CN106991827B - Cooperative priority control method for double-tramcar level crossing under non-meeting state - Google Patents
Cooperative priority control method for double-tramcar level crossing under non-meeting state Download PDFInfo
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Abstract
The invention provides a cooperative priority control method for a double-tramcar level crossing under a non-meeting state, which considers a phase control method of a signal lamp when two tramcars arrive at the level crossing in a state other than meeting under the condition of mixing with social vehicles. The invention separates the vehicles with conflict in time, follows the principle that trams have priority and the vehicles without conflict are released simultaneously, and adopts the control strategies of 'green light extension', 'red light early break', 'insertion phase' and 'crossing phase', thereby not only reducing the mutual conflict of the two vehicle types, but also improving the traffic efficiency of the level crossing.
Description
Technical field
The present invention relates to a kind of double tramcar crossings to cooperate with method for controlling priority, belongs to urban traffic control field.
Background technique
For the country of numerous resource shortages such a for China, develop the public transport of less energy consumption, safety and environmental protection
It is to solve the only way of traffic problems in Development of Urbanization, and modern tram is with reliable, comfortable, energy-saving and environmental protection
Feature is just meeting this developing goal.But the operation due to tramcar conflict with public vehicles it is larger, especially in usual friendship
At crossing, only solve the problems, such as that this could ensure the safe operation of road surface mixed traffic.Tongji University Lee is contained in " modern rail
The control method for coordinating of electric car and road traffic " in mention multi-level coordinated control, and calculating verifying is carried out to model；Wang Shuqi
It is preferential and two kinds of time priority based on space in " modern tram intersection priority acccess control management method Review Study "
Method makes tramcar in level crossing prior to public vehicles.But running mode of the above research without being directed to tramcar
Classify, even without control method when considering that more tramcars reach crossing simultaneously.In view of the above problems, the hair
It is bright to propose a set of two tramcars simultaneously or one in front and one in back reach level crossing, and the classification for public vehicles relative priority
Control method.
Summary of the invention
The present invention provides two tramcars of one kind while reaching intersection and the opposite preferential level crossing of public vehicles
Signal control method, that takes into account two tramcars with other than meeting state reach level crossing when signal lamp phase
Control, avoids conflicting between tramcar and public vehicles, improves tramcar and public vehicles mix the usual friendship road of row
The traffic efficiency of vehicle under mouthful.
The present invention is analyzed by taking normal four phases level crossing as an example, is reached for two tramcars with meeting car state
The signal control strategy of usual friendship mouth, specifically adopts the following technical scheme that
(1) conflict type when two tramcars reach crossing is judged, if two vehicle vertical conflicts, enter step (2)；If
The straight trip of two one, vehicles, a left-hand rotation, enter step (3)；If the straight trip of two one, vehicles, a right-hand rotation, enter step (4)；If double vehicles
Turn left, enters step (5)；If double vehicles are turned right, (6) are entered step；If two one, vehicles turn left, a right-hand rotation, enter step
(7)；
In level crossing vertical conflict occurs for (2) two vehicles, carries out following steps:
(21) the time t that two tramcars reach stop line is calculated separately；
(22) judge that two tramcars reach level crossing whether all for red light, if so, into (23)；Otherwise enter
(25)；
(23) judge whether current phase flow is greater than Q1, if so, two vehicles wait for parking, to a wherein rail electricity
After vehicle passes through, into (24)；If it is not, signal lamp Pre-handoff is to next phase, after wherein a tramcar passes through, together
Sample enters (24)；
(24) judge whether next phase flow is greater than Q2, if so, another tramcar waits for parking；Otherwise, directly across
More arrive the current phase of another tramcar；
Wherein an arrival level crossing is green light to (25) two vehicles, then judges green light remaining time tIt is surplusWhether rail electricity is greater than
Vehicle straight trip passes through the time n of level crossing, if so, the direct safety of vehicle, into (24)；Otherwise extension green time is taken
B, wherein b=n-tIt is surplus, into (24)；
(3) two vehicles carry out following steps in level crossing one straight trip, a left-hand rotation:
(31) the time t that two tramcars reach stop line is calculated separately；
(32) judge that two tramcars reach level crossing whether all for red light, if so, into (33)；Otherwise enter
(36)；
(33) judge next phase whether be a certain tramcar direction of travel green light, if so, into (35)；Otherwise into
Enter (34)；
(34) judgement is being let pass to whether the phase flow between tramcar walking phase is greater than Q2, if so, two vehicles
Wait for parking respective current phase；Otherwise, tramcar walking phase is directly crossed for its passage；
(35) whether the flow of the current current phase of judgement is greater than Q1, if so, two vehicles wait respectively current phase；Otherwise
Signal lamp Pre-handoff is to next phase；
Wherein an arrival level crossing is green light to (36) two vehicles, then judges green light remaining time tIt is surplusWhether rail electricity is greater than
Vehicle straight trip passes through the time n of level crossing, if so, the direct safety of vehicle, into (37)；Otherwise extend green time b,
Middle b=n-tIt is surplus, into (37)；
(37) judge whether next phase is the phase meeting red light vehicle and being passed through, if so, directly suitable according to normal phase
Sequence is current；Otherwise enter (38)；
(38) flow whether is greater than Q between the tramcar walking phase that judgement is being let pass2Phase, if so,
Insertion flow is greater than Q after current phase2Phase, be inserted into meet red light the passed through phase of tramcar；Otherwise directly across
More intermediate phase is to the current phase of tramcar；
(4) two vehicles carry out following steps in one, two vehicle of level crossing straight trip, a right-hand rotation:
(41) the time t that two tramcars reach stop line is calculated separately；
(42) judge that through vehicles reach whether level crossing encounters green light, if so, into (43)；Otherwise enter (45).
(43) judge green light remaining time tIt is surplusWhether time n that tramcar straight trip pass through level crossing is greater than, if so, directly
Driving directly passes through, into (44)；Otherwise extend green time b, wherein b=n-tIt is surplus, into (44)；
(44) after through vehicles safety, judge whether all phases have flow to be greater than Q in the current phase latter period1
Phase, if having after current phase be inserted into flow be greater than Q1Phase, be inserted into tramcar dedicated phase for turn right have
Rail electric car is current；If no, being inserted into tramcar dedicated phase directly after current phase；
(45) judge whether all phases have flow to be greater than Q in the current phase latter period1Phase, if so, current
It is inserted into flow after phase and is greater than Q1Phase, be inserted into tramcar dedicated phase for two tramcars simultaneously passage；If
No, tramcar dedicated phase is inserted into directly after current phase, two cars are current simultaneously.
(5) two vehicles turn left in level crossing, carry out following steps:
(51) two vehicles are judged whether in same phase, if it is logical for two tramcars that tramcar dedicated phase is then arranged
Row, into (52)；If it is not, into (53)；
(52) judge whether passage phase latter period when vehicle reaches level crossing has flow to be greater than Q1Phase, if
Have, insertion flow is greater than Q after current phase1Phase, be inserted into tramcar dedicated phase for two tramcars it is same
Shi Tonghang；If no, being inserted into tramcar dedicated phase directly after current phase, two cars are current simultaneously；
(53) the time t that two tramcars reach stop line is calculated separately；
(54) judge that two tramcars reach level crossing whether all for red light, if so, otherwise entering into (55)
(57)；
(55) judge whether current phase flow is greater than Q1, if so, two vehicles wait for parking, wherein a tramcar
By rear, into (56)；If it is not, signal lamp Pre-handoff is to next phase, wherein after a tramcar passes through, equally into
Enter (56)；
(56) judge whether next phase flow is greater than Q2, if so, another vehicle can only wait for parking；Otherwise, directly across
More arrive the current phase of another tramcar；
(57) judge green light remaining time tIt is surplusWhether time n that tramcar straight trip pass through level crossing is greater than, if so, vehicle
Direct safety, enters back into (56)；Otherwise extend green time b, wherein b=n-tIt is surplus, likewise enter (56)；
(6) two vehicles are turned right in level crossing, carry out following steps:
Tramcar dedicated phase is set, and judges whether passage phase latter period when vehicle reaches level crossing has
Flow is greater than Q1Phase, if so, insertion flow is greater than Q after current phase1Phase, be inserted into the dedicated phase of tramcar
Position is current simultaneously for two tramcars；If no, being inserted into tramcar dedicated phase directly after current phase, two cars are same
Shi Tonghang；
(7) two vehicles turn left at one, two vehicle of level crossing, and a right-hand rotation carries out following steps:
(71) the time t that two tramcars reach stop line is calculated separately；
(72) judge that left turning vehicle reaches whether level crossing encounters green light, if so, into (73)；Otherwise enter (75)；
(73) judge green light remaining time tIt is surplusWhether time n that tramcar straight trip pass through level crossing is greater than, if so,
Left turning vehicle passes through, into (74)；Otherwise extend green time b, wherein b=n-tIt is surplus, into (74)；
(74) whether judgement has flow to be greater than Q in the current current phase latter period1Phase, if so, in current phase
Insertion flow is greater than Q afterwards1Phase, be inserted into tramcar right-hand rotation dedicated phase；Otherwise it is directly inserted into after current phase
Tramcar right-hand rotation dedicated phase；
(75) whether judgement has flow to be greater than Q in the current current phase latter period1Phase, if having after current phase
It is inserted into flow and is greater than Q1Phase, be inserted into tramcar dedicated phase；Otherwise rail electricity is inserted into directly after current phase
Vehicle dedicated phase, two vehicles are current simultaneously.
Preferably, the formula that tramcar reaches the time t of stop line is calculated are as follows:Wherein, v is tramcar
Speed, l are the distances for predicting detector to stop line.
Preferably, the calculation formula that tramcar straight trip passes through the time n of level crossing are as follows:Wherein, c is
Tramcar vehicle commander, w are level crossing width.
The present invention has following advantageous effects:
The method of the present invention has real-time, adjusts control strategy according to the road vehicles information that real-time detection arrives, realizes
The Collaborative Control of tramcar and public vehicles；Secondly, two tramcar meetings appear in level crossing be one it is universal and
Complicated phenomenon, the invention is in view of the complexity of level crossing in reality, and proposition gears to actual circumstances and the stronger control of practicability
System strategy；Furthermore, it is contemplated that tramcar and public vehicles share same intersection, so two kinds of vehicles are separated simultaneously in time
Dynamic combined is carried out, reduces the conflict of level crossing, improves travel safety；Meanwhile the present invention provides relatively complete
Double tramcars control method, provide effective controlling party in the mixed row of level crossing for tramcar and public vehicles
Method not only increases the traffic efficiency of level crossing, is more advantageous to the sound development of urban transportation.
Detailed description of the invention
Fig. 1 is level crossing tramcar Loop detector layout and track laying schematic diagram；
Fig. 2 is control strategy flow chart under the double vehicle vertical conflict modes of tramcar；
Fig. 3 is control strategy flow chart under tramcar one straight trip, a left-hand rotation mode；
Fig. 4 is control strategy flow chart under tramcar one straight trip, a right-hand rotation mode；
Fig. 5 is control strategy flow chart under lower pair of vehicle of the same phase of tramcar left-hand rotation mode；
Fig. 6 is control strategy flow chart under lower pair of vehicle of tramcar out of phase left-hand rotation mode；
Fig. 7 is control strategy flow chart under the double vehicle right-hand rotation modes of tramcar；
Fig. 8 is control strategy flow chart under tramcar one left-hand rotation, a right-hand rotation mode；
Specific embodiment
1 to attached drawing 8, the present invention will be further described with reference to the accompanying drawing, this control strategy considers that two tramcars arrive
Up to level crossing and opposite public vehicles preferentially pass through, and carry out various combination classification according to different walking manners and realize, in fact
Existing process is in following classified description.
One, detector is arranged
Advance notice detector, request detector, stop line are successively installed before level crossing along tramcar direction of traffic
Detector cancels detector, the information such as the main position for obtaining tramcar and speed.Wherein, advance notice detector is to detect
Information of vehicles is sent to whistle control system when reaching to vehicle, so that whistle control system, which calculates vehicle, reaches stop line
Required time, and priority scheme is determined according to system model and current traffic information, whether allowed vehicle priority pass
Information；Request detector be vehicle reach when will send information to control system, control system simultaneously receive vehicle and
Detector issue override requests when, by calculate in advance whether preferential information is sent to semaphore and vehicle, inform that it is
No priority pass；Stop thread detector other than detecting vehicle Stop message, detection is also needed to stop when vehicle is let pass and sent
Information is to the real-time adjustment phase place of whistle control system；After cancellation detector then detects tailstock warp, the signal control of level crossing
Scheme processed revert to normal control state.Tramcar dedicated track is laid among main road, as shown in Figure 1.
Two, double vehicle vertical conflicts
(1) two vehicle, need to be according to the current signal lamp state of level crossing and vehicle when vertical conflict occurs for level crossing
Transit scenario is determined from advance notice detector to the hourage t for stopping thread detector, t is still by formula
It acquires.
(2) judge that two tramcars reach level crossing and are by (1) calculated time t and each vehicle to run mode
No is all red light, if so, into (3)；Otherwise enter (5).
(3) when two vehicles, which reach level crossing, encounters red light, judge whether current phase flow is greater than Q2, if so,
Two vehicles wait for parking, and due to considering signal lamp Four-phase control method, then next phase must be logical for a wherein tramcar
Row phase, into (4)；If it is not, taking " red light is early disconnected " strategy, signal lamp Pre-handoff is likewise entered to next phase
(4)。
(4) after wherein a tramcar passes through, judge whether next phase flow is greater than Q3, if so, another vehicle is only
It can parking waiting；Otherwise, the strategy " across phase " is taken, the current phase of another tramcar is directly crossed, is allowed to lead to safely
It crosses.
(5) judge through (2), wherein an arrival level crossing is green light to two vehicles, then judges that green light remaining time whether may be used
Pass through for the vehicle safety, if so, the direct safety of vehicle, enters back into (4)；Otherwise it takes " green light extension " tactful, extends
Green time b seconds, still by formula b=n-tIt is surplus(unit: s) acquires, and likewise enters (4).
Three, one, two vehicles straight trip, a left-hand rotation
(1) two vehicle is that a vehicle straight trip is worked as when another vehicle turns left according to level crossing in the walking manner of level crossing
Preceding signal lamp state and vehicle determines transit scenario to the hourage t for stopping thread detector from advance notice detector, and t is still
By formulaIt acquires.
(2) judge that two tramcars reach level crossing and are by (1) calculated time t and each vehicle to run mode
No is all red light, if so, into (3)；Otherwise enter (6).
(3) judge next phase whether be a certain tramcar direction of travel green light, if so, into (5)；Otherwise enter
(4)。
(4) judgement is being let pass to whether the phase flow between tramcar walking phase is greater than Q3, if so, two vehicles are equal
Wait for parking respective current phase；Otherwise, the strategy " across phase " is taken, directly crosses tramcar walking phase for it
It is current.
(5) whether the flow of the current current phase of judgement is greater than Q2, if so, two vehicles wait respectively current phase；Otherwise
Take " red light is early disconnected " strategy, signal lamp Pre-handoff to next phase.
(6) judge through (2), wherein an arrival level crossing is green light to two vehicles, then judges that green light remaining time whether may be used
Pass through for the vehicle safety, if so, the direct safety of vehicle, into (7)；Otherwise extend green time b seconds, b=n-tIt is surplusIt is (single
Position: s), into (7).
(7) judge whether next phase is the phase meeting red light vehicle and being passed through, if so, directly according to normal phase sequence
It is current；Otherwise enter (8).
(8) whether judgement is being let pass has flow to be greater than Q between tramcar walking phase3Phase, if so, taking
" insertion phase " strategy is inserted into flow after current phase and is greater than Q3Phase, be inserted into meet red light tramcar lead to
Row phase；Otherwise the strategy " across phase " is taken, directly crosses over intermediate phase to the current phase of tramcar.
Four, one, two vehicles straight trip, a right-hand rotation
(1) two vehicle is that a vehicle straight trip is worked as when another vehicle is turned right according to level crossing in the walking manner of level crossing
Preceding signal lamp state and vehicle determines transit scenario to the hourage t for stopping thread detector from advance notice detector, and t is still
By formulaIt acquires.
(2) since right-turning vehicles need dedicated phase, (i.e. public vehicles signal lamp state is Quan Hong, and level crossing only allows
Tramcar is current), then first judge that through vehicles reach whether level crossing encounters green light by (1) calculated time t, if
It is, into (3)；Otherwise enter (5).
(3) whether judge green light remaining time for through vehicles safety, if so, through vehicles directly pass through, into
Enter (4)；Otherwise it takes " green light extension " tactful, extends green time b seconds, b=n-tIt is surplus(unit: s), into (4).
(4) after through vehicles safety, judge whether all phases have flow to be greater than Q in the current phase latter period1
Phase be inserted into flow after current phase if so, taking " insertion phase " tactful and be greater than Q1Phase, be inserted into rail
Electric car dedicated phase is current for right-hand rotation tramcar；If no, being inserted into tramcar dedicated phase directly after current phase.
(5) red light is encountered since through vehicles reach intersection, then directly judges all phases in the current phase latter period
Whether position has flow to be greater than Q1Phase be inserted into flow after current phase if so, taking " insertion phase " tactful and be greater than Q1's
Phase is inserted into tramcar dedicated phase for two tramcars while passing through；If no, being inserted directly after current phase
Enter tramcar dedicated phase, two cars are current simultaneously.Five, double vehicles turn left
1, two vehicles are in same phase
(1) two vehicle turns left in level crossing and in same phase, and two relative directions carry out vehicle and turn left, consider simultaneously
It is current for two tramcars that tramcar dedicated phase need to be arranged in the size of level crossing under to reality.
(2) when tramcar reaches request detector, control system judges passage phase when vehicle reaches level crossing
Whether the position latter period has flow to be greater than Q1Phase be inserted into flow after current phase if so, taking " insertion phase " tactful
Greater than Q1Phase, be inserted into tramcar dedicated phase for two tramcars simultaneously passage；If no, directly current
Tramcar dedicated phase is inserted into after phase, two cars are current simultaneously.
2, two vehicles are in out of phase
(1) two vehicle is to turn left, but two vehicles are not in same phase, this control method and two in the walking manner of level crossing
Vehicle vertical conflict is similar, according to the current signal lamp state of level crossing and vehicle from advance notice detector to stopping thread detector
Hourage t determine transit scenario, t is still by formulaIt acquires.
(2) judge that two tramcars reach level crossing and are by (1) calculated time t and each vehicle to run mode
No is all red light, if so, otherwise entering (5) into (3).
(3) judge whether current phase flow is greater than Q2, if so, two vehicles wait for parking, due to considering signal lamp four
Phase control method, then next phase must be the wherein current phase of a tramcar, into (4)；If it is not, taking " red light
It is early disconnected " it is tactful, signal lamp Pre-handoff likewise enters (4) to next phase.
(4) after wherein a tramcar passes through, judge whether next phase flow is greater than Q3, if so, another vehicle is only
It can parking waiting；Otherwise, the strategy " across phase " is taken, the current phase of another tramcar is directly crossed, is allowed to lead to safely
It crosses.
(5) judge through (2), wherein an arrival level crossing is green light to two vehicles, then judges that green light remaining time whether may be used
Pass through for the vehicle safety, if so, the direct safety of vehicle, enters back into (4)；Otherwise it takes " green light extension " tactful, extends
Green time b seconds, still by formula b=n-tIt is surplus(unit: s) acquires, and likewise enters (4).
Six, double vehicles are turned right
(1) two vehicle is to turn left in the walking manner of level crossing, since tramcar is turned right and same-phase public vehicles
There are conflicts, then regardless of whether in same phase, all need setting tramcar dedicated phase.
(2) when tramcar reaches request detector, control system judges passage phase when vehicle reaches level crossing
Whether the position latter period has flow to be greater than Q1Phase be inserted into flow after current phase if so, taking " insertion phase " tactful
Greater than Q1Phase, be inserted into tramcar dedicated phase for two tramcars simultaneously passage；If no, directly current
Tramcar dedicated phase is inserted into after phase, two cars are current simultaneously
Seven, one, two vehicles left-hand rotation, a right-hand rotation
(1) two vehicle is that a vehicle turns left in the walking manner of level crossing, and another vehicle is turned right, according to the letter of level crossing
Signal lamp state and vehicle determine transit scenario from detector is predicted to the hourage t for stopping thread detector, and t is still by formulaIt acquires.
(2) since right-turning vehicles need dedicated phase, then first judge that left turning vehicle reaches by (1) calculated time t and put down
Whether cross-channel mouth encounters green light, if so, into (3)；Otherwise enter (5).
(3) judge that green light remaining time whether for left turning vehicle safety, if so, left turning vehicle passes through, carries out
Judge in next step, into (4)；Otherwise it takes " green light extension " tactful, extends green time b seconds, still by formula b=n-tIt is surplusIt is (single
Position: it s) acquires, into (4).
(4) whether judgement has flow to be greater than Q in the current current phase latter period1Phase, " the insertion phase if so, take
Position " strategy is inserted into flow after current phase and is greater than Q1Phase, be inserted into tramcar right-hand rotation dedicated phase；Otherwise straight
Connect the insertion tramcar right-hand rotation dedicated phase after current phase.
(5) judge that left turning vehicle reaches level crossing in red light by (2), then judgement is current again passes through phase latter week
Whether there is flow to be greater than Q in phase1Phase, if having after current phase be inserted into flow be greater than Q1Phase, be inserted into rail electricity
Vehicle dedicated phase (this dedicated phase two cars is current simultaneously)；Otherwise the dedicated phase of tramcar is inserted into directly after current phase
Position, two vehicles are current simultaneously.
Claims (3)
1. a kind of lower pair of tramcar level crossing of non-meeting car state cooperates with method for controlling priority, which is characterized in that including as follows
Step:
(1) conflict type when two tramcars reach crossing is judged, if two vehicle vertical conflicts, enter step (2)；If two vehicles
One straight trip, a left-hand rotation, enter step (3)；If the straight trip of two one, vehicles, a right-hand rotation, enter step (4)；If double vehicles are left
Turn, enters step (5)；If double vehicles are turned right, (6) are entered step；If two one, vehicles turn left, a right-hand rotation, (7) are entered step；
In level crossing vertical conflict occurs for (2) two vehicles, carries out following steps:
(21) the time t that two tramcars reach stop line is calculated separately；
(22) judge that two tramcars reach level crossing whether all for red light, if so, into (23)；Otherwise enter (25)；
(23) judge whether current phase flow is greater than Q1, if so, two vehicles wait for parking, it is logical to a wherein tramcar
Later, into (24)；If it is not, signal lamp Pre-handoff is to next phase, after wherein a tramcar passes through, equally into
Enter (24)；
(24) judge whether next phase flow is greater than Q2, if so, another tramcar waits for parking；Otherwise, it directly crosses another
One tramcar passage phase；
Wherein an arrival level crossing is green light to (25) two vehicles, then judges green light remaining time tIt is surplusWhether tramcar is greater than straight
Row passes through the time n of level crossing, if so, the direct safety of vehicle, into (24)；Otherwise it takes and extends green time b,
Middle b=n-tIt is surplus, into (24)；
(3) two vehicles carry out following steps in level crossing one straight trip, a left-hand rotation:
(31) the time t that two tramcars reach stop line is calculated separately；
(32) judge that two tramcars reach level crossing whether all for red light, if so, into (33)；Otherwise enter (36)；
(33) judge next phase whether be a certain tramcar direction of travel green light, if so, into (35)；Otherwise enter
(34)；
(34) judgement is being let pass to whether the phase flow between tramcar walking phase is greater than Q2, if so, two vehicles stop
Wait respective current phase；Otherwise, tramcar walking phase is directly crossed for its passage；
(35) whether the flow of the current current phase of judgement is greater than Q1, if so, two vehicles wait respectively current phase；Otherwise signal
Lamp Pre-handoff is to next phase；
Wherein an arrival level crossing is green light to (36) two vehicles, then judges green light remaining time tIt is surplusWhether tramcar is greater than straight
Row passes through the time n of level crossing, if so, the direct safety of vehicle, into (37)；Otherwise extend green time b, wherein b
=n-tIt is surplus, into (37)；
(37) judge whether next phase is the phase meeting red light vehicle and being passed through, if so, directly logical according to normal phase sequence
Row；Otherwise enter (38)；
(38) flow whether is greater than Q between the tramcar walking phase that judgement is being let pass2Phase, if so, in current phase
Insertion flow is greater than Q behind position2Phase, be inserted into meet red light the passed through phase of tramcar；Otherwise directly across intermediate
Phase is to the current phase of tramcar；
(4) two vehicles carry out following steps in one, two vehicle of level crossing straight trip, a right-hand rotation:
(41) the time t that two tramcars reach stop line is calculated separately；
(42) judge that through vehicles reach whether level crossing encounters green light, if so, into (43)；Otherwise enter (45)；
(43) judge green light remaining time tIt is surplusWhether time n that tramcar straight trip pass through level crossing is greater than, if so, straight traffic
Directly pass through, into (44)；Otherwise extend green time b, wherein b=n-tIt is surplus, into (44)；
(44) after through vehicles safety, judge whether all phases have flow to be greater than Q in the current phase latter period1Phase
Position is greater than Q if having and being inserted into flow after current phase1Phase, be inserted into tramcar dedicated phase for right-hand rotation rail electricity
Vehicle is current；If no, being inserted into tramcar dedicated phase directly after current phase；
(45) judge whether all phases have flow to be greater than Q in the current phase latter period1Phase, if so, after current phase
It is inserted into flow and is greater than Q1Phase, be inserted into tramcar dedicated phase for two tramcars simultaneously passage；If no, directly
The insertion tramcar dedicated phase after current phase is connect, two cars are current simultaneously；
(5) two vehicles turn left in level crossing, carry out following steps:
(51) judge that two vehicles whether in same phase, pass through if tramcar dedicated phase is then arranged for two tramcars,
Into (52)；If it is not, into (53)；
(52) judge whether passage phase latter period when vehicle reaches level crossing has flow to be greater than Q1Phase, if so,
Insertion flow is greater than Q after current phase1Phase, be inserted into tramcar dedicated phase for two tramcars simultaneously lead to
Row；If no, being inserted into tramcar dedicated phase directly after current phase, two cars are current simultaneously；
(53) the time t that two tramcars reach stop line is calculated separately；
(54) judge that whether two tramcars reach level crossing all for red light, if so, otherwise entering (57) into (55)；
(55) judge whether current phase flow is greater than Q1, if so, two vehicles wait for parking, wherein a tramcar passes through
Afterwards, into (56)；If it is not, signal lamp Pre-handoff is to next phase, wherein likewise entering after a tramcar passes through
(56)；
(56) judge whether next phase flow is greater than Q2, if so, another vehicle can only wait for parking；Otherwise, it directly crosses another
One tramcar passage phase；
(57) judge green light remaining time tIt is surplusWhether time n that tramcar straight trip pass through level crossing is greater than, if so, vehicle is straight
Safety is connect, (56) are entered back into；Otherwise extend green time b, wherein b=n-tIt is surplus, likewise enter (56)；
(6) two vehicles are turned right in level crossing, carry out following steps:
Tramcar dedicated phase is set, and judges whether passage phase latter period when vehicle reaches level crossing has flow
Greater than Q1Phase, if so, insertion flow is greater than Q after current phase1Phase, be inserted into tramcar dedicated phase confession
Two tramcars are current simultaneously；If no, being inserted into tramcar dedicated phase directly after current phase, two cars lead to simultaneously
Row；
(7) two vehicles turn left at one, two vehicle of level crossing, and a right-hand rotation carries out following steps:
(71) the time t that two tramcars reach stop line is calculated separately；
(72) judge that left turning vehicle reaches whether level crossing encounters green light, if so, into (73)；Otherwise enter (75)；
(73) judge green light remaining time tIt is surplusWhether it is greater than tramcar straight trip and passes through the time n of level crossing, if so, turns left
Vehicle passes through, into (74)；Otherwise extend green time b, wherein b=n-tIt is surplus, into (74)；
(74) whether judgement has flow to be greater than Q in the current current phase latter period1Phase, if so, being inserted into after current phase
Flow is greater than Q1Phase, be inserted into tramcar right-hand rotation dedicated phase；Otherwise rail electricity is inserted into directly after current phase
Vehicle right-hand rotation dedicated phase；
(75) whether judgement has flow to be greater than Q in the current current phase latter period1Phase, be inserted into after current phase if having
Flow is greater than Q1Phase, be inserted into tramcar dedicated phase, two cars are current simultaneously；Otherwise directly after current phase
It is inserted into tramcar dedicated phase, two vehicles are current simultaneously.
2. lower pair of tramcar level crossing of non-meeting car state cooperates with method for controlling priority as described in claim 1, feature exists
In,
Calculate the formula that tramcar reaches the time t of stop line are as follows:Wherein, v is the speed of tramcar, and l is advance notice
Distance of the detector to stop line.
3. lower pair of tramcar level crossing of non-meeting car state cooperates with method for controlling priority as claimed in claim 2, feature exists
In,
The calculation formula that tramcar straight trip passes through the time n of level crossing are as follows:Wherein, c is tramcar vehicle
Long, w is level crossing width.
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| CN108550257B (en) * | 2018-03-23 | 2020-12-11 | 同济大学 | Coordination control method and system for intersection of multi-line rail vehicles |
| CN110401685A (en) * | 2018-04-25 | 2019-11-01 | 郑州宇通客车股份有限公司 | A kind of intelligence control cloud platform of two visitor of automatic Pilot, one danger vehicle |
| CN108389411B (en) * | 2018-04-26 | 2021-04-30 | 公安部交通管理科学研究所 | Tramcar signal priority control method based on multi-line intersection |
| CN110335475B (en) * | 2019-06-28 | 2020-07-14 | 东南大学 | Induction control method and system for intersection signal lamp of compound-line common-rail tramcar |
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