication connection trackside without Line communication module, network carries out information by wireless communication between the in-vehicle wireless communication module and trackside wireless communication module Transmitting.
3. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 2, Be characterized in that: the cue module includes vehicle speed information display screen and voice playing module, the vehicle speed information display screen and language Sound playing module is communicated to connect with vehicle-mounted main control module.
4. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 3, Be characterized in that: the cue module further includes car number display screen, the car number display screen and the vehicle-mounted master control mould Block communication connection.
5. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 4, Be characterized in that: the cue module further includes loudspeaker, and the loudspeaker and the voice playing module communicate to connect.
6. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 5, It is characterized in that: the brake pedal of the speed control module control driving vehicle.
7. the bootstrap technique of the Entrance ramp vehicle pass-through guidance system under car networking environment according to claim 6, Be characterized in that: the static information includes owner information, the model of vehicle and size.
CN201611047732.1A 2016-11-23 2016-11-23 Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment CN106601002B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611047732.1A CN106601002B (en) 2016-11-23 2016-11-23 Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611047732.1A CN106601002B (en) 2016-11-23 2016-11-23 Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment

Publications (2)

Publication Number Publication Date
CN106601002A CN106601002A (en) 2017-04-26
CN106601002B true CN106601002B (en) 2019-06-07

Family

ID=58592137

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611047732.1A CN106601002B (en) 2016-11-23 2016-11-23 Entrance ramp vehicle pass-through guidance system and its bootstrap technique under car networking environment

Country Status (1)

Country Link
CN (1) CN106601002B (en)

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106997678B (en) * 2017-05-03 2020-01-31 同济大学 Optimization design method for vehicle-mounted road directing information at upstream of expressway exit ramp
CN108447291B (en) * 2018-04-03 2020-08-14 南京锦和佳鑫信息科技有限公司 Intelligent road facility system and control method
CN108320535B (en) * 2018-04-10 2020-10-13 哈尔滨工业大学 Traffic control method for interlaced vehicles in road traffic area
CN108615371A (en) * 2018-04-23 2018-10-02 武汉理工大学 A kind of through street entrance traffic guidance system and method
CN108538069B (en) * 2018-05-24 2020-10-16 长安大学 System and method for controlling vehicle speed in ramp merging area
CN108806252B (en) * 2018-06-19 2019-10-01 西南交通大学 A kind of Mixed Freeway Traffic Flows collaboration optimal control method
CN108648506B (en) * 2018-06-29 2020-09-08 浙江省交通规划设计研究院有限公司 Interchange type interchange entrance safety reminding system based on vehicle-road cooperation
CN109143852B (en) * 2018-07-17 2020-09-18 北京理工大学 Intelligent driving vehicle environment self-adaptive importing method under urban environment
CN108986488B (en) * 2018-07-23 2020-03-31 东南大学 Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment
CN108986492B (en) * 2018-07-27 2020-04-10 东南大学 Expressway ramp vehicle flow merging and guiding method and system based on road side equipment
CN108806291B (en) * 2018-07-27 2020-03-31 东南大学 High-saturation ramp vehicle merging guiding method and system based on road side equipment
CN109598950A (en) * 2018-12-04 2019-04-09 东南大学 A kind of the ring road collaboration remittance control method and system of intelligent network connection vehicle
CN110136484A (en) * 2019-06-17 2019-08-16 深圳成谷科技有限公司 A kind of vehicle lane change method, drive test unit and storage medium
CN110349422A (en) * 2019-08-19 2019-10-18 深圳成谷科技有限公司 A kind of method, device and equipment of road weather warning
CN110660213A (en) * 2019-10-11 2020-01-07 中国联合网络通信集团有限公司 Ramp vehicle merging method, road side equipment and vehicle
CN110853378A (en) * 2019-11-19 2020-02-28 中国联合网络通信集团有限公司 Vehicle ramp afflux management method and system
CN111081009A (en) * 2019-12-30 2020-04-28 吉林大学 Vehicle formation driving system based on Internet of vehicles and control method
CN111341125A (en) * 2020-02-07 2020-06-26 中国联合网络通信集团有限公司 Vehicle passing method and device
CN111260935A (en) * 2020-02-07 2020-06-09 中国联合网络通信集团有限公司 Vehicle passing method and device
CN111325967B (en) * 2020-02-28 2020-12-25 清华大学 Intelligent networking automobile formation control method and device based on cooperative assignment
CN111402601A (en) * 2020-03-10 2020-07-10 合肥联宝信息技术有限公司 Intelligent traffic control method and system

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006164197A (en) * 2004-12-10 2006-06-22 Equos Research Co Ltd Running support system
CN102157072A (en) * 2011-03-29 2011-08-17 北京航空航天大学 Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road collaboration
CN104464317A (en) * 2014-12-03 2015-03-25 武汉理工大学 Expressway entrance ring road converging zone guiding control system and method
CN104916152A (en) * 2015-05-19 2015-09-16 苏州大学 Cooperative vehicle infrastructure system-based intersection vehicle right turning guidance system and guidance method thereof
CN105206068A (en) * 2015-09-29 2015-12-30 北京工业大学 Method for conducting safety coordination control on highway confluence area based on vehicle-vehicle communication technology
CN105761549A (en) * 2016-05-05 2016-07-13 东南大学 Method for safety control of highway entrance ramp based on vehicle-vehicle networking

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006164197A (en) * 2004-12-10 2006-06-22 Equos Research Co Ltd Running support system
CN102157072A (en) * 2011-03-29 2011-08-17 北京航空航天大学 Inducing device and inducing method of vehicle confluence at intersection based on vehicle and road collaboration
CN104464317A (en) * 2014-12-03 2015-03-25 武汉理工大学 Expressway entrance ring road converging zone guiding control system and method
CN104916152A (en) * 2015-05-19 2015-09-16 苏州大学 Cooperative vehicle infrastructure system-based intersection vehicle right turning guidance system and guidance method thereof
CN105206068A (en) * 2015-09-29 2015-12-30 北京工业大学 Method for conducting safety coordination control on highway confluence area based on vehicle-vehicle communication technology
CN105761549A (en) * 2016-05-05 2016-07-13 东南大学 Method for safety control of highway entrance ramp based on vehicle-vehicle networking

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
基于车车通信合流影响区外侧车辆决策模型_.pdf;杨晓芳 等;《系统仿真学报》;20150531;第27卷(第5期);第1112-1119页
车联网环境下的高速公路合流区协调控制方法及效果评价;王东柱 等;《公路交通科技》;20160930;第33卷(第9期);第99-105页

Also Published As

Publication number Publication date
CN106601002A (en) 2017-04-26

Similar Documents

Publication Publication Date Title
US10692367B2 (en) Connected and adaptive vehicle traffic management system with digital prioritization
Le Vine et al. Autonomous cars: The tension between occupant experience and intersection capacity
CN105151043B (en) A kind of method of pilotless automobile Emergency avoidance
CN104648402B (en) Method and driver assistance device for supporting the lane of motor vehicle to convert or overtake other vehicles tactful
Wirasinghe et al. Bus rapid transit–a review
CN105654779B (en) Highway construction area traffic coordinating and controlling method based on bus or train route, truck traffic
DE102017210252A1 (en) Vehicle communication network and method of using and manufacturing same
Asadi et al. Predictive cruise control: Utilizing upcoming traffic signal information for improving fuel economy and reducing trip time
RU2659371C1 (en) Device and method of traffic control
EP2979914A2 (en) Vehicle control apparatus and vehicle control method
US8753123B2 (en) Driving support system and driving support managing device
CN104464317B (en) On-Ramp on Freeway interflow district's guiding control system and method
CN105118320B (en) A kind of city road traffic induction method and device based on bus or train route collaboration
Haque et al. Sustainable, safe, smart—three key elements of Singapore’s evolving transport policies
KR20180128942A (en) Method for generating control data for supporting driver based on rule
CN102514602B (en) Method and system for planning and controlling train travelling speed
Li et al. Traffic energy and emission reductions at signalized intersections: a study of the benefits of advanced driver information
CN104678832B (en) The automatic Activiation method of vehicle travel support device and its vehicle traveling miscellaneous function
WO2016024318A1 (en) Travel control device and method for vehicle
US10186148B2 (en) Roadside control apparatus, computer program, and information processing method
Mounce et al. On the potential for one-way electric vehicle car-sharing in future mobility systems
NL1000896C2 (en) Method and system for optimizing the driving behavior of a vehicle, preferably a rail vehicle.
US8810431B2 (en) Highway merge assistant and control
US8676466B2 (en) Fail-safe speed profiles for cooperative autonomous vehicles
Hao et al. Eco-approach and departure (EAD) application for actuated signals in real-world traffic

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant