CN107845267A

CN107845267A - Safe and efficient control method and the system of handling up of the wagon flow at plane convergence crossing

Info

Publication number: CN107845267A
Application number: CN201710836964.3A
Authority: CN
Inventors: 苏晓峰
Original assignee: Czech Republic Shenzhen City Creative Technology Ltd
Current assignee: Czech Republic Shenzhen City Creative Technology Ltd
Priority date: 2016-09-17
Filing date: 2017-09-17
Publication date: 2018-03-27
Also published as: CN107909827A; CN107845271A; CN107845266A; CN107909829A; CN107909828A; CN107909832A; CN107845270A; CN107909831A; CN107845280A; CN107909826A; CN107845269A; CN107845268A; CN107909830A; CN107845272A

Abstract

The embodiment of the present application discloses the signal lamp control system at plane convergence crossing, and the plane convergence crossing includes entrance lane Ci and entrance lane Cj, the entrance lane Ci and the entrance lane Cj are respectively provided with boot section.The boot section of the entrance lane Ci is provided with speed guiding lamp array, the speed guiding lamp array includes NCi horizontal ground signal lamp groups, and each horizontal ground signal lamp group in the NCi horizontal ground signal lamp groups includes at least one ground signal lamp.The NCi horizontal ground signal lamp groups include horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq, what horizontal ground signal lamp group Cip was arranged at the boot section rolls border line position away from, and what horizontal ground signal lamp group Ciq was arranged at the boot section drives into border line position.

Description

Safe and efficient control method and the system of handling up of the wagon flow at plane convergence crossing

Technical field

The application is related to electronic traffic technical field, and the wagon flow for being specifically mainly concerned with grade crossing is safe and efficient Current bootstrap technique and system.

Background technology

Currently, as the quickening of urbanization process, people's living standard increasingly improve, many metropolitan motor vehicles are possessed Amount in turn results in increasingly severe traffic jam issue in the trend increased year by year.Urban traffic blocking is daily to people Trip causes necessarily to influence, and largely constrains economic development.Also, congestion causes vehicle oil consumption largely to increase More (generally increase by more than 50% under normal speed is compared in oil consumption of the vehicle under idling/jogging state), resource and time are big Amount also causes emission from vehicles largely to increase while waste, has a strong impact on air quality.Therefore how " to control stifled " becomes The heat subject that many engineers and technicians study instantly in the industry.Such as how to improve the vehicle pass-through effect at plane convergence crossing Rate and safely controllable property are exactly a technical task highly studied.At present even technically alleviating congestion percent One is also enough to make engineers and technicians joyful very much, because even congestion is alleviated into 1 percent, that also may be used for the whole society It is accumulative to obtain great social profit.But this progress is slowly produced little effect very much in the industry at present.

The content of the invention

The embodiment of the present application provides the Signalized control method and related system at plane convergence crossing.

The embodiment of the present application first aspect provides a kind of plane convergence crossing, it may include：Confluence, exit lane, entrance Track Ci and entrance lane Cj.Difference of the outlet of the entrance lane Ci and entrance lane Cj respectively with the confluence enters Mouth connection.The entrance of the exit lane is connected with the outlet of the confluence.The entrance lane Ci's and entrance lane Cj It is identical or different to drive into direction.

Wherein, the entrance lane Ci has boot section LE_Ci.The boundary line of driving into of the boot section LE_Ci is described Entrance lane Ci avoidance stop line, or the boot section LE_Ci drive into avoidance of the boundary line between the entrance lane Ci Stop line and the entrance lane Ci's rolls away between boundary line.The boundary line of rolling away from of the boot section LE_Ci is the entrance Track Ci's rolls boundary line away from, or side is driven into the boundary line of rolling away from of the boot section LE_Ci between the boot section LE_Ci Boundary line and the entrance lane Ci's rolls away between boundary line.

Wherein, the entrance lane Cj has boot section LE_Cj.The boundary line of driving into of the boot section LE_Cj is described Entrance lane Cj avoidance stop line, or the boot section LE_Cj drive into avoidance of the boundary line between the entrance lane Cj Stop line and the entrance lane Cj's rolls away between boundary line.The boundary line of rolling away from of the boot section LE_Cj is the entrance Track Cj's rolls boundary line away from, or side is driven into the boundary line of rolling away from of the boot section LE_Cj between the boot section LE_Cj Boundary line and the entrance lane Cj's rolls away between boundary line.

Wherein, the boot section LE_Ci is provided with speed guiding lamp array Ar_Ci.The speed guiding lamp array Ar_Ci Including NCi horizontal ground signal lamp groups, each horizontal ground signal lamp group in the individual horizontal ground signal lamp groups of the NCi Including at least one ground signal lamp.The NCi horizontal ground signal lamp groups include horizontal ground signal lamp group Ciq and transverse direction Ground signal lamp group Cip, wherein, what the horizontal ground signal lamp group Ciq was arranged on the boot section LE_Ci drives into border Line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position, the transverse direction away from Spacing between ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters.

Wherein, the boot section LE_Cj is provided with speed guiding lamp array Ar_Cj.The speed guiding lamp array Ar_Cj Including NCj horizontal ground signal lamp groups.Each horizontal ground signal lamp group in the NCj horizontal ground signal lamp groups Including at least one ground signal lamp.The NCj horizontal ground signal lamp groups include horizontal ground signal lamp group Cjq and transverse direction What ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq were arranged on the boot section LE_Cj drives into boundary line position Put, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from.The horizontal ground Spacing between signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the L_LE-min.Speed guiding lamp array (such as speed guiding lamp array Ar_Ci and speed guiding lamp array Ar_Cj) can also claim " boot section ground signal lamp array row " or " boot section signal lamp array " etc..

The NCi can be equal to 2,3,4,5,6,7,8,9,10,11,29 or other values.When NCi is more than 2, then the NCi Individual horizontal ground signal lamp group also includes between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq A horizontal ground signal lamp group that Nci subtracts 2.The NCj can be equal to 2,3,4,5,6,7,8,9,10,11,25 or other values.Work as NCj More than 2, then the NCj horizontal ground signal lamp groups also include believing between horizontal ground signal lamp group Cjp and horizontal ground A horizontal ground signal lamp group that NCj between signal lamp group Cjq subtracts 2.

Such as the spacing rolled boundary line away from and driven between boundary line of the boot section LE_Ci (or boot section LE_Cj) L_{LE_Ci}(or L_{LE_Cj}) Value space be, for example, between 2 meters~50 meters.Specific for example described L_{LE_Ci}(or L_{LE_Cj}) codomain it is empty Between can be 8 meters~25 meters between.Specific such as L_{LE_Ci}(or L_{LE_Cj}) be equal to 2 meters, 3 meters, 5 meters, 8 meters, 8.4 meters, 10 meters, 15 Rice, 20 meters, 25 meters, 30 meters, 40 meters, 50 meters or other values.

The horizontal ground signal lamp groups of the NCi may be uniform or heterogeneous be distributed in respective guide area.The NCi The spacing between any two adjacent transverse ground signal lamp group in horizontal ground signal lamp group is equal or part is equal or mutual It is unequal.Such as the spacing between any two adjacent transverse ground signal lamp group in NCi horizontal ground signal lamp groups can It is 1 meter, 1.5 meters, 2 meters, 2.5 meters, 3 meters, 4 meters or other values.In another example in the NCi horizontal ground signal lamp groups, away from Spacing between two more remote horizontal ground signal lamp group Ciq adjacent transverse ground signal lamp groups is bigger, i.e., is converged in boot section Enter on direction, the spacing between two adjacent transverse ground signal lamp groups in the NCi horizontal ground signal lamp groups is gradual Increase.Or in the NCi horizontal ground signal lamp groups, it is adjacent apart from the horizontal ground signal lamp group Ciq more remote two Spacing between horizontal ground signal lamp group is smaller, i.e., is imported in boot section on direction, the NCi horizontal ground signal lamp groups In two adjacent transverse ground signal lamp groups between spacing be gradually reduced.The certain NCi horizontal ground signal lamp groups Spacing between two adjacent transverse ground signal lamp groups is also likely to be changing rules arbitrarily change or other, and is differed Surely the changing rule for being gradually reduced along certain direction or gradually increasing of the example above is showed.

The embodiment of the present application second aspect provides a kind of Signalized control method at plane convergence crossing, the plane convergence Crossing for example can be such as any one plane convergence crossing of first aspect offer.

Methods described may include：When away from reference to moment T_{ck_Cj}Arrival there remains overlapping duration T_{cd_Ci}When, described in control NCi horizontal ground signal lamp groups be switched to fair traveling optical signal send state (such as can be sent from forbidden optical signal state or OFF state is switched to fair traveling optical signal and sends state), wherein, the horizontal ground signal lamp group Cip and the horizontal ground Signal lamp group Ciq is switched to the time interval Δ T that fair traveling optical signal sends state_{g-Cip_Ciq}More than or equal to it is described overlapping when Long T_{cd_Ci}, and the Δ T_{g-Cip_Ciq}T was added less than 3 seconds_{cd_Ci}(3 seconds+T_{cd_Ci}) or the Δ T_{g-Cip_Ciq}Less than 1.2* T_{cd_Ci}(1.2 are multiplied by T_{cd_Ci}).Wherein, it is described to refer to moment T_{ck_Cj}Believe for the fair row light of the horizontal ground signal lamp group Cjq Number send the finish time T of state_ge-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ge-CjqPass through Cj pairs of the entrance lane again The safety clearance duration T answered_qk-CjAnd at the time of arrival, or it is described with reference to moment T_{ck_Cj}For the horizontal ground signal lamp group Cjq police's traveling optical signal sends the finish time T of state_ye-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ye-CjPass through again Safety clearance duration T corresponding to the entrance lane Cj_qk-CjAnd at the time of arrival.

Wherein, the NCi horizontal ground signal lamp groups include horizontal ground signal lamp group Cii and horizontal ground signal lamp Group Cij, the horizontal ground signal lamp group Cij and the entrance lane Ci spacing avoided between stop line, more than described The horizontal ground signal lamp group Cii and entrance lane Ci spacing avoided between stop line；The horizontal ground signal lamp Group Cii and horizontal ground signal lamp group Cij is described in the spacing in the NCi horizontal ground signal lamp groups is more than or equal to Any two transverse direction ground signal lamp group of most short effectively guiding distance, the horizontal ground signal lamp group Cii are switched to fair row At the time of optical signal sends state earlier than the horizontal ground signal lamp group Cij be switched to fair traveling optical signal send state when Carve；Wherein, V_{g-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{g-Cii_Cij}Obtained from business, wherein, the L_{Cii_Cij}For horizontal ground signal Spacing between lamp group Cij and horizontal ground signal lamp group Cii；The Δ T_{g-Cii_Cij}For horizontal ground signal lamp group Cij with The horizontal ground signal lamp group Cii is switched to the interval duration that fair traveling optical signal sends state, the V_{g-Cii_Cij}Less than institute State entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed.

It is appreciated that horizontal ground signal lamp group Cii can be horizontal ground signal lamp group Ciq, or be also likely to be between Other horizontal ground signal lamp groups between horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip.Horizontal ground Signal lamp group Cij can be horizontal ground signal lamp group Cip, or be also likely to be between horizontal ground signal lamp group Ciq and transverse direction Between ground signal lamp group Cip and between horizontal ground signal lamp group Cii spacing is more than or equal to the L_LE-min's Other any 1 horizontal ground signal lamp group.

It is appreciated that traveling optical signal is permitted to send state when certain horizontal ground signal lamp group is in, then to mean that permission car The traffic mark line corresponding to the horizontal ground signal lamp group is crossed, certain horizontal ground signal lamp group is in forbidden optical signal Send state, then mean that and forbid vehicle to cross the traffic mark line corresponding to the horizontal ground signal lamp group, with such Push away.

Wherein, the determination mode of the maximum safe speed of certain entrance lane (such as entrance lane Ci or entrance lane Cj) Can be diversified.Such as Maximum speed limit * peace of the entrance lane Ci maximum safe speed for example equal to entrance lane Ci Overall coefficient μ 4, safety coefficient μ 4 are the real number more than 0 and less than or equal to 1, such as safety coefficient μ 4 Value space (codomain Space is span) for more than 0.4 and less than or equal to the real number of 1 (or more than 0.4 and less than 0.8).Safety coefficient μ 4 Such as it is equal to 0.4,0.3,0.35,0.6,0.8,0.7,0.9,0.65 or other value.Or in another example, entrance lane Ci highest peace Full speed the degree minimum speed limit * safety coefficients μ 5 for example equal to entrance lane Ci, safety coefficient μ 5 are the reality more than 0 and less than 2 Number, it is specific for example, safety coefficient μ 5 Value space is more than 0.4 and less than the real number of 2 (or more than 0.4 and less than 1.2). Wherein, the safety coefficient μ 5 can for example be equal to 0.4,0.5,0.8,0.7,0.9,0.65,1.1,1.9,1.2 or other values. Or in another example the Value space of entrance lane Ci maximum safe speed is, for example, 15~45 kilometers of speed per hour, specific such as entrance car Road Ci maximum safe speed can be equal to 15 kilometers/hour, 18 kilometers/hour, 20 kilometers/hour, 22 kilometers/hour, 26 public affairs In/hour, 30 kilometers/hour, 36 kilometers/hour, 45 kilometers/hour, 38 kilometers/hour or other speed.Entrance lane Cj The determination mode of maximum safe speed can be by that analogy.

For example, horizontal ground signal lamp group Ciq described in the distance among the NCi horizontal ground signal lamp groups is got over Near horizontal ground signal lamp group be switched to fair traveling optical signal send it is more early at the time of state.For example, the horizontal ground signal At the time of lamp group Cip is switched to fair traveling optical signal and sends state, it is later than other in the NCi horizontal ground signal lamp groups At the time of any 1 horizontal ground signal lamp group is switched to fair traveling optical signal and sends state.That is, described NCi horizontal Each horizontal ground signal lamp group in ground signal lamp group can import direction along boot section and be sequentially switched to permit traveling optical signal State is sent, this to cross the time of boot section and speed to vehicle with regard to preferably carrying out rationally suitable guiding and establishing Basis, presented for example, advantageously allowing vehicle in the fair traveling optical signal that NCi horizontal ground traffic signal light groups are sent It is safely controllable under the guiding of the guiding speed gone out to roll boot section away from, and then vehicle is advantageously allowed with safer controllable high-efficiency Mode cross confluence.

The L_LE-minMore than or equal to 2 meters.In each embodiment scheme of the application, L_LE-minValue space for example can be 2 Rice~10 meters.It is described most it is short effectively guiding distance for example can be equal to 2 meters, 2.5,3 meters, 4 meters, 4.8 meters, 5 meters, 5.3 meters, 6 meters, 7 Rice, 8 meters, 9 meters, 10 meters or other values.Where it is assumed that the most short effectively guiding distance is 5 meters, then represents the NCi Any two transverse direction ground signal lamp group of the horizontal ground signal lamp group medium spacing more than or equal to 5 meters is (wherein, as laterally Face signal lamp group Cii and horizontal ground signal lamp group Cij) spacing (such as L_{Cii_Cij}), divided by the two horizontal ground signal lamps Group is switched to interval duration (such as Δ T that fair traveling optical signal sends state_{g-Cii_Cij}) and obtain business (V_{g-Cii_Cij}, V_{g-Cii_Cij}Can Regard the fair row guiding speed that the two horizontal ground signal lamp groups are presented as), the highest limit less than the entrance lane Ci Fast or minimum speed limit or maximum safe speed.The effectively fair row that i.e. described NCi horizontal ground signal lamp groups can be presented draws Speed is led, is less than entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed.Like this, be advantageous to So that being switched in horizontal ground signal lamp group Ciq near at the time of fair traveling optical signal sends state, avoidance stop line is crossed Wagon flow head car confluence is driven into more safely controllable speed, thus advantageously ensure that the conflict track of confluence each other Wagon flow on two entrances track (such as entrance lane Ci and entrance lane Cj) is advantageous in the safely controllable property of confluence This two bursts of wagon flows are avoided to be clashed in confluence.

For example, the safety clearance duration T_qk-CjValue space for example can be 0.2 second~5 seconds between.Concrete example Such as, the safety clearance duration T_qk-CjValue space for example can be 2 seconds~5 seconds between.Specifically for example, the safety clearance Duration T_qk-CjValue space for example can be 2 seconds~4 seconds between.More specifically, T_qk-CjCan be equal to 0.5 second, 1 second, 1.2 seconds, 1.8 seconds, 2 seconds, 2.5 seconds, 2.8 seconds, 3 seconds, 4 seconds, 4.5 seconds or other values.For example, safety clearance duration T_qk-CjWith track Cj's Empty distance (track Cj empty distance for example, track Cj avoidance stop line and corresponding confluence roll away from boundary line it Between operating range) positive correlation (such as directly proportional or approximate directly proportional).

Optionally, methods described can also for example include：Sent out in the horizontal ground signal lamp group Ciq in fair traveling optical signal Do well and continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to be sent from fair traveling optical signal State is switched to forbidden optical signal and sends state.Or send state in fair traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from fair traveling optical signal and be switched to Forbidden optical signal sends state, and the horizontal ground signal lamp group Cii sends state from fair traveling optical signal and is switched to forbidden light letter At the time of number sending state, send state from fair traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to forbidden light At the time of signal sends state.Or it is switched at the time of fair traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to forbidden optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of fair traveling optical signal sends state again_g-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to forbidden optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to forbidden optical signal and sends state, forbidden light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

Optionally, methods described can also for example include：Sent out in the horizontal ground signal lamp group Ciq in fair traveling optical signal Do well and continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to be sent from fair traveling optical signal State is switched to alert traveling optical signal and sends state.Or send state in fair traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from fair traveling optical signal and be switched to Alert traveling optical signal sends state, and the horizontal ground signal lamp group Cii sends state from fair traveling optical signal and is switched to alert row light letter At the time of number sending state, send state from fair traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to alert row light At the time of signal sends state.Or it is switched at the time of fair traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to alert traveling optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of fair traveling optical signal sends state again_g-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to alert traveling optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to alert traveling optical signal and sends state, alert row light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

Optionally, methods described can also for example include：In the horizontal ground signal lamp group Ciq in alert traveling optical signal hair Do well and continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups are synchronous to be sent from alert traveling optical signal State is switched to forbidden optical signal and sends state.Or send state in alert traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from alert traveling optical signal and be switched to Forbidden optical signal sends state, and the horizontal ground signal lamp group Cii sends state from alert traveling optical signal and is switched to forbidden light letter At the time of number sending state, send state from alert traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to forbidden light At the time of signal sends state.Or it is switched at the time of alert traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to forbidden optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of alert traveling optical signal sends state again_y-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to forbidden optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to forbidden optical signal and sends state, forbidden light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

For example, horizontal ground signal lamp group Ciq described in distance among the NCi horizontal ground signal lamp groups is nearer Horizontal ground signal lamp group be switched to alert traveling optical signal send it is more early at the time of state.Such as the horizontal ground signal lamp group At the time of Cip is switched to alert traveling optical signal and sends state, be later than in the NCi horizontal ground signal lamp groups other any 1 At the time of individual horizontal ground signal lamp group is switched to alert traveling optical signal and sends state.That is, the NCi horizontal ground Each horizontal ground signal lamp group in signal lamp group, which can import direction along boot section and be sequentially switched to warn traveling optical signal, to be sent State.Certainly, in particular cases, distance certain two very near horizontal ground signal lamp groups may also synchronism switching to warn row Optical signal sends state.

For example, horizontal ground signal lamp group Ciq described in distance among the NCi horizontal ground signal lamp groups is nearer Horizontal ground signal lamp group be switched to forbidden optical signal send it is more early at the time of state.Such as the horizontal ground signal lamp group At the time of Cip is switched to forbidden optical signal and sends state, be later than in the NCi horizontal ground signal lamp groups other any 1 At the time of individual horizontal ground signal lamp group is switched to forbidden optical signal and sends state.That is, the NCi horizontal ground Each horizontal ground signal lamp group in signal lamp group can be sequentially switched to forbidden optical signal along boot section remittance direction and send State.Certainly, in particular cases, certain two very near horizontal ground signal lamp groups of distance may also synchronism switching to forbidden Optical signal sends state.

For ease of understand, such as can by the horizontal ground signal lamp group Ciq be in permit traveling optical signal send state when Section regards entrance lane Ci fair row phase as.In another example the horizontal ground signal lamp group Ciq can be in alert row light The period that signal sends state regards entrance lane Ci police's row phase as.In another example can be by the horizontal ground signal lamp group Ciq, which is in forbidden optical signal and sends period of state, regards entrance lane Ci forbidden phase as.Other situations can be with such Push away.

It is described to refer to moment T_{ck_Cj}The finish time of for example, described entrance lane Cj right of way phase.

Wherein, overlapping duration T_{cd_Ci}Can be light control device storage preset value (light control device can according to from host computer or The overlapping duration more new command of Man Machine Interface updates currently stored T_{cd_Ci}) or overlapping duration T_{cd_Ci}Pre- imputation can be based on Method is calculated in real time.Such as overlapping duration T_{cd_Ci}Can be equal to 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8.1 seconds, 10 seconds, 15 Second, 20 seconds or other durations.Overlapping duration T_{cd_Ci}It is greater than 0 second and less than 25 seconds.Or overlapping duration T_{cd_Ci}It is, for example, less than institute State entrance lane Cj right of way phase duration.

Optionally, V_{y-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{y-Cii_Cij}Obtained from business, wherein, the Δ T_{y-Cii_Cij}For When horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cii are switched to alert traveling optical signal and send the interval of state It is long.The V_{y-Cii_Cij}Equal to minimum speed limit or the V_{y-Cii_Cij}More than the V_{g-Cii_Cij}。

Optionally, V_{r-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{r-Cii_Cij}Obtained from business, wherein, the Δ T_{r-Cii_Cij}For When horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cii are switched to forbidden optical signal and send the interval of state It is long.The V_{r-Cii_Cij}Equal to minimum speed limit or the V_{r-Cii_Cij}More than the V_{g-Cii_Cij}.Wherein, V_{y-Cii_Cij}Be more than or Equal to or less than V_{r-Cii_Cij}。

For example, the NCi horizontal ground signal lamp groups include the horizontal ground signal lamp group Cii, the horizontal stroke Earthward signal lamp group Cij and horizontal ground signal lamp group Cik.Wherein, the horizontal ground signal lamp group Cij with it is described enter The mouth track Ci spacing avoided between stop line, less than the horizontal ground signal lamp group Cik's and entrance lane Ci Avoid the spacing between stop line.

For example, V_{r-Cii_Cij}Equal to V_{r-Cij_Cik}, the V_{r-Cij_Cik}Equal to L_{Cij_Cik}Divided by Δ T_{r-Cij_Cik}Obtained from business. The L_{Cij_Cik}It is described for the spacing between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik ΔT_{r-Cij_Cik}Forbidden optical signal is switched to for horizontal ground signal lamp group Cik with the horizontal ground signal lamp group Cij to send The interval duration of state, the L_{Cij_Cik}More than or equal to the most short effectively guiding distance.The V_{r-Cii_Cij}Equal to L_{Cii_Cij} Divided by Δ T_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}For horizontal ground signal lamp group Cii and the horizontal ground signal Lamp group Cij is switched to the interval duration that forbidden optical signal sends state.

In another example V_{g-Cii_Cij}Less than or equal to V_{g-Cij_Cik}, the V_{g-Cij_Cik}Equal to L_{Cij_Cik}Divided by Δ T_{g-Cij_Cik}And obtain The business arrived；The L_{Cij_Cik}Between between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik Away from；The Δ T_{g-Cij_Cik}Fair row light is switched to for horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij to believe Number send the interval duration of state, the L_{Cij_Cik}More than or equal to the most short effectively guiding distance.

For example, the horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip is switched to fair traveling optical signal The interval duration of state is sent, horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip can be more than or equal to and switched The interval duration of state is sent to forbidden optical signal (or alert traveling optical signal).For example, the horizontal ground signal lamp group Ciq with Horizontal ground signal lamp group Cip is switched to the interval duration that forbidden optical signal sends state, can be more than or equal to or less than transverse direction Ground signal lamp group Ciq and horizontal ground signal lamp group Cip is switched to the interval duration that alert traveling optical signal sends state.

The embodiment of the present application provides a kind of Signalized control device at plane convergence crossing, the plane convergence crossing bag Include：Confluence, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj with The confluence entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance car Road Ci avoidance stop line overlaps on locus, or the boot section LE_Ci rolls boundary line away between the entrance car Road Ci avoidance stop line confluence corresponding with the entrance lane Ci is driven between boundary line；The boot section LE_Ci's Roll boundary line away from and drive into boundary line for confluence corresponding to the entrance lane Ci, or the boot section LE_Ci rolls border away from Line drives into the rolling away between boundary line of boundary line and the entrance lane Ci between the boot section LE_Ci's；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance car Road Cj avoidance stop line overlaps on locus, or the boot section LE_Cj rolls boundary line away between the entrance car Road Cj avoidance stop line confluence corresponding with the entrance lane Cj is driven between boundary line；The boot section LE_Cj's Roll boundary line away from and drive into boundary line for confluence corresponding to the entrance lane Cj, or the boot section LE_Cj rolls border away from Line drives into the rolling away between boundary line of boundary line and the entrance lane Cj between the boot section LE_Cj's；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, the car Fast guiding lamp array Ar_Ci includes NCi horizontal ground signal lamp groups, each in the NCi horizontal ground signal lamp groups Horizontal ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground Signal lamp group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on the boot section LE_ Ci's drives into border line position, and what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls boundary line away from Position, the spacing between the horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq have more than or equal to most short Effect guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, the car Fast guiding lamp array Ar_Cj includes NCj horizontal ground signal lamp groups, each in the NCj horizontal ground signal lamp groups Horizontal ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground Signal lamp group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on the boot section LE_ Cj's drives into border line position, and what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls boundary line away from Position；Spacing between the horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to described L_LE-min；

The Signalized control device includes：

First control unit, for when away from reference to moment T_{ck_Cj}Arrival there remains overlapping duration T_{cd_Ci}When, described in control NCi horizontal ground signal lamp group asynchronised handovers send state to fair traveling optical signal, wherein, the horizontal ground signal lamp group Cip and the horizontal ground signal lamp group Ciq are switched to the time interval Δ T that fair traveling optical signal sends state_{g-Cip_Ciq}It is more than Or equal to the overlapping duration T_{cd_Ci}, and the Δ T_{g-Cip_Ciq}T was added less than 3 seconds_{cd_Ci}Or the Δ T_{g-Cip_Ciq}It is small In 1.2*T_{cd_Ci}；Wherein, it is described to refer to moment T_{ck_Cj}Fair traveling optical signal for the horizontal ground signal lamp group Cjq sends shape The finish time T of state_ge-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ge-CjqAgain by pacifying corresponding to the entrance lane Cj The long T of all clear space-time_qk-CjAnd at the time of arrival, or it is described with reference to moment T_{ck_Cj}For the police of the horizontal ground signal lamp group Cjq Traveling optical signal sends the finish time T of state_ye-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ye-CjPass through the entrance again Safety clearance duration T corresponding to the Cj of track_qk-CjAnd at the time of arrival；

Wherein, the NCi horizontal ground signal lamp groups include horizontal ground signal lamp group Cii and horizontal ground signal lamp Group Cij, the horizontal ground signal lamp group Cij and the entrance lane Ci spacing avoided between stop line, more than described The horizontal ground signal lamp group Cii and entrance lane Ci spacing avoided between stop line；The horizontal ground signal lamp Group Cii and horizontal ground signal lamp group Cij is described in the spacing in the NCi horizontal ground signal lamp groups is more than or equal to Any two transverse direction ground signal lamp group of most short effectively guiding distance, the horizontal ground signal lamp group Cii are switched to fair row At the time of optical signal sends state earlier than the horizontal ground signal lamp group Cij be switched to fair traveling optical signal send state when Carve；Wherein, V_{g-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{g-Cii_Cij}Obtained from business, the L_{Cii_Cij}For horizontal ground signal lamp group Spacing between Cij and horizontal ground signal lamp group Cii；The Δ T_{g-Cii_Cij}For horizontal ground signal lamp group Cij with it is described Horizontal ground signal lamp group Cii is switched to the interval duration that fair traveling optical signal sends state, the V_{g-Cii_Cij}Less than it is described enter Mouth track Ci Maximum speed limit or minimum speed limit or maximum safe speed.

Optionally, the Signalized control device also includes：Second control unit, in the horizontal ground signal lamp Group Ciq sends state in fair traveling optical signal and continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups It is synchronous from fair traveling optical signal send state and be switched to forbidden optical signal send state；Or in the horizontal ground signal lamp group Ciq State, which is sent, in fair traveling optical signal continue for duration T_g-CiqWhen, the NCi horizontal ground traffic signal light groups are controlled from fair row Optical signal, which sends state and is switched to forbidden optical signal, sends state, and the horizontal ground signal lamp group Cii is sent out from fair traveling optical signal Do well at the time of be switched to forbidden optical signal and send state, earlier than the horizontal ground signal lamp group Cij from fair traveling optical signal At the time of the state of sending is switched to forbidden optical signal and sends state；Or it is switched to fair row in the horizontal ground signal lamp group Ciq Optical signal passes through duration T again at the time of sending state_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to cut Change to forbidden optical signal and send state；Or it is switched to fair traveling optical signal in the horizontal ground signal lamp group Ciq and sends state Moment passes through duration T again_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to be switched to forbidden optical signal and send shape At the time of state, the horizontal ground signal lamp group Cii are switched to forbidden optical signal and send state, believe earlier than the horizontal ground At the time of signal lamp group Cij is switched to forbidden optical signal and sends state；

Optionally, the Signalized control device also includes：3rd control unit, in the horizontal ground signal lamp Group Ciq sends state in fair traveling optical signal and continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups It is synchronous from fair traveling optical signal send state and be switched to alert traveling optical signal send state；Or in the horizontal ground signal lamp group Ciq State, which is sent, in fair traveling optical signal continue for duration T_g-CiqWhen, the NCi horizontal ground traffic signal light groups are controlled from fair row Optical signal, which sends state and is switched to alert traveling optical signal, sends state, and the horizontal ground signal lamp group Cii is sent out from fair traveling optical signal Do well at the time of be switched to alert traveling optical signal and send state, earlier than the horizontal ground signal lamp group Cij from fair traveling optical signal At the time of the state of sending is switched to alert traveling optical signal and sends state；Or it is switched to fair row in the horizontal ground signal lamp group Ciq Optical signal passes through duration T again at the time of sending state_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to cut Change to alert traveling optical signal and send state；Or it is switched to fair traveling optical signal in the horizontal ground signal lamp group Ciq and sends state Moment passes through duration T again_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to be switched to alert traveling optical signal and send shape At the time of state, the horizontal ground signal lamp group Cii are switched to alert traveling optical signal and send state, believe earlier than the horizontal ground At the time of signal lamp group Cij is switched to alert traveling optical signal and sends state.

Optionally, the Signalized control device also includes：4th control unit, in the horizontal ground signal lamp Group Ciq sends state in alert traveling optical signal and continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups It is synchronous from alert traveling optical signal send state and be switched to forbidden optical signal send state；Or in the horizontal ground signal lamp group Ciq State, which is sent, in alert traveling optical signal continue for duration T_y-CiqWhen, the NCi horizontal ground traffic signal light groups are controlled from alert row Optical signal, which sends state and is switched to forbidden optical signal, sends state, and the horizontal ground signal lamp group Cii is from alert traveling optical signal hair Do well at the time of be switched to forbidden optical signal and send state, earlier than the horizontal ground signal lamp group Cij from alert traveling optical signal At the time of the state of sending is switched to forbidden optical signal and sends state；Or it is switched to alert row in the horizontal ground signal lamp group Ciq Optical signal passes through duration T again at the time of sending state_y-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to cut Change to forbidden optical signal and send state；Or it is switched to alert traveling optical signal in the horizontal ground signal lamp group Ciq and sends state Moment passes through duration T again_y-CiqWhen, control the NCi horizontal ground traffic signal light groups to be switched to forbidden optical signal and send shape At the time of state, the horizontal ground signal lamp group Cii are switched to forbidden optical signal and send state, believe earlier than the horizontal ground At the time of signal lamp group Cij is switched to forbidden optical signal and sends state.

Optionally, V_{r-Cii_Cij}Equal to the L_{Cii_Cij}Divided by Δ T_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}For institute State the horizontal ground signal lamp group Cij and horizontal ground signal lamp group Cii and be switched to the interval that forbidden optical signal sends state Duration, wherein, the V_{r-Cii_Cij}Minimum speed limit or the V equal to the entrance lane Ci_{r-Cii_Cij}More than described V_{g-Cii_Cij}。

Optionally, the NCi horizontal ground signal lamp groups include the horizontal ground signal lamp group Cii, the transverse direction Ground signal lamp group Cij and horizontal ground signal lamp group Cik, wherein, the horizontal ground signal lamp group Cij and the entrance The track Ci spacing avoided between stop line, less than keeping away for the horizontal ground signal lamp group Cik and entrance lane Ci The spacing allowed between stop line；

Wherein, V_{r-Cii_Cij}Equal to V_{r-Cij_Cik}, the V_{r-Cij_Cik}Equal to L_{Cij_Cik}Divided by Δ T_{r-Cij_Cik}Obtained from business； The L_{Cij_Cik}It is described for the spacing between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik ΔT_{r-Cij_Cik}Forbidden optical signal is switched to for horizontal ground signal lamp group Cik with the horizontal ground signal lamp group Cij to send The interval duration of state, the L_{Cij_Cik}More than or equal to the most short effectively guiding distance；The V_{r-Cii_Cij}Equal to L_{Cii_Cij} Divided by Δ T_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}For horizontal ground signal lamp group Cii and the horizontal ground signal Lamp group Cij is switched to the interval duration that forbidden optical signal sends state.

Wherein, V_{g-Cii_Cij}Less than or equal to V_{g-Cij_Cik}, the V_{g-Cij_}Equal to L_{Cij_Cik}Divided by Δ T_{g-Cij_Cik}And obtain Business；The L_{Cij_Cik}For the spacing between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik； The Δ T_{g-Cij_Cik}It is that horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij are switched to fair traveling optical signal Send the interval duration of state, the L_{Cij_Cik}More than or equal to the L_LE-min。

Optionally, the spacing L for rolling boundary line away from and driving between boundary line of the boot section LE-Ci_{Ci-q_Ci-p}Codomain Between space is 2 meters~50 meters.

Optionally, the spacing L for rolling boundary line away from and driving between boundary line of the boot section LE-Ci_{Ci-q_Ci-p}Codomain Between space is 8 meters~25 meters.

Optionally, the safety clearance duration T_qk-CjValue space be 1 second~5 seconds between.

The embodiment of the present application provides a kind of construction method at plane convergence crossing,

The plane convergence crossing includes：Confluence, entrance lane Ci, entrance lane Cj and exit lane, the entrance Track Ci and entrance lane Cj outlet are connected with the confluence entrance, the entrance of the exit lane and the confluence Outlet connection；

Wherein, the construction method includes：

In the boot section LE_Ci of the entrance lane Ci, speed guiding lamp array Ar_Ci, the speed guiding are set Lamp array row Ar_Ci includes NCi horizontal ground signal lamp groups, in the NCi horizontal ground signal lamp groups it is each laterally Face signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on sailing for the boot section LE_Ci Enter border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position, institute away from State spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq be more than or equal to most short effectively guiding away from From L_LE-min, the L_LE-minMore than or equal to 2 meters；

In the boot section LE_Ci of the entrance lane Ci, speed guiding lamp array Ar_Ci, the speed guiding are set Lamp array row Ar_Cj includes NCj horizontal ground signal lamp groups, in the NCj horizontal ground signal lamp groups it is each laterally Face signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on sailing for the boot section LE_Cj Enter border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；Institute The spacing stated between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the L_LE-min, its In, the luminance of the horizontal ground signal lamp group in the speed guiding lamp array Ar-Ci includes allowing optical signal to send shape State, alert traveling optical signal sends state and/or forbidden optical signal sends state.

The embodiment of the present application provides a kind of plane convergence crossing, and the plane convergence crossing includes：Confluence, entrance lane Ci, entrance lane Cj and exit lane, outlet and the confluence entrance of the entrance lane Ci and entrance lane Cj connect Connect, the entrance of the exit lane is connected with the outlet of the confluence；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, the car Fast guiding lamp array Ar_Cj includes NCj horizontal ground signal lamp groups, each in the NCj horizontal ground signal lamp groups Horizontal ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground Signal lamp group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on the boot section LE_ Cj's drives into border line position, and what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls boundary line away from Position；Spacing between the horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to described L_LE-min, wherein, the luminance of the horizontal ground signal lamp group in the speed guiding lamp array Ar-Ci includes allowing light to believe Number send state, alert traveling optical signal sends state and/or forbidden optical signal sends state.

Optionally, any two adjacent transverse traffic above-ground lamp group among the NCi horizontal ground traffic lights groups it Between spacing it is equal；Or in the NCi horizontal ground traffic lights groups, away from more remote two of horizontal ground traffic lights group Ci-q Spacing between adjacent transverse traffic above-ground lamp group is bigger；Or in the traffic above-ground lamp group, apart from the horizontal traffic above-ground Spacing between two more remote lamp group Ci-q adjacent transverse traffic above-ground lamp groups is smaller.

Optionally, the spacing L for rolling boundary line away from and driving between boundary line of the boot section LE-Ci_LE-CiCodomain it is empty Between be 2 meters~50 meters between.

Optionally, the spacing L for rolling boundary line away from and driving between boundary line of the boot section LE-Ci_LE-CiCodomain it is empty Between be 8 meters~25 meters between.

Optionally, any two adjacent transverse traffic above-ground lamp group among the NCj horizontal ground traffic lights groups it Between spacing it is equal；Or in the NCj horizontal ground traffic lights groups, away from more remote two of horizontal ground traffic lights group Cj-q Spacing between adjacent transverse traffic above-ground lamp group is bigger；Or in the NCj horizontal ground traffic lights groups, apart from the horizontal stroke Spacing earthward between two more remote traffic lights group Cj-q adjacent transverse traffic above-ground lamp groups is smaller.

Optionally, the spacing L for rolling boundary line away from and driving between boundary line of the boot section LE-Cj_LE-CjCodomain it is empty Between be 2 meters~50 meters between.

Optionally, the boot section L_LE-CjThe spacing L for rolling boundary line away from and driving between boundary line_LE-CjCodomain it is empty Between be 8 meters~25 meters between.

Optionally, the L_LE-CiMore than the L_LE-Cj, or the L_LE-CiEqual to the L_LE-Cj, or the L_LE-CiIt is small In the L_LE-Cj。

As can be seen that in the technical scheme of some embodiments of the application, the entrance lane at plane convergence crossing, which has, to be drawn Area is led, boot section is driven into boundary line by boot section and formed with the entrance lane section for rolling boundary line delimitation away from, wherein, boot section is sailed Enter the avoidance stop line that boundary line is corresponding entrance lane, or boundary line is driven between corresponding entrance lane in the boot section Avoidance stop line and roll away between boundary line.Boot section rolls boundary line away from and rolls boundary line away from for corresponding entrance lane, or draws The rolling away between boundary line of boundary line and corresponding entrance lane is driven into the boundary line of rolling away from for leading area between boot section.Drive into border The distance of line and avoidance stop line, which is less than, rolls boundary line away from avoiding the distance between stop line.Boot section can draw as speed Area is led, therefore, introducing for boot section can be carried out accelerating to provide certain sky in advance for slow-moving vehicle before confluence is driven into Between basis, i.e. so that guiding slow-moving vehicle carries out accelerating in advance before confluence is driven into becoming to have had it is possible.And entrance The boot section in track deploys speed guiding lamp array, and speed guiding lamp array includes being distributed in multiple transverse directions of boot section Ground signal lamp group, speed guiding lamp array are introduced as controlling transport condition and vehicle of the vehicle in boot section to roll guiding away from Transport condition (such as speed when rolling boot section away from etc.) during area has established certain hardware foundation, and then is also control car Drive into confluence speed (vehicle roll away from boot section speed be close to drive into the speed of confluence in or equal to vehicle) establish Certain hardware foundation is determined.By controlling lamp array row dynamically to be controlled the transport condition of vehicle, so that The prevailing state of each crossing wagon flow is carried out being uniformly coordinated control by network and has established hardware foundation, so that plane is handed over The intelligent level of the infrastructure at remittance crossing is lifted.

When the horizontal ground signal lamp group in speed guiding lamp array is controlled and orderly traffic control signal is sent, that The orderly access control of the vehicle on corresponding entrance lane can readily be realized, it is seen that speed guiding lamp array enters one Step, which introduces the vehicle pass-through efficiency for causing to improve plane convergence crossing and security, becomes have certain basis, and this is also just slow Solution congestion is laid a good foundation.It can be seen that be provided with the boot section of speed guiding lamp array be introduced as improve plane convergence crossing Vehicle pass-through efficiency and security are made that larger technical contribution.The boot section that introducing is provided with speed guiding lamp array can Regard the initiative innovation of one kind for breaking through conventional traffic control thinking as, say to a certain extent, introduce and speed guiding lamp is set Brand-new situation is started in the boot section of array for the vehicle pass-through at plane convergence crossing, and using speed guiding lamp array come to phase Answering the vehicle on track to carry out a variety of Precise controls becomes more feasible.

Vehicle by during plane convergence crossing because the passage situation at plane convergence crossing is relative complex, the notice of driver It can be concentrated mainly in the narrow range of headstock front portion visual angle.Research practice is found, is constantly switched visual angle and is easily disperseed driver's note Meaning power, in turn results in larger driving safety hidden danger.The ground signal lamp of the array format of the application is driven into along entrance lane Direction layout, it is easy to driver to see the guide letter that signal lamp is sent on the way clearly on the premise of visual angle is not changed substantially Number, so advantageously reduce driving safety hidden danger because driver frequently need not carry out view angle switch.

During driving at night when by car light strong illumination to car, it is easy to driver is not seen the sky behind strong light Middle signal lamp, and the ground signal lamp of the application is placed in the road surface of headstock nearby, it is relative be easier to see signal lamp clearly sent Index signal situation of change, there is violating the regulations and potential safety hazard so as to not be easily caused because making a dash across the red light by mistake.Also, night city City's light environment mixes very much so that high-altitude signal lamp is easy to other interference light obscure because of aberration, and ground signal Lamp is because be placed in the relatively simple road surface of light environment, therefore be not easy to obscure with other interference light.

The application is due to being to set speed guiding lamp array for track, and the horizontal stroke that is laid out along driveway travel directions Earthward boot section can be divided into some roadway segments by signal lamp group, and then be more convenient for carrying out stage to Vehicle Speed Control, and then be advantageous to more accurately control Vehicle Speed.Therefore the vehicle based on track is advantageously implemented accurately to command (i.e. track level controls), it is more more accurate than the flow direction level control of high-altitude signal lamp (to flow to level control to refer to same travel direction Being uniformly controlled of not differentiated between mutually of all tracks).

Horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip spacing are more than or equal in application scheme L_LE- min, and the L_LE- min is more than or equal to 2 meters, L_LE- min value with reference to visual persistence phenomenon and vehicle safety row Sail the parameters such as speed.One kind that human eye has is referred to as the characteristic of " visual persistence phenomenon " so that after the object seen disappears Remain to continue the image for retaining or so its image 0.1-0.4 seconds in human eye.Research is found, to make driver clear as far as possible Ground picks out the change feelings that index signal is sent between horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip Condition, there need to be the time interval of about 0.5 second, when safe speed is 15 kilometers/hour or so, the displacement corresponding to 0.5 second is big About 2 meters or so, to enable driver to see clearly between horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip Change, therefore the L_LE- min value, which is more than or equal to 2 meters, has suitable science.

Generally speaking, the set location of the speed guiding lamp array in application scheme, its side of fusion with entrance lane Formula and the form of speed guiding lamp array etc. all angularly consider from ergonomics and drive safety, are Meet the natural law and it can obtain the innovative design for the technique effect for meeting the natural law.

Specifically for example, when away from reference to moment T_{ck_Cj}Arrival there remains overlapping duration T_{cd_Ci}When, control entrance lane Ci's NCi horizontal ground signal lamp groups in speed guiding lamp array are switched to fair traveling optical signal and send state, and this has embodied Mouthful track Ci and entrance lane Cj right of way phase in time overlapping, this overlapping period can be on entrance lane Ci Slow-moving vehicle drive into before confluence in advance accelerate providing certain time basis, when slow-moving vehicle drive into confluence it The preceding time basis accelerated in advance and space basis all possess, and are designed by this cleverly space-time conversion, then low speed Vehicle can accelerate in advance before confluence is driven into, and then cause vehicle to be driven into and crossed confluence with more high speed Become possible to.And in the prior art because wagon flow head car does not possess the time accelerated in advance and steric requirements, therefore generally only Confluence alternately can slowly be driven into extremely low speed.

Further, multiple horizontal ground signal lamp groups that speed guiding lamp array includes can be by the boot section of entrance lane Several entrance lane sections are divided into, the traffic control optical signal sent using multiple horizontal ground signal lamp groups so that right Transport condition and vehicle of the vehicle in boot section drive into confluence speed carry out relatively accurate control become to have had may (such as As the V_{g-Cii_Cij}Maximum speed limit or minimum speed limit or maximum safe speed less than the entrance lane Ci, then just relative Limited in the travel speed upper limit of the vehicle in boot section), and then be advantageous to improve the vehicle pass-through at plane convergence crossing Safely controllable property, and identify corresponding traffic control for the signal lamp group driver that is more convenient for of the ground type of vehicle guiding Signal, and then be advantageous to further improve the vehicle pass-through safely controllable property at plane convergence crossing.Such as be more than due to spacing or Equal to most short effectively guiding distance L_LE-minAny two transverse direction ground signal lamp group send shape being switched to fair traveling optical signal Suitable order is showed on the time of state, this to vehicle by the time and speed of boot section with regard to rationally to be fitted Suitable guiding is laid a good foundation, such as the optical signal for being advantageous to make vehicle be sent in multiple horizontal ground signal lamp groups is in It is safely controllable efficiently to roll boot section away under the guiding of the vision guide speed revealed, and then be advantageous to make vehicle can with safety Control efficient mode and cross confluence.

Further, due to speed guiding lamp antenna array control wagon flow (especially wagon flow head car) can be utilized to roll boot section away from When speed, and put into practice find, if at fair row phase initial stage by suppressing wagon flow (especially wagon flow head car) to a certain extent Roll the speed of boot section away from, advantageously reduce the dispersion for the wagon flow that confluence is crossed during mutually row phase is assented, and it is relatively low Wagon flow dispersion be advantageous to improve track unit length vehicle density, and then lifted lane utilization ratio, and then be advantageous into One step alleviates congestion.

Brief description of the drawings

, below will be to required use in embodiment in order to more clearly illustrate the technical scheme in the embodiment of the present application Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present application, for this For the those of ordinary skill of field, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other Accompanying drawing.

Fig. 1-A and Fig. 1-B are the schematic layout pattern at several plane convergence crossings that the embodiment of the present application provides；

Fig. 2 is a kind of schematic diagram for light control device that the embodiment of the present application provides；

Fig. 3 is the signal of several possible building forms of the right of way phase that the embodiment of the present application provides and non-right of way phase Figure；

Fig. 4-A and Fig. 4-B are several switching moulds for the horizontal ground signal lamp group working condition that the embodiment of the present application provides The schematic diagram of formula；

Fig. 5-A~Fig. 5-C are the schematic diagram of several phase cyclings for the entrance lane that the embodiment of the present application provides；

Fig. 6-A are the schematic diagram of the simulated effect contrast under several Simulation Test Environments that the embodiment of the present application provides；

Fig. 6-B are the horizontal ground signal lamp group working condition in the speed guiding lamp array that the embodiment of the present application provides The schematic diagram of switching instant citing；

Fig. 7 is the form signal that several plane convergence crossings that the embodiment of the present application provides set speed guiding lamp array Figure.

Embodiment

The term " comprising " and " having " occurred in present specification, claims and accompanying drawing and their any changes Shape, it is intended that cover non-exclusive include.Such as contain the process of series of steps or unit, method, system, product Or equipment is not defined in the step of having listed or unit, but alternatively also include unlisted step or unit, or alternatively Also include for the intrinsic other steps of these processes, method, product or equipment or unit.Such as term " first ", " second " " 3rd " etc. is to be used to distinguish different objects, and is not intended to describe specific order.Below first to some associated scenarios and Term carries out illustration explanation.

First introduce below and compound show plane convergence crossing.Combined type plane convergence crossing includes confluence, 1 exit lane Group and 2 entrance lane groups.Each exit lane group includes N number of entrance lane, and each entrance lane group includes N number of entrance car Road, the entrance lane at plane convergence crossing can claim in " import track ".The exit lane at plane convergence crossing can claim " lower tourist bus Road ".The outlet of each entrance lane at combined type plane convergence crossing entrance connections different from confluence respectively.Plane is handed over The outlet connections different from confluence respectively of the entrance of each exit lane at remittance crossing.The same entrance at plane convergence crossing Entrance lane in entrance lane group drives into that direction is identical, the entrance car in the different entrance lane groups at plane convergence crossing Road drives into direction difference.The direction to the car for driving into direction and specifically referring to drive into confluence of entrance lane.Due to plane convergence The entrance lane quantity (2N) at crossing is more than exit lane quantity (N number of), therefore the two entrances track at plane convergence crossing If group is let pass simultaneously, then the wagon flow on the two entrance lanes will collaborate to enter after (it is N that wagon flow, which closes 2N) in confluence Exit lane.

To illustrate difference that conventional planar crosses between crossing and the embodiment of the present application plane convergence crossing, with reference to attached Several traditional plane convergence crossings are first introduced in figure citing.

Referring to Fig. 1-A, wherein, exemplified plane convergence crossing 100 and plane convergence crossing 200 are two in Fig. 1-A Kind of conventional planar crosses crossing.Plane convergence crossing 100 includes entrance lane 110, entrance lane 120, the and of exit lane 130 Confluence 140.The outlet of entrance lane 110 and entrance lane 120 is connected with the entrance of confluence 140.Exit lane 130 Entrance is connected with the outlet of confluence 140.Entrance lane 110 drives into direction difference with entrance lane 120.Plane convergence road Mouth 200 includes entrance lane 210, entrance lane 220, exit lane 230 and confluence 240.Entrance lane 210 and entrance car The outlet in road 220 is connected with the entrance of confluence 240.The entrance of exit lane 230 is connected with the outlet of confluence 240.Entrance Track 210 and entrance lane 220 to drive into direction identical.

Conventional planar cross crossing 1 feature be entrance lane roll away from boundary line and avoid stop line in locus Upper coincidence.Such as the avoidance stop line that traffic mark line 111 is entrance lane 110, also roll border away from for entrance lane 110 Line, also one section for confluence 140 drive into boundary line.I.e. boundary line, entrance car are driven into confluence corresponding to entrance lane 110 The avoidance stop line in road 110 and roll boundary line away from and overlapped on locus.Similar, confluence corresponding to entrance lane 120 Drive into boundary line, entrance lane 120 avoidance stop line and roll boundary line 121 away from and overlapped on locus.Similar, enter The avoidance stop line in mouthful track 210 and roll boundary line 211 away from and overlapped on locus.The avoidance stop line of entrance lane 220 Overlapped with boundary line 221 is rolled away from locus.Exit lane 130 drives into boundary line 131 corresponding to exit lane 130 Confluence rolls boundary line away from.

Due to the outlet entrance connections different from confluence, therefore different entrance lanes pair respectively of different entrance lanes Different confluences is answered to drive into boundary line, rolling away from for boundary line and this entrance lane is driven into confluence corresponding to entrance lane Boundary line overlaps, thus confluence corresponding to entrance lane drive into that boundary line can also regard entrance lane as roll border away from Line.Confluence corresponding to the exit lane at plane convergence crossing is rolled boundary line and the boundary line of driving into of this exit lane away from and existed Overlapped on locus.

Conventional planar is crossed, and the alternating of one one is sailed in turn for the vehicle of each entrance lane for the vehicle pass-through mode at crossing Enter confluence, this current mode is commonly called as " zip mode passes through ".Practice finds, conventional planar crosses the vehicle pass-through side at crossing The actual traffic efficiency and safely controllable property of formula are all relatively low.Application scheme is by changing the layout at plane convergence crossing Its traffic efficiency and safely controllable property are lifted with access control mode etc..

Illustrate again below in conjunction with the accompanying drawings and introduce the plane convergence crossing of the embodiment of the present application scheme.

1 feature at the plane convergence crossing in the embodiment of the present application scheme is that entrance lane rolls boundary line and avoidance away from Stop line separates on locus.

The plane convergence crossing that the embodiment of the present application provides includes confluence, exit lane, entrance lane Ci and entrance car Road Cj.Entrance lane Ci and entrance lane Cj outlet and the entrance of confluence connect.The entrance of the exit lane with it is described The outlet connection of confluence.The entrance lane Ci and entrance lane Cj to drive into direction identical or different.Wherein, entrance car Rolling boundary line away from and avoiding stop line for road Ci separates on locus.Entrance lane Cj roll boundary line away from and avoidance is stopped Fare separates on locus.

Wherein, because the avoidance stop line of entrance lane separates with boundary line is rolled away from locus, therefore between entrance Several functional areas can be set in the avoidance stop line in track and the roadway segment rolled away between boundary line, this several work( Energy area may also include crossing and/or non-motor vehicle lateral road etc. for example including boot section.Difference in functionality area is in space bit Putting can be separate or overlapped.The technical scheme of the embodiment of the present application, mainly for the entrance car at plane convergence crossing Road has a case that boot section, i.e., for plane convergence crossing entrance lane avoidance stop line and roll boundary line away from sky Between situation about separating on position.

Such as the entrance lane Ci has boot section LE_Ci.The boundary line of driving into of the boot section LE_Ci enters for described in Mouth track Ci avoidance stop line, or the boundary line of driving into of the boot section LE_Ci are stopped between the avoidance of the entrance lane Ci Fare and the entrance lane Ci's rolls away between boundary line.The boundary line of rolling away from of the boot section LE_Ci is the entrance car Road Ci's rolls boundary line away from, or border is driven into the boundary line of rolling away from of the boot section LE_Ci between the boot section LE_Ci Line and the entrance lane Ci's rolls away between boundary line.

Such as the entrance lane Cj has boot section LE_Cj.The boundary line of driving into of the boot section LE_Cj enters for described in Mouth track Cj avoidance stop line, or the boundary line of rolling away from of the boot section LE_Cj are stopped between the avoidance of the entrance lane Cj Fare and the entrance lane Cj's rolls away between boundary line.The boundary line of rolling away from of the boot section LE_Cj is the entrance car Road Cj's rolls boundary line away from, or border is driven into the boundary line of rolling away from of the boot section LE_Cj between the boot section LE_Cj Line and the entrance lane Cj's rolls away between boundary line.

Illustrated below in conjunction with the accompanying drawings.Referring to Fig. 1-B, exemplified plane convergence crossing 300 and plane in Fig. 1-B Cross two kinds of possible plane convergence crossings that crossing 400 provides for the embodiment of the present application citing.For example, plane convergence crossing 300 include entrance lane 310, entrance lane 320, exit lane 330 and confluence 340.Wherein, entrance lane 310 and entrance The outlet in track 320 entrance connections different from confluence 340 respectively.The entrance of exit lane 330 goes out with confluence 340 Mouth connection.

Such as traffic mark line 313 rolls boundary line away from for entrance lane 310, also one section for confluence 340 drives into side Boundary line.The boundary line 313 of rolling away from of entrance lane 310 does not weigh with the avoidance stop line 311 of entrance lane 310 on locus Close.The boundary line 323 of rolling away from of entrance lane 320 does not also weigh with the avoidance stop line 321 of entrance lane 320 on locus Close.

The exemplified entrance lanes 310 of Fig. 1-B have boot section 3120, and entrance lane 320 has boot section 3220.Entrance The avoidance stop line 311 in track 310 drives into boundary line for boot section 3120, i.e. boundary line is driven into entering in boot section 3120 The avoidance stop line 311 in mouth track 310 overlaps in locus.The avoidance stop line 321 of entrance lane 320 is boot section 3220 drive into boundary line, i.e. boundary line is driven into the avoidance stop line 321 of entrance lane 320 in space in boot section 3220 Position overlaps.

It is understood that entrance lane 310 can regard a kind of entrance lane Ci citing as, entrance lane 320 can be regarded as A kind of entrance lane Cj citing, boot section 3120 can regard a kind of boot section LE_Ci citing as, and boot section 3220 can be regarded as A kind of boot section LE_Cj citing.Or entrance lane 320 can regard a kind of entrance lane Ci citing, entrance lane 310 as A kind of entrance lane Cj citing can be regarded as, boot section 3220 can regard a kind of boot section LE_Ci citing, boot section 3120 as A kind of boot section LE_Cj citing can be regarded as.

In another example the entrance lane 410 at plane convergence crossing 400 exemplified Fig. 1-B there can be boot section 4120, draw That leads area 4120 drives into boundary line 4121 between the avoidance stop line 411 of entrance lane 410 and between rolling boundary line 413 away from, i.e., Boot section drive into boundary line and the avoidance stop line of corresponding entrance lane is misaligned in locus.Sail boot section 4120 Go out boundary line 4122 and drive into the rolling away between boundary line 413 of boundary line 4121 and entrance lane 410 between boot section 4120. That is, boot section roll away from boundary line and corresponding entrance lane to roll boundary line away from misaligned in locus.Similar, put down The cross entrance lane 420 at crossing 400 of face has boot section 4220, wherein, boot section 4220 drive into boundary line 4221 between The avoidance stop line 421 of entrance lane 420 and roll away between boundary line 423.Boot section 4220 roll away from boundary line 4222 between The rolling away between boundary line 423 of boundary line 4221 and entrance lane 420 is driven into boot section 4220.

It is understood that entrance lane 410 can regard a kind of entrance lane Ci citing as, entrance lane 420 can be regarded as A kind of entrance lane Cj citing, boot section 4120 can regard a kind of boot section LE_Ci citing as, and boot section 4220 can be regarded as A kind of boot section LE_Cj citing.Or entrance lane 420 can regard a kind of entrance lane Ci citing, entrance lane 410 as A kind of entrance lane Cj citing can be regarded as, boot section 4220 can regard a kind of boot section LE_Ci citing, boot section 4120 as A kind of boot section LE_Cj citing can be regarded as.

It is appreciated that in plane convergence crossing 400, boundary line and corresponding entrance lane are mainly driven into boot section Drive into that boundary line is misaligned, and boot section roll away from boundary line and corresponding entrance lane to roll boundary line away from also misaligned Exemplified by.However, it is also possible to boot section drive into boundary line and corresponding entrance lane to drive into boundary line misaligned, but draw The boundary line of rolling away from for leading area overlaps with the boundary line of rolling away from of corresponding entrance lane, or may also boot section drive into boundary line Overlapped with the boundary line of driving into of corresponding entrance lane, but boot section roll boundary line and corresponding entrance lane away from roll side away from Boundary line is misaligned.

It is appreciated that in plane convergence crossing 400 or plane convergence crossing 300, mainly the two of plane convergence crossing Illustrated exemplified by the boot section layout type of individual entrance lane is similar, certainly may also two of plane convergence crossing enter The layout type of the boot section in mouth track is not mutually similar.Such as the guiding of one of entrance lane at certain plane convergence crossing Area's layout type such as entrance lane 310, and the boot section layout type of another entrance lane such as entrance lane 410, other situations By that analogy.

The outlet of boot section/drive into boundary line is probably the physics traffic mark line portrayed on track, it is also possible to by Other types of traffic mark thing (such as ground signal lamp) horizontal plane (or track table plane) projection line (or projection line+ The extended line of projection line) the virtual traffic tag line that is formed.It is furthermore, it is to be understood that exemplified in some accompanying drawings of the application Some traffic mark lines primarily to distinguish some functional areas at plane convergence crossing, but in the plane convergence of reality Crossing, exemplified some traffic mark lines in accompanying drawing (such as confluence drives into boundary line and confluence and rolls boundary line etc. away from Confluence boundary line etc.) can't may actually it be portrayed in the relevant position at the plane convergence crossing of reality.

The spacing (guiding section length) driven into boundary line and rolled away between boundary line of boot section can be any as needed Setting, the Value space of the spacing driven into boundary line and rolled away between boundary line of boot section for example can 2 meters~50 meters it Between, for example, boot section the spacing driven into boundary line and rolled away between boundary line can be equal to 2 meters, 3 meters, 5 meters, 6 meters, 10 meters, 12 Rice, 15 meters, 20 meters, 25 meters, 28.1 meters, 35 meters or other values.The entrance of the boot section of entrance lane/roll away from boundary line with Between the entrance lane travel direction Value space of angle can between 45 degree~90 degree, angle for example can be equal to 90 degree, 89 Degree, 85 degree, 81 degree, 80 degree, 78 degree, 75 degree, 70 degree, 60 degree, 63 degree or 53 degree or other values.

Further, the entrance lane at the plane convergence crossing of the embodiment of the present application not only has boot section, and guides Area is additionally provided with speed guiding lamp array, and speed guiding lamp array can be used for carrying out speed guiding etc..

For example, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, institute Stating speed guiding lamp array Ar_Ci includes NCi horizontal ground signal lamp groups, in the NCi horizontal ground signal lamp groups Each horizontal ground signal lamp group includes at least one ground signal lamp.The NCi horizontal ground signal lamp groups are included laterally Ground signal lamp group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on the boot section LE_Ci's drives into border line position, and what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border away from Line position, the spacing between the horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq are more than or equal to most short Effectively guiding distance L_LE-min。

For example, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, institute Stating speed guiding lamp array Ar_Cj includes NCj horizontal ground signal lamp groups, in the NCj horizontal ground signal lamp groups Each horizontal ground signal lamp group includes at least one ground signal lamp.The NCj horizontal ground signal lamp groups are included laterally Ground signal lamp group Cjq and horizontal ground signal lamp group Cjp.The horizontal ground signal lamp group Cjq is arranged on the boot section LE_Cj's drives into border line position.What the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border away from Line position；Spacing between the horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to institute State L_LE-min.Wherein, speed guiding lamp array (such as speed guiding lamp array Ar_Ci and speed guiding lamp array Ar_Cj) also may be used To be referred to as " guiding ground signal lamp array row " or " guiding signal lamp array " etc..

The L_LE-minMore than or equal to 2 meters.In each embodiment scheme of the application, L_LE-minValue space be, for example, 2 meters ~10 meters.It is described most it is short effectively guiding distance for example can be equal to 2 meters, 2.5,3 meters, 4 meters, 4.8 meters, 5 meters, 5.3 meters, 6 meters, 7 Rice, 8 meters, 9 meters, 10 meters or other values.

The NCi is for example equal to 2,3,4,5,6,7,8,9,10,11,29,36 or other values.When NCi is more than 2, then institute State NCi horizontal ground signal lamp groups also include between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq it Between a Nci horizontal ground signal lamp group that subtract 2.The NCj for example can be equal to 2,3,4,5,6,7,8,9,10,11,23,36 or Other values.In the case where NCj is more than 2, then the NCj horizontal ground signal lamp groups also include believing between horizontal ground A horizontal ground signal lamp group that NCj between signal lamp group Cjp and horizontal ground signal lamp group Cjq subtracts 2.Such as NCi=6, then NCi-2=6-2=4, by that analogy.The NCi horizontal ground signal lamp groups may be to be arranged at boot section LE_Ci portion Point or whole horizontal ground signal lamp groups.The NCj horizontal ground signal lamp groups may be to be arranged at boot section LE_Cj Part or all of horizontal ground signal lamp group.

Speed guiding lamp array is distributed along driving into direction one by one in respective guide area, but speed guiding lamp array exists Specific distributional pattern in respective guide area can be diversified.

Such as the horizontal ground signal lamp group that includes of speed guiding lamp array can uniform or heterogeneous be distributed in accordingly draw Lead area.Such as spacing between any two adjacent transverse ground signal lamp group in speed guiding lamp array is equal or part It is equal or be not mutually equal.Such as the spacing between any two adjacent transverse ground signal lamp group of speed guiding lamp array can It is 0.6 meter, 1 meter, 2 meters, 2.5 meters, 3 meters, 4 meters, 5 meters, 8 meters, 10 meters or other values.In another example the NCi horizontal ground In signal lamp group, away from the spacing between two more remote horizontal ground signal lamp group Ciq adjacent transverse ground signal lamp groups more Greatly, i.e., imported in boot section on direction, two adjacent transverse ground signal lamps in the NCi horizontal ground signal lamp groups Spacing between group gradually increases.Or in the NCi horizontal ground signal lamp groups, apart from the horizontal ground signal lamp group Spacing between two more remote Ciq adjacent transverse ground signal lamp groups is smaller, i.e., is imported in boot section on direction, the NCi The spacing between two adjacent transverse ground signal lamp groups in individual horizontal ground signal lamp group is gradually reduced.Certain NCi Spacing between individual two adjacent transverse ground signal lamp groups of horizontal ground signal lamp group is also likely to be arbitrarily changing or it Its changing rule, and not necessarily show the changing rule for being gradually reduced along certain direction or gradually increasing of the example above.

Such as the boot section LE_Ci of the entrance lane Ci spacing L for rolling boundary line away from and driving between boundary line_{LE_Ci} Value space for example can be 2 meters~50 meters between.Specifically for example, the L_{LE_Ci}Value space can be 8 meters~25 meters it Between.More specifically, L_{LE_Ci}Such as can be equal to 2 meters, 3 meters, 5 meters, 8 meters, 8.4 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 40 meters or other values.

It is appreciated that " transverse direction " in horizontal ground signal lamp group is intended to mean that the length direction of horizontal ground signal lamp group It is perpendicular or generally perpendicular with the travel direction of corresponding entrance lane, the length direction of at least horizontal ground signal lamp group and corresponding It is not parallel between the travel direction of entrance lane.For example, the length direction of horizontal ground signal lamp group and corresponding entrance car The scope of angle between the travel direction in road can be more than or equal to 45 ° and less than or equal to 90 °, and above-mentioned angle can be equal to 90 °, 89 °, 85 °, 80 °, 78 °, 75 °, 60 °, 53 ° or other angles.Certainly, the length direction of horizontal ground signal lamp group and The scope of angle between the travel direction of corresponding entrance lane is not limited to the example above scope.

The signal lamp referred in the embodiment of the present application is alternatively referred to as " traffic lights " or " traffic lights " or " signal designation Lamp " etc..Signal lamp can be divided into sky beamer by the installation site based on signal lamp, and (sky beamer is referred to as " high-altitude Traffic lights " or " high-altitude signal lamp " or " signal lamp " etc.) or ground signal lamp (wherein, ground signal lamp can also claim For " ground traffic signal light " or " ground signal lamp " or " signal lamp " etc.).Sky beamer and ground signal lamp are producing It is typically different in product form.Sky beamer is such as may include column signal lamp and cantilevered signal lamp.Wherein, ground Signal lamp can for example be divided into flush type ground signal lamp and convex type ground signal lamp etc..It is appreciated that after installation Flush type ground signal lamp light-emitting area or top surface do not protrude from ground.Convex type ground signal lamp after installation Light-emitting area and/or top surface protrude from ground.

Some possible arrangement forms of the speed guiding lamp array of the boot section of setting are illustrated below in conjunction with the accompanying drawings.

Referring to Fig. 2, several possible arrangement forms for the speed guiding lamp array that some exemplified boot sections are set.Example In the scene as shown in Fig. 2 citings, in the horizontal ground signal lamp that the speed guiding lamp array 610 that boot section 510 is set includes For group quantity more than 2, the horizontal ground signal lamp group 611 in speed guiding lamp array 610 is arranged at driving into for boot section 510 The position of boundary line 511, the horizontal ground signal lamp group 612 in speed guiding lamp array 610 are arranged at rolling away from for boot section 510 The position of boundary line 512, in addition, rolling boundary line 511 away from and rolling away between boundary line 512 to be additionally provided with for boot section 510 belongs to Several horizontal ground signal lamp groups 613 of speed guiding lamp array 610.Horizontal ground letter in speed guiding lamp array 610 Spacing is equal between signal lamp group.

In another example surpass in the horizontal ground signal lamp group quantity that the speed guiding lamp array 620 that boot section 520 is set includes Cross 2, what the horizontal ground signal lamp group 621 in speed guiding lamp array 620 was arranged at boot section 520 drives into boundary line 521 Position, what the horizontal ground signal lamp group 622 in speed guiding lamp array 620 was arranged at boot section 520 rolls boundary line 522 away from Position, in addition, rolling boundary line 521 away from and rolling away between boundary line 522 to be additionally provided with for boot section 520 belongs to speed guiding Several the horizontal ground signal lamp groups 623 of lamp array row 620.Between horizontal ground signal lamp group in speed guiding lamp array 620 Spacing gradually increases along driving into direction.

In another example surpass in the horizontal ground signal lamp group quantity that the speed guiding lamp array 630 that boot section 530 is set includes Cross 2, what the horizontal ground signal lamp group 631 in speed guiding lamp array 630 was arranged at boot section 530 drives into boundary line 531 Position, what the horizontal ground signal lamp group 632 in speed guiding lamp array 630 was arranged at boot section 530 rolls boundary line 532 away from Position, in addition, rolling boundary line 531 away from and rolling away between boundary line 532 to be additionally provided with for boot section 530 belongs to speed guiding Several the horizontal ground signal lamp groups 633 of lamp array row 630.Between horizontal ground signal lamp group in speed guiding lamp array 630 Spacing is not equal and gradually increases or reduces not along direction is driven into.

In another example it is in the horizontal ground signal lamp group quantity that the speed guiding lamp array 640 that boot section 540 is set includes 2, what the horizontal ground signal lamp group 641 in speed guiding lamp array 640 was arranged at boot section 540 drives into boundary line 541 Put, what the horizontal ground signal lamp group 642 in speed guiding lamp array 630 was arranged at boot section 540 rolls boundary line 542 away from Put.

Wherein, the arrangement form of boot section LE_Ci or boot section LE_Cj speed guiding lamp array, such as can be similar to The arrangement form of exemplified speed guiding lamp array 610,620,630 and 640 in Fig. 2.Such as horizontal ground signal lamp group 612nd, a kind of 622,632 or 642 realize that can regard horizontal ground signal lamp group Cip or horizontal ground signal lamp group Cjp as are lifted Example.Such as horizontal ground signal lamp group 611,621,631 or 641 can regard horizontal ground signal lamp group Ciq or horizontal ground letter as The a kind of of signal lamp group Cjq realizes citing.It is appreciated that boot section LE_Ci or boot section LE_Cj speed guiding lamp array Arrangement form be not limited to Fig. 2 citing several forms, specific arrangement form can according to scene it needs to be determined that, it is not another herein One citing.

It is appreciated that boot section LE_Ci and boot section LE_Cj speed guiding lamp array layout mode can be identical or not Together, the horizontal ground signal lamp included by speed guiding lamp array such as set by boot section LE_Ci and boot section LE_Cj The quantity of group can be equal or different, in another example in the speed guiding lamp array set by boot section LE_Ci and boot section LE_Cj The distribution consistency degree of horizontal ground signal lamp group may be the same or different.

It should be noted that in each embodiment scheme of the application, although description speed guiding lamp array is arranged at guiding Area, it is not intended that all horizontal ground signal lamp groups set in boot section necessarily belong to speed guiding lamp array, That is the part or all of horizontal ground signal lamp group for being arranged at boot section can be considered as belonging to speed guiding lamp array.Example As certain boot section is provided with 10 horizontal ground signal lamp groups altogether, possible this 10 horizontal ground signal lamp groups belong to accordingly Speed guiding lamp array, but 6 horizontal ground signal lamp groups that may also be in this 10 horizontal ground signal lamp groups belong to phase Speed guiding lamp array is answered, and remaining 4 horizontal ground signal lamp groups are not intended as belonging in this 10 horizontal ground signal lamp groups In corresponding speed guiding lamp array, by that analogy.

Optionally, in the application some possible embodiments, the part or all of ground letter in speed guiding lamp array Signal lamp is flush type ground signal lamp or convex type ground signal lamp.The product form of ground signal lamp can be with diversified. Ground signal lamp can for example include：V lamp bead, the circuit board for driving V lamp bead work and described for accommodating The housing of V lamp bead and the circuit board.Wherein, the circuit board has wired driving signal input mouth and/or wireless Formula driving signal input mouth, the V are positive integer.Wherein, V for example can be equal to 1,2,3,5,7,8,10,21,29,36, 50th, 100 or other value.Such as the V lamp bead may include：Can send v1 lamp bead of forbidden optical signal, can send it is fair V2 lamp bead of traveling optical signal and/or the v3 lamp bead that alert traveling optical signal can be sent.The v1 and v2 and the v3 are equal For positive integer.

In the embodiment of the present application scheme, the vehicle on each entrance lane at plane convergence crossing can be in quilt under Signalized control Allow to pass through (allow current can also referred to as " fair row ") or no through traffic (no through traffic can also referred to as " forbidden ") or warning Current (warning is current can also referred to as " alert row ").In general, signal lamp can control this corresponding to certain entrance lane Vehicle on entrance lane permits row or alert row or forbidden.Vehicle on control entrance lane permits the phase of row to can be described as the entrance " permitting row phase " (the permitting row phase to be alternatively referred to as " clearance phase " or " current phase ") in track.Wherein, in conventional art, by The color that optical signal is sent in corresponding signal lamp is green during fair row phase, therefore in the conventional technology, permits row phase Also commonly referred to as " green light phase ".In the embodiment of the present application scheme, corresponding signal lamp (such as avoids during fair row phase Sky beamer corresponding to stop line and/or ground signal lamp) color that sends optical signal is likely not limited to green, and Can being expanded to can be used to indicate that any monochromatic or varicolored combination of permission vehicle pass-through, being permitted corresponding during row phase The color that signal lamp sends optical signal is a kind of citing embodiment in green simply the embodiment of the present application.Control The phase of Pedestrian Zone At any time on entrance lane can then be referred to as " the forbidden phase " of the entrance lane.In the conventional technology, due to The color that corresponding signal lamp sends optical signal is red during forbidden phase, therefore in conventional art, forbidden phase is general Also it is referred to as " red light phase ", corresponding signal lamp is (as corresponding in avoided stop line during forbidden phase in the embodiment of the present application Sky beamer and/or ground signal lamp) color that sends optical signal is not limited to red, and can be expanded as can For the instruction any monochromatic or varicolored combination that no thoroughfare for vehicles.Similar, control the vehicle police on entrance lane Capable phase can be described as " alert row phase " (alert row phase can also claim " transition phase ") of the entrance lane, in conventional art by The color that optical signal is sent in corresponding signal lamp is yellow during alert row phase, therefore in the conventional technology, alert row phase It is general to be also referred to as amber light phase, in the embodiment of the present application during alert row phase corresponding signal lamp (as avoided stop line pair The sky beamer and/or ground signal lamp answered) color that sends optical signal is not limited to yellow.

Illustrate, " phase " mentioned in certain some traffic specification typically acquiescence is to permit row phase (such as green light Phase), i.e., it is that fair row phase (such as green light phase) is referred to as phase in certain some traffic specification, in these traffic specifications very To not paying special attention to forbidden phase and alert these concepts of row phase.It is directed primarily in the scheme of the embodiment of the present application to each track Implement the control management that comparatively becomes more meticulous, therefore especially distinguish and permit row phase, forbidden phase and alert row phase this is several not Same phase concept.Have under some special screnes, warn row phase and can even is that not, under this scene, can only permit Row phase and forbidden phase.

The concept of " right of way phase " and " non-right of way phase " is set forth below, in general, the right of way phase of entrance lane is used In controlling the wagon flow on the entrance lane to cross confluence, it can represent that the wagon flow on the entrance lane obtains and cross confluence Right.The avoidance stop line of certain entrance lane is just crossed in the end of alert row phase (if present) or fair row phase These vehicles, generally also need the regular hour just to cross confluence, for avoid as far as possible these vehicles with from another confluence Conflict track is driven into the vehicle of confluence and clashed in confluence, therefore can be to the duration of 1~2 second or so to ensure These vehicles for the avoidance stop line that the end of alert row phase (if present) or fair row phase is just crossed can have enough time Safety crosses confluence, and the period that this can be used for safety clearance is referred to as emptying phase.On a timeline, certain entrance car The fair row phase of the right of way phase in road+non-right of way phase=entrance lane+forbidden phase+police's row phase (if present).It is forbidden Phase may include to empty phase and non-clear phase.Certainly, empty phase it is some in particular cases may also be not necessarily , wherein, in the case of emptying phase and being not present, forbidden phase can be equal to non-right of way phase.That is, entrance car The non-right of way phase in road is the part or all of of the forbidden phase of the entrance lane.And work as and alert row phase be present and empty phase In the case of, right of way phase can include permitting row phase, alert row phase and empty phase.It is not present when in the presence of alert row phase In the case of emptying phase, right of way phase includes permitting row phase and alert row phase.When in the absence of alert row phase but existing and empty phase In the case of position, right of way phase includes permitting row phase and empties phase.When in the absence of police's row phase and the situation for emptying phase Under, right of way phase can be equal to fair row phase.Wherein, the right of way of exemplified certain entrance lane (such as entrance lane x8) of Fig. 3 Phase includes permitting row phase, alert row phase and empties phase.Or the right of way phase of certain entrance lane (such as entrance lane x10) It may include to permit row phase and empty phase.Or the right of way phase of certain entrance lane (such as entrance lane x9) includes permitting row phase With alert row phase.Or the right of way phase of certain entrance lane (such as entrance lane x11) can be equal to fair row phase.Some are handed over The phase mentioned in drift model may also be defaulted as being right of way phase, i.e., be probably that right of way phase is straight in these traffic specifications Connect referred to as phase.

Described for ease of simplifying, in the application some schemes description, no through traffic, and optical signal can referred to as " forbidden light be believed Number ", it is allowed to current optical signal referred to as " fair traveling optical signal " or " current optical signal " can warn current optical signal can abbreviation " alert row Optical signal ".Forbidden optical signal is indicated for the optical signal that no thoroughfare for vehicles.For example, the signal lamp in certain track is sent Forbid the vehicle pass-through in the track during forbidden optical signal.Fair traveling optical signal is indicated for the optical signal for allowing car current, example Signal lamp such as certain track allows the vehicle pass-through in the track during sending fair traveling optical signal.Alert traveling optical signal is indicated for Warn vehicle pass-through optical signal, such as certain track signal lamp send alert traveling optical signal during warn the vehicle in the track to lead to OK.Other situations can be by that analogy.

Forbidden optical signal, permit the specific appearance form of traveling optical signal and alert traveling optical signal be probably it is flexible and changeable, can root Set according to concrete scene needs.For example, forbidden optical signal can be red light signal, wherein, red light signal specifically may be used Think the red light signal of flicker and/or non-flickering red light signal.Wherein, non-flickering red light signal may be simply referred to as Normal red signal light, the red light signal of flicker may be simply referred to as flashing red signal.Forbidden optical signal is indicated for corresponding to track The optical signal that no thoroughfare for vehicles, therefore any one can be used to indicate that the optical signal that no thoroughfare for vehicles is considered as Forbidden optical signal, then the form of expression of forbidden optical signal is not limited to the example above, such as can also believe the light of several colors Number according to certain rule combine with indicate no thoroughfare for vehicles, then the optical signal of these forms of expression is also believed that It is forbidden optical signal.In another example fair traveling optical signal can be green light signal, the green light that green light signal concretely flashes is believed Number and/or non-flickering green light signal.Wherein, non-flickering green light signal can referred to as evergreen optical signal, the green of flicker Optical signal may be simply referred to as blue flash optical signal.Traveling optical signal is permitted to be indicated for the optical signal for allowing vehicle pass-through corresponding to track, Therefore any can be used to indicate that allows the optical signal of vehicle pass-through to be considered as permitting traveling optical signal.In another example alert row Optical signal can be yellow optical signal, the yellow optical signal and/or non-flickering sodium yellow letter that yellow optical signal concretely flashes Number.Wherein, non-flickering yellow optical signal can abbreviation Chang Huangguang signals, the yellow optical signal of flicker may be simply referred to as yellow flash of light letter Number.Alert traveling optical signal is indicated for warning the optical signal of vehicle pass-through corresponding to track, and therefore, any one can be used in Indicate that the optical signal of warning vehicle pass-through is considered as warning traveling optical signal.

Generally speaking, fair traveling optical signal may have one or more kinds of forms of expression, forbidden optical signal there may also be One or more forms of expression also may be present in one or more forms of expression, alert traveling optical signal.But due to permitting traveling optical signal, prohibiting Traveling optical signal is different with alert traveling optical signal indicative function, then permits the performance of traveling optical signal, forbidden optical signal and alert traveling optical signal Form is also different, in other words, the form of expression set of forbidden optical signal, the form of expression set of alert traveling optical signal and Do not occur simultaneously between the form of expression set of forbidden optical signal.

Wherein, alert traveling optical signal is indicated for warning the optical signal of vehicle pass-through, therefore from certain angle, it is alert Traveling optical signal is considered as a kind of transition signal (therefore alert traveling optical signal is alternatively referred to as excessive optical signal), and instruction vehicle is being permitted It is capable with it is forbidden between transition.In some cases if without such transition, then may also be just this without alert traveling optical signal Transition signal.

The embodiment of the present application provides a kind of Signalized control method at plane convergence crossing, and the plane convergence crossing is this Apply for any one plane convergence crossing that embodiment provides.

Wherein, the Signalized control method may include：When away from reference to moment T_{ck_Cj}Arrival there remains overlapping duration T_{cd_Ci}When, control the NCi horizontal ground signal lamp groups be switched to fair traveling optical signal send state (such as can be from forbidden Optical signal sends state or OFF state is switched to fair traveling optical signal and sends state), wherein, the horizontal ground signal lamp group Cip and the horizontal ground signal lamp group Ciq are switched to the time interval Δ T that fair traveling optical signal sends state_{g-Cip_Ciq}It is more than Or equal to the overlapping duration T_{cd_Ci}, and the Δ T_{g-Cip_Ciq}T was added less than 3 seconds_{cd_Ci}(3 seconds+T_{cd_Ci}) or the Δ T_{g-Cip_Ciq}Less than 1.2*T_{cd_Ci}(1.2 are multiplied by T_{cd_Ci}).Wherein, it is described to refer to moment T_{ck_Cj}For the horizontal ground signal lamp Group Cjq fair traveling optical signal sends the finish time T of state_ge-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ge-CjqPass through again Safety clearance duration T corresponding to the entrance lane Cj_qk-CjAnd at the time of arrival, or it is described with reference to moment T_{ck_Cj}For the horizontal stroke Earthward signal lamp group Cjq police's traveling optical signal sends the finish time T of state_ye-Cjq, or it is described with reference to moment T_{ck_Cj}For The T_ye-CjPass through safety clearance duration T corresponding to the entrance lane Cj again_qk-CjAnd at the time of arrival.

It is appreciated that traveling optical signal is permitted to send state when certain horizontal ground signal lamp group is in, then to mean that permission car The traffic mark line corresponding to the horizontal ground signal lamp group is crossed, certain horizontal ground signal lamp group is in forbidden optical signal Send state, then meaning that allows vehicle to cross the traffic mark line corresponding to the horizontal ground signal lamp group, with such Push away.

Wherein, the determination mode of the maximum safe speed of certain entrance lane (such as entrance lane Ci or entrance lane Cj) Can be diversified.Such as Maximum speed limit * peace of the entrance lane Ci maximum safe speed for example equal to entrance lane Ci Overall coefficient μ 4, safety coefficient μ 4 are the real number more than 0 and less than 1, specific for example, safety coefficient μ 4 Value space (codomain sky Between also referred to as " span ") for the real number of more than 0.4 and less than 1 (or more than 0.4 and less than 0.8).Safety coefficient μ 4 for example may be used Equal to 0.4,0.3,0.35,0.6,0.8,0.7,0.9,0.65 or other value.Or in another example, entrance lane Ci highest safety The speed minimum speed limit * safety coefficients μ 5 for example equal to entrance lane Ci, safety coefficient μ 5 are the real number more than 0 and less than 2, Specifically for example, safety coefficient μ 5 Value space is more than 0.4 and less than the real number of 2 (or more than 0.4 and less than 1.2).Its In, the safety coefficient μ 5 can for example be equal to 0.4,0.5,0.8,0.7,0.9,0.65,1.1,1.9,1.2 or other values.Or In another example the Value space of entrance lane Ci maximum safe speed is, for example, 15~45 kilometers of speed per hour, specific such as entrance lane Ci maximum safe speed can be equal to 15 kilometers/hour, 18 kilometers/hour, 20 kilometers/hour, 22 kilometers/hour, 26 public affairs In/hour, 30 kilometers/hour, 36 kilometers/hour, 45 kilometers/hour, 38 kilometers/hour or other speed.Entrance lane Cj The determination mode of maximum safe speed can be by that analogy.

The L_LE-minMore than or equal to 2 meters.Where it is assumed that the most short effectively guiding distance L_LE-minFor 5 meters, then table Show any two transverse direction ground signal lamp group (its that the NCi horizontal ground signal lamp group medium spacings are more than or equal to 5 meters In, such as horizontal ground signal lamp group Cii and horizontal ground signal lamp group Cij) spacing (such as L_{Cii_Cij}), divided by the two horizontal strokes Earthward signal lamp group is switched to interval duration (such as Δ T that fair traveling optical signal sends state_{g-Cii_Cij}) and obtain business (V_{g-Cii_Cij}, V_{g-Cii_Cij}It is considered as the fair row guiding speed that the two horizontal ground signal lamp groups are presented), less than described Entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed.I.e. described NCi horizontal ground signal lamp group institute energy The effectively fair row guiding speed enough presented, it is less than entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed 's.Like this, be advantageous to make to be switched in horizontal ground signal lamp group Ciq attached at the time of fair traveling optical signal sends state Closely, the wagon flow head car for crossing avoidance stop line drives into confluence with more safely controllable speed, thus advantageously ensures that each other Confluence conflict track two entrances track (such as entrance lane Ci and entrance lane Cj) on wagon flow confluence peace Full controllability, be advantageous to avoid this two bursts of wagon flows from clashing in confluence.

For example, the safety clearance duration T_qk-CjValue space for example can be 0.2 second~5 seconds between.Concrete example Such as, the safety clearance duration T_qk-CjValue space for example can be 2 seconds~5 seconds between.Specifically for example, the safety clearance Duration T_qk-CjValue space for example can be 2 seconds~4 seconds between.More specifically, T_qk-CjCan be equal to 0.5 second, 1 second, 1.2 seconds, 1.8 seconds, 2 seconds, 2.5 seconds, 2.8 seconds, 3 seconds, 4 seconds, 4.5 seconds or other values.For example, safety clearance duration T_qk-CjWith track Cj's Empty distance (track Cj empty distance for example, track Cj avoidance stop line and corresponding confluence roll away from boundary line it Between operating range) positive correlation (such as directly proportional or approximate directly proportional).In some embodiments, because vehicle is same To traveling, therefore it can also save confluence and empty duration.

Wherein, it is described to refer to moment T_{ck_Cj}The finish time of for example, described entrance lane Cj right of way phase.

Wherein, avoid signal lamp corresponding to stop line (avoid stop line be a kind of traffic mark line) and (such as avoid parking Sky beamer corresponding to line and/or ground signal lamp) it may be used to indicate whether vehicle is allowed to cross the avoidance parking Line.Such as fair traveling optical signal sends state or alert traveling optical signal is sent when signal lamp corresponding to avoidance stop line is currently at State, then represent that this signal lamp currently indicates that vehicle allows to cross avoidance stop line.When signal corresponding to avoidance stop line Lamp is currently at forbidden optical signal and sends state, then represents that this signal lamp currently indicates that vehicle is forbidden crossing avoidance parking Line.

It is appreciated that due to boot section LE_Ci drive into boundary line between the entrance lane Ci avoidance stop line with Entrance lane Ci's rolls away between boundary line, then is switched to fair traveling optical signal in the horizontal ground signal lamp group Ciq and sends When state, the avoidance stop line (if avoiding stop line without lamp control) and boot section LE_Ci of the entrance lane Ci may be represented Boundary line of driving into allow vehicle to cross.Being switched in the horizontal ground signal lamp group Ciq forbids traveling optical signal to send shape During state, the avoidance stop line (if avoid stop line without lamp control) and boot section LE_Ci of the entrance lane Ci may be meant that Driving into boundary line forbids vehicle to cross.That is, horizontal ground signal lamp group Ciq may be used to indicate vehicle whether by Allow to cross the avoidance stop line and boot section LE_Ci drives into boundary line.

In the embodiment of the present application, the working condition of horizontal ground signal lamp group includes permitting traveling optical signal to send state, may be used also Including at least one kind of of following working condition：Forbidden optical signal sends state, alert traveling optical signal sends state and OFF state.Under Several possible switching modes of the working condition of the horizontal ground signal lamp group of face citing.Referring to Fig. 4-A~Fig. 4-B, Fig. 4-A~ The exemplified several possible switching modes of the working condition of horizontal ground signal lamp group of Fig. 4-B.Wherein, cutting in Fig. 4-A Mold changing formula QM1 is exemplified, horizontal ground signal lamp group (such as horizontal ground signal lamp group Ciq, horizontal ground signal lamp group Other transverse directions in Cip, horizontal ground signal lamp group Cjq, horizontal ground signal lamp group Cjp or other speeds guiding lamp array Ground signal lamp group) traveling optical signal sends state and forbidden optical signal sends a kind of possible implementation for switching between state permitting Mode.Switch mode QM2 in Fig. 4-A is exemplified, and horizontal ground signal lamp group sends state, alert row light in fair traveling optical signal Signal sends state and forbidden optical signal sends a kind of possible embodiment switched between state.Switch mode in Fig. 4-A QM3 is exemplified, and horizontal ground signal lamp group sends one kind possibility switched between state and OFF state in fair traveling optical signal Embodiment.In another example the switch mode QM4 in Fig. 4-B is exemplified, horizontal ground signal lamp group is sent out in fair traveling optical signal Do well, extinguish that optical signal sends state and forbidden optical signal sends a kind of possible embodiment switched between state.Example again Such as, the switch mode QM5 and QM6 in Fig. 4-B are exemplified, horizontal ground signal lamp group can fair traveling optical signal send state, OFF state, alert traveling optical signal sends state and forbidden optical signal sends several possible embodiments switched between state.

Specifically for example, methods described can also include：Sent in the horizontal ground signal lamp group Ciq in fair traveling optical signal State continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to be sent from fair traveling optical signal State is switched to forbidden optical signal and sends state.Or send state in fair traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from fair traveling optical signal and be switched to Forbidden optical signal sends state, and the horizontal ground signal lamp group Cii sends state from fair traveling optical signal and is switched to forbidden light letter At the time of number sending state, send state from fair traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to forbidden light At the time of signal sends state.Or it is switched at the time of fair traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to forbidden optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of fair traveling optical signal sends state again_g-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to forbidden optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to forbidden optical signal and sends state, forbidden light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

Again for example, methods described may also include：Sent in the horizontal ground signal lamp group Ciq in fair traveling optical signal State continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups synchronously to be sent from fair traveling optical signal State is switched to alert traveling optical signal and sends state.Or send state in fair traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from fair traveling optical signal and be switched to Alert traveling optical signal sends state, and the horizontal ground signal lamp group Cii sends state from fair traveling optical signal and is switched to alert row light letter At the time of number sending state, send state from fair traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to alert row light At the time of signal sends state.Or it is switched at the time of fair traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to alert traveling optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of fair traveling optical signal sends state again_g-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to alert traveling optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to alert traveling optical signal and sends state, alert row light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

Again for example, methods described may also include：Sent in the horizontal ground signal lamp group Ciq in alert traveling optical signal State continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups are synchronous to be sent from alert traveling optical signal State is switched to forbidden optical signal and sends state.Or send state in alert traveling optical signal in the horizontal ground signal lamp group Ciq It continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from alert traveling optical signal and be switched to Forbidden optical signal sends state, and the horizontal ground signal lamp group Cii sends state from alert traveling optical signal and is switched to forbidden light letter At the time of number sending state, send state from alert traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to forbidden light At the time of signal sends state.Or it is switched at the time of alert traveling optical signal sends state in horizontal ground signal lamp group Ciq and passes through again Cross duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to forbidden optical signal. Or it is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of alert traveling optical signal sends state again_y-CiqWhen, control Make the NCi horizontal ground traffic signal light groups and be switched to forbidden optical signal and send state, the horizontal ground signal lamp group At the time of Cii is switched to forbidden optical signal and sends state, forbidden light letter is switched to earlier than the horizontal ground signal lamp group Cij At the time of number sending state.

For example, V_{y-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{y-Cii_Cij}Obtained from business.The Δ T_{y-Cii_Cij}For transverse direction The ground signal lamp group Cij and horizontal ground signal lamp group Cii is switched to the interval duration that alert traveling optical signal sends state. The V_{y-Cii_Cij}Equal to minimum speed limit or the V_{y-Cii_Cij}More than the V_{g-Cii_Cij}.Wherein, V_{y-Cii_Cij}It can regard as alert Row guiding speed.

For example, V_{r-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{r-Cii_Cij}Obtained from business, wherein, the Δ T_{r-Cii_Cij} The interval that forbidden optical signal sends state is switched to for horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cii Duration.The V_{r-Cii_Cij}Equal to minimum speed limit or the V_{r-Cii_Cij}More than the V_{g-Cii_Cij}.Wherein, V_{r-Cii_Cij}It can see Into being forbidden guiding speed.

Wherein, V_{y-Cii_Cij}It is more than or equal to or less than V_{r-Cii_Cij}。

For example, the NCi horizontal ground signal lamp groups include the horizontal ground signal lamp group Cii, the horizontal stroke Earthward signal lamp group Cij and horizontal ground signal lamp group Cik, the horizontal ground signal lamp group Cij and the entrance lane The Ci spacing avoided between stop line, the avoidance less than the horizontal ground signal lamp group Cik and entrance lane Ci are stopped Spacing between fare.Wherein, V_{r-Cii_Cij}Equal to V_{r-Cij_Cik}, the V_{r-Cij_Cik}Equal to L_{Cij_Cik}Divided by Δ T_{r-Cij_Cik}And Obtained business；The L_{Cij_Cik}Between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik Spacing, the Δ T_{r-Cij_Cik}It is that horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij are switched to forbidden light Signal sends the interval duration of state, the L_{Cij_Cik}More than or equal to the most short effectively guiding distance；The V_{r-Cii_Cij}Deng In L_{Cii_Cij}Divided by Δ T_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}For horizontal ground signal lamp group Cii and the transverse direction Ground signal lamp group Cij is switched to the interval duration that forbidden optical signal sends state.

Again as an example it is assumed that the NCi horizontal ground signal lamp groups include the horizontal ground signal lamp group Cii, The horizontal ground signal lamp group Cij and horizontal ground signal lamp group Cik, wherein, the horizontal ground signal lamp group Cij with The spacing avoided between stop line of the entrance lane Ci, less than the horizontal ground signal lamp group Cik and the entrance car The road Ci spacing avoided between stop line.Wherein, V_{g-Cii_Cij}Less than or equal to V_{g-Cij_Cik}, the V_{g-Cij_Cik}It is equal to L_{Cij_Cik}Divided by Δ T_{g-Cij_Cik}Obtained from business；The L_{Cij_Cik}For the horizontal ground signal lamp group Cij with it is described laterally Spacing between the signal lamp group Cik of face；The Δ T_{g-Cij_Cik}For horizontal ground signal lamp group Cik and the horizontal ground signal Lamp group Cij is switched to the interval duration that fair traveling optical signal sends state, the L_{Cij_Cik}It is most short effectively more than or equal to described Guide distance.

Such as the executive agent of the above method can be the light control devices such as semaphore or controller.Referred in the embodiment of the present application Semaphore may also be referred to as programme-controlled exchange, traffic control signal machine, traffic signaling equipment, confluence semaphore, confluence are handed over Messenger machine, signal controlling machine or confluence traffic control signal machine etc..

Specifically, light control device can be by sending control instruction come regulation speed guiding lamp array to speed guiding lamp array Work.Wherein, each horizontal ground signal lamp group can work under the control of light control device.Such as due to entrance lane The start/stop time of right of way phase (such as permits the start/stop time, the start/stop time of alert row phase or the start-stop of forbidden phase of row phase Moment etc.) determined by semaphore, the start/stop time of these phases is recordable in the multiphase traffic time allocation table that semaphore is safeguarded In, therefore semaphore can learn the start/stop time of the right of way phase of each entrance lane, that is to say, that semaphore can be learned assorted Moment is away from reference to moment T_{ck_Ci}Arrival there remains overlapping duration T_{cd_Ci}When.And controller then can from semaphore (or The other equipment for being connected with semaphore or being controlled by semaphore) direct or indirect learn that what moment is away from reference to the moment T_{ck_Ci}Arrival there remains overlapping duration T_{cd_Ci}When.Such as controller can be based on (or being connected with semaphore from semaphore Or the other equipment controlled by semaphore) the countdown signal for permitting row phase or forbidden phase, learn that what moment is Away from reference to moment T_{ck_Ci}Arrival there remains overlapping duration T_{cd_Ci}When.

Wherein, above-mentioned overlapping duration T_{cd_Ci}Can be light control device storage preset value (light control device can be according to from upper The overlapping duration more new command of machine or Man Machine Interface updates currently stored T_{cd_Ci}) or overlapping duration T_{cd_Ci}It can be based on pre- Imputation method is calculated in real time.Such as overlapping duration T_{cd_Ci}Can be equal to 2 seconds, 3 seconds, 4 seconds, 5 seconds, 6 seconds, 7 seconds, 8.1 seconds, 10 seconds, 15 seconds, 20 seconds or other durations.

The different entrance lanes (such as entrance lane Ci and entrance lane Cj) at crossing it is to be appreciated that approximately the same plane crosses Corresponding overlapping duration may be equal or different.Wherein, overlapping duration T_{cd_Ci}For overlapping duration corresponding to entrance lane Ci, weight Folded duration T_{cd_Cj}For overlapping duration corresponding to entrance lane Cj.Such as shown in Fig. 5-A citings in scene, entrance lane Ci and Entrance lane Cj right of way phrase overlap.Overlapping duration T_{cd_Ci}For overlapping duration corresponding to entrance lane Ci, overlapping duration T_{cd_Cj}For overlapping duration, T corresponding to entrance lane Cj_{cd_Ci}And T_{cd_Cj}Can be equal or unequal.

It is appreciated that in actual applications, the NCi horizontal ground traffic signal light groups are from the horizontal traffic above-ground Signal lamp group Ciq starts to be sequentially switched to permit traveling optical signal to send state along travel direction, can substantially show at the uniform velocity guiding speed Degree or speed change guiding speed, speed change guiding speed can be that even acceleration guiding speed is (wherein, even to accelerate guiding speed to divide The even acceleration that the even acceleration guiding speed and initial velocity for being zero for initial velocity are not zero guides speed) or non-even acceleration guiding speed Degree etc..

For example, the two neighboring horizontal stroke in the NCi horizontal ground signal lamp groups that not only speed guiding lamp array includes Earthward spacing can be equal between signal lamp group, and two transverse directions of arbitrary neighborhood in the NCi horizontal ground signal lamp groups Ground signal lamp group is switched to fair traveling optical signal and sends state (or forbidden optical signal sends state or alert traveling optical signal sends shape State) interval duration it is also equal, this pattern can claim " equidistantly wait for time model ".In another example under some scenes, speed is drawn Between between the horizontal ground signal lamp group of arbitrary neighborhood two in the NCi horizontal ground signal lamp groups that leading lights array includes Away from equal, but the horizontal ground signal lamp group of arbitrary neighborhood two in the NCi horizontal ground signal lamp groups is switched to fair row Optical signal sends the interval duration of state (or forbidden optical signal sends state or alert traveling optical signal sends state), this Pattern can claim " not waiting time model equidistantly ".

In another example in the case where there is some scenes, the phase in the NCi horizontal ground signal lamp groups that speed guiding lamp array includes Spacing between adjacent two horizontal ground signal lamp groups is unequal, still, appointing in the NCi horizontal ground signal lamp groups Two neighboring horizontal ground signal lamp group of anticipating is switched to fair traveling optical signal and sends state (or forbidden optical signal sends state or police Traveling optical signal sends state) interval duration it is equal, this pattern can claim " waiting the not equidistant pattern of duration ".Similar, " no Time model is not waited equidistantly " can be by that analogy.

Such as assume that guiding section lengths of the NCi equal to 11 and entrance lane Ci is 10 meters, if NCi horizontal ground signals Uniformly (i.e. equidistant) is distributed in boot section to lamp group, then sets 1 horizontal ground signal lamp group every 1 meter in boot section, then Boot section can be divided into 10 boot section segmentations, two horizontal ground signals of arbitrary neighborhood by 11 horizontal ground signal lamp groups Spacing between lamp group is 1 meter, and the horizontal ground signal lamp group of arbitrary neighborhood two is switched to fair traveling optical signal and sends state Be spaced duration can equal (such as 0.2 second, 1 second, 1.5 seconds or 2 seconds etc.) or.In another example assume that NCi is equal to 6 and entrance Track Ci guiding section length is 10 meters, if 6 horizontal ground signal lamp groups uniformly (equidistant) can be distributed in boot section, such as 1 horizontal ground signal lamp group is set every 2 meters on boot section, boot section can be divided into by 6 horizontal ground signal lamp groups 5 boot sections are segmented, and the spacing between the horizontal ground signal lamp group of arbitrary neighborhood two is 2 meters, and arbitrary neighborhood two is laterally Face signal lamp group be switched to fair traveling optical signal send the interval duration of state can be equal or different.In speed guiding lamp array Other equal set-up modes of spacing can be by that analogy between the horizontal ground signal lamp group of arbitrary neighborhood two.

The switching instant of the working condition of each horizontal ground signal lamp group in speed guiding lamp array is lifted below Example.These citing embodiments are all schematical that can be based on concrete scene difference in actual applications, accuracy needs below Ask different wait to carry out accommodations, for example, result obtained from referring to following calculations be adjusted (such as delay or Actual use value is obtained in advance).

Such as (horizontal ground signal lamp group Ci-a is the NCi horizontal ground signal lamps to horizontal ground signal lamp group Ci-a Any 1 horizontal ground signal lamp in group) at the time of be switched to fair traveling optical signal and send state, relative to horizontal ground signal Lamp group Ciq sends the interval duration being switched at the time of fair traveling optical signal sends state and is expressed as Δ T_{g-Ci-a_Ci-q}.So, such as Permit row by being sequentially switched to since horizontal ground signal lamp group Ciq along travel direction for NCi horizontal ground signal lamp groups Optical signal sends state and shows the situation of at the uniform velocity guiding speed, then In another example for NCi horizontal ground signal lamp groups by since horizontal ground signal lamp group Ciq along travel direction successively Fair traveling optical signal is switched to send state and show the situation that the even acceleration that initial velocity is 0 guides speed, thenIn another example as the even initial velocity v for accelerating guiding speed₀More than 0 When universal expression formula can be：

Wherein, the T_{cd_Ci}Represent overlapping duration corresponding to entrance lane Ci, T_{cd_Ci}It is also equal to horizontal ground signal lamp group The interval duration that fair traveling optical signal sends the initial time of state is switched between Ciq and horizontal ground signal lamp group Cip.Institute State L_{LE_Ci}Represent entrance lane Ci guiding section length, L_{LE_Ci}Horizontal ground signal lamp group Ciq is also equal to horizontal ground to believe Spacing between signal lamp group Cip.The L_{Ci-a_Ci-q}Represent horizontal ground signal lamp group Ci-a and horizontal ground signal lamp group Ciq Between spacing, the L_{Ci-a_Ci-q}Border is driven into the boot section for being also equal to horizontal ground signal lamp group Ci-a and entrance lane Ci Spacing between line.Wherein, horizontal ground signal lamp group Ci-a is any one horizontal stroke in NCi horizontal ground signal lamp groups Earthward signal lamp group.

Wherein, L_{LE_Ci}And/or T_{cd_Ci}Value can immobilize, can be also varied from environmental change.Generally come Say, for the consideration of secure context, the head car after entrance lane Ci avoidance stop line drives into the speed of confluence most Benefit is in safe range, such as the km of speed per hour 15 or 30 kms are exactly the safe scope of comparison.If at the travel speed of head car In in safe range, then head car generally can just brake in time when there are confluence emergency situations, and this advantageously reduces appearance The probability of confluence accident.For the consideration of these secure contexts, sent using the NCi horizontal ground signal lamp groups The guiding speed for permitting traveling optical signal to be showed, fair row phase stem is driven into the travel speed guiding of the vehicle of confluence In control to safe range, then confluence security is just more secure.

Such as common vehicle from the duration that accelerates to needed for safe speed is started to is exactly to obtain under ecotopia's With reference to basis, common vehicle is exactly to obtain from the distance that accelerates to needed for safe speed is started under ecotopia's With reference to basis.The plan initial value of overlapping duration corresponding to entrance lane Ci is represented,Represent entrance lane Ci Guiding section length plan initial value.

Wherein, L_{LE_Ci}Value can be equal toT_{cd Ci}Value can be equal toOr for L_{LE_Ci}And/or T_{cd Ci}Value situation about can be varied from environmental change,

Wherein, the μ 1 is the first safety coefficient, and the μ 2 is the second safety coefficient.That is, can be according to working as front ring Corresponding safety coefficient is selected in the change of border factor, and then is based on(or) and currently selected peace Overall coefficient obtains currently used T_{cd_Ci}(or L_{LE_Ci}) value.

The value that μ 1 (or μ 2) value can be equal to 1, μ 1 (or μ 2) is also greater than 1 or less than 1.μ 1 (or μ 2) value example The one or more in weather, light intensity, the gradient and confluence complexity environmental factor are such as referred to determine.Such as fine day When μ 1 (or 1/ μ 2) value can be equal to 1 or close to 1 (such as 1.1,1.05 or other values), when the rainy day, μ 1 (or μ 2) takes It is worth the value that (such as 1.2,1.3,1.5,2 or other values) are more than the μ 1 (or μ 2) when fine day.In another example the μ 1 when light intensity is preferable The value of (or μ 2) can be equal to 1 or close to 1 (such as 1.1 or 1.05 or other value), μ 1 (or μ 2) value when light intensity is poor (such as 1.2,1.3,1.5,2 or other values) are more than the value of the μ 1 when light intensity is preferable.In another example μ 1 (or μ 2) when the gradient is smaller Value can be equal to 1 or close to 1 (such as 1.1,1.06 or other values), the value of the μ 1 (or μ 2) when the gradient is smaller (such as 1.2,1.3,1.5,1.8,2 or other values) are more than the value of the μ 1 when the gradient is larger.When confluence, complexity is smaller When μ 1 (or μ 2) value be equal to 1 or close to 1 (such as 1.1,1.04,1.08 or other value), and when confluence complexity is larger When μ 1 (or μ 2) value (such as 1.2,1.3,1.5,1.7,1.9,1.8,2 or other values) be more than when complexity is smaller μ 1 (or μ 2) value.

It is appreciated that the first purpose for setting μ 1 (or μ 2) is to improve security, therefore μ 1 (or μ 2) value is also possible to Safe factor is influenceed to determine with reference to other one or more.Which influences the factor of safety with specific reference to, how with reference to shadow Safe each factor is rung to determine μ 1 (or μ 2) value, can be selected according to concrete scene needs, is not especially limited herein It is fixed.

Again for example, different periods and track guiding section length L_{LE_Ci}Between can have corresponding relation.Such as can be pre- First boot section LE_Ci corresponding to peak hours/period is set to drive into border line position (such period L_{LE_Ci}For 10 meters or other values), half Boot section LE_Ci corresponding to peak hours/period drives into border line position (such period L_{LE_Ci}For 8 meters), draw corresponding to idle period Lead area LE_Ci and drive into border line position (such as this period L_{LE_Ci}For 6 meters) etc..Such as can be by 7：30~9:30 and 17:30~ 20:00 to delimit be peak hours/period, 0:00~6:00 delimitation is idle period, and it is half peak hours/period that other periods, which delimited, certainly Corresponding different application scene may also also have other Time segments division modes, no longer illustrate one by one herein.Again for example, car Flow and boot section LE_Ci can have corresponding relation, i.e. different periods and guiding section length L between driving into border line position_{LE_Ci} Between can have corresponding relation.Such as when the vehicle flowrate of confluence is more than 25 per minute, L_{LE_Ci}For 10 meters or other values, Section length L is guided when the vehicle flowrate of confluence is 15~25 per minute_{LE_Ci}For 8 meters or other values.When confluence vehicle flowrate Section length L is guided during less than 15 per minute_{LE_Ci}For 6 meters or other values, other situations are by that analogy.

In the case of right of way phase includes emptying phase, it is contemplated that Different Plane crosses the different entrance lanes at crossing Emptying length may be not quite similar, and approximately the same plane crosses the length that empties of different entrance lanes at crossing may also phase not to the utmost Together, therefore, emptying a length of particular value during phase might not be most scientific.Therefore, it may be considered that obtained according to the length that empties in track Phase duration T is emptied to corresponding_qk.Such asOr work asDuring more than or equal to 1 secondWhenT during less than 1 second_{qk_Ci}Value is 1 second.L_{qk_Ci}Represent corresponding to entrance lane Ci Empty distance (L_{qk_Ci}The distance between boundary line is rolled away to confluence) equal to from entrance lane Ci avoidance stop line.T_{qk_Ci} Represent that entrance lane Ci's empties phase duration.V'_{lk_Ci}Such as the minimum equal to the affiliated plane convergence crossings of entrance lane Ci Fast V_{lk_min}Or desired speed V_{lk_q}.Or V'_{lk_Ci}Equal to V_{lk_min}* μ 3 or V_{lk_q}* μ 3, the 3rd safety coefficient μ 3 value can wait In 1 or more than 1 or less than 1.Specific such as μ 3 value for example refers to weather, light intensity, the gradient and/or plane convergence crossing The environmental factors such as complexity determine that μ 3 specific value mode refers to μ 1 specific value mode.

Based on T obtained from the mode of the example above_{qk_Ci}Fixed duration (fixed duration such as 1 second or 2 seconds) is can not be, T_{qk_Ci}The crossing situation of being crossed according to actual plane is different and the change of adaptability, is so advantageous to more preferably ensure that vehicle is being handed over Remittance area does not clash, and then is advantageous to the further security for improving confluence and passing through.

In another example horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is switched to forbidden optical signal and sends shape Boot section of the interval duration of state equal to the entrance lane Ci empties duration.

Entrance lane Ci boot section empties duration and is expressed as T_{LE_qk_Ci},V'_{LE_qk_Ci} V can be equal to_{lk_max}Or V_{lk_min}Or V_{lk_q}, the V_{lk_max}Represent the Maximum speed limit at the plane convergence crossing, V_{lk_min}Represent The minimum speed limit at the plane convergence crossing, V_{lk_q}Represent the desired speed at the plane convergence crossing.Wherein, boot section empties Duration T_{LE_qk_Ci}It is, for example, less than overlapping duration T_{cd_Ci}。V_{lk_min}Less than V_{lk_max}。V_{lk_q}Value space be greater than or equal to it is described V_{lk_min}And it is less than or equal to V_{lk_max}Any real number, i.e. V_{lk_q}More than or equal to the V_{lk_min}And it is less than or equal to V_{lk_max}。

For example, for NCi horizontal ground signal lamp groups by since horizontal ground signal lamp group Ciq along travel direction It is sequentially switched to the situation that forbidden optical signal sends state and shows at the uniform velocity guiding speed, then, NCi horizontal ground letters At the time of horizontal ground signal lamp group Ci-a in signal lamp group is switched to forbidden optical signal and sends state, relative to horizontal ground Signal lamp group Ciq, which is switched to forbidden optical signal and sends the interval duration at state moment, is expressed as Δ T_{r-Ci-a_Ci-q}, wherein,

The switching instant of the working condition of each horizontal ground signal lamp group in speed guiding lamp array is carried out above It illustrative examples, and may need not implement in actual applications in strict accordance with the example above mode, may be based on citing and calculate The result of calculation of mode carries out Fuzzy Processing and obtains actual use value, or can also be calculated by other calculations.

Related emulation testing data are combined below by some instantiations to illustrate that the enhancing efficiency of application scheme is imitated Fruit.

Referring to Fig. 7, the exemplified plane convergence crossings 700 and 800 of Fig. 7, mainly with plane convergence in illustrating below Crossing 700 and plane convergence crossing 800 illustrated exemplified by emulation testing.Plane convergence crossing 700 includes exit lane 730th, entrance lane 710, entrance lane 720 and confluence 740.The avoidance stop line 711 of entrance lane 710 is boot section 712 Drive into boundary line.The boundary line 713 of rolling away from of entrance lane 710 rolls boundary line away from for boot section 712.Entrance lane 720 Avoid stop line 721 and drive into boundary line for boot section 722.Entrance lane 720 rolls boundary line 723 away from as boot section 722 Roll boundary line away from.Boot section 712 set speed guiding lamp array 7120 include horizontal ground signal lamp group 7121,7122, 7123 and 7124,4 horizontal ground signal lamp groups altogether.The speed guiding lamp array 7220 that boot section 722 is set is included laterally Ground signal lamp group 7221,7222,7223 and 7224, altogether 4 horizontal ground signal lamp groups.Wherein, plane convergence crossing 800 Including exit lane 830, entrance lane 810, entrance lane 820 and confluence 840.The avoidance stop line of entrance lane 810 811 drive into boundary line for boot section 812.The boundary line 813 of rolling away from of entrance lane 810 rolls border away from for boot section 812 Line.The avoidance stop line 821 of entrance lane 820 drives into boundary line for boot section 822.Entrance lane 820 rolls boundary line away from 823 roll boundary line away from for boot section 822.The speed guiding lamp array 8120 that boot section 812 is set includes horizontal ground signal Lamp group 8121,8122 and 8123, altogether 3 horizontal ground signal lamp groups.The speed guiding lamp array that boot section 822 is set 8220 include horizontal ground signal lamp group 8221,8222 and 8223, altogether 3 horizontal ground signal lamp groups.

It is illustrated respectively below for 6 kinds of different Simulation Test Environments.

Simulation Test Environment H1 is directed to plane convergence crossing 700, in Simulation Test Environment H1, entrance lane 710 and 720 Right of way phase set-up mode as Fig. 5-B citing shown in, 710 and 720 respective phase cycling of entrance lane is 40 seconds (wherein, the phase cycling of entrance lane itself be the entrance lane right of way phase and non-right of way phase loop one week when It is long), the single right of way phase of entrance lane 710 and 720 when a length of 23 seconds, the right of way phase of entrance lane 710 and 720 exists Overlapping 3 seconds on time.Fig. 5-B pass the imperial examinations at the provincial level illustration, and 1 right of way phase in gateway track 710 is 0~23 second, 1 non-right of way phase Position is 23~40 seconds.Wherein, 1 right of way phase of entrance lane 720 is 20~43 seconds, and 1 non-right of way phase is 3~20 seconds. The right of way phase of entrance lane 720 includes permitting row phase 21 seconds and warns row phase 2 seconds.The right of way phase of entrance lane 710 includes Permit row phase 21 seconds and warn row phase 2 seconds.In Simulation Test Environment H1, the length of boot section 712 and boot section 722 is 20 Rice.In horizontal ground signal lamp group 7121,7122,7123,7124 between the horizontal ground signal lamp group of arbitrary neighborhood two between Away from being 6.67 meters.The horizontal ground signal lamp of arbitrary neighborhood two in horizontal ground signal lamp group 7221,7222,7223,7224 Spacing between group is 6.67 meters.Fair row/police's row/forbidden optical signal of each horizontal ground signal lamp group, which sends state, to be continued Period, in Fig. 6-B citings, horizontal ground signal lamp group 7121 was switched to fair row light letter at the 0th second as shown in illustrating Fig. 6-B Number state is sent, from fair traveling optical signal sent state at the 21st second and be switched to alert traveling optical signal and send state, at the 23rd second from police Traveling optical signal, which sends state and is switched to forbidden optical signal, sends state.Horizontal ground signal lamp group 7124 was switched to fair at the 4th second Traveling optical signal sends state, from fair traveling optical signal sent state at the 22nd second and is switched to alert traveling optical signal and sends state, the 24th Second send state from alert traveling optical signal and be switched to forbidden optical signal and send state.Horizontal ground signal lamp group 7221 was at the 20th second It is switched to fair traveling optical signal and sends state, from fair traveling optical signal sent state at the 41st second and be switched to alert traveling optical signal and send shape State, from alert traveling optical signal sent state at the 43rd second and is switched to forbidden optical signal and send state.Other situations are by that analogy.Can To find out, the 20th~23 second this period belonged to the overlapping period of the right of way phase of entrance lane 710 and 720.In emulation testing Enhancing efficiency correction data obtained from carrying out emulation testing under environment H1 is as shown in Fig. 6-A citings.

Simulation Test Environment H2 is directed to plane convergence crossing 800, in Simulation Test Environment H2, entrance lane 810 and 820 Respective phase cycling is 30 seconds, the single right of way phase of entrance lane 810 and 820 when a length of 15 seconds, entrance lane Without temporal overlapping between 810 and 820 right of way phase.1 right of way phase of entrance lane 810 is 0~15 second, and 1 non- Right of way phase is 15~30 seconds.1 right of way phase of entrance lane 820 is 15~30 seconds, and 1 non-right of way phase is 0~15 Second.Wherein, the right of way phase of entrance lane 820 includes permitting row phase 13 seconds, alert row phase 2 seconds.The right of way of entrance lane 810 Phase includes permitting row phase 13 seconds, alert row phase 2 seconds.In Simulation Test Environment H2, the length of boot section 812 and boot section 822 Degree is 10 meters, and the spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, the horizontal He of ground signal lamp group 8122 Spacing between 8123 is 5 meters, and the spacing between horizontal ground signal lamp group 8221 and 8222 is 5 meters, horizontal ground signal lamp Spacing between group 8222 and 8223 is 5 meters.Wherein, efficiency obtained from carrying out emulation testing under Simulation Test Environment H2 Correction data is lifted as shown in Fig. 6-A citings.

Simulation Test Environment H3 is directed to plane convergence crossing 700, in Simulation Test Environment H3, entrance lane 710 and 720 Right of way phase set-up mode as Fig. 5-C citing shown in, 710 and 720 respective phase cycling of entrance lane is 40 seconds, The single right of way phase of entrance lane 710 and 720 when a length of 23 seconds, between the right of way phase of entrance lane 710 and 720 Overlapping 3 seconds on time.1 right of way phase of exemplified entrance lane 710 is 0~23 second in Fig. 5-C, 1 non-right of way phase For 23~40 seconds.1 right of way phase of entrance lane 720 is 20~40 seconds, and 1 non-right of way phase is 3~20 seconds.Wherein, enter The right of way phase in mouthful track 720 includes permitting row phase 21 seconds and alert row phase 2 seconds.The right of way phase of entrance lane 710 includes permitting Row phase 21 seconds and alert row phase 2 seconds.Wherein, in Simulation Test Environment H3, the length of boot section 712 and boot section 722 is equal For 20 meters, the spacing between horizontal ground signal lamp group 7121 and 7122 is 6.67 meters, the horizontal He of ground signal lamp group 7122 Spacing between 7123 is 6.67 meters, and the spacing between horizontal ground signal lamp group 7123 and 7124 is 6.67 meters.Equally, it is horizontal Earthward the spacing between signal lamp group 7121 and 7122 is 6.67 meters, between horizontal ground signal lamp group 7122 and 7123 Spacing is 6.67 meters, and the spacing between horizontal ground signal lamp group 7123 and 7124 is 6.67 meters.Wherein, in emulation testing ring Enhancing efficiency correction data obtained from carrying out emulation testing under the H3 of border is as shown in Fig. 6-A citings.

Simulation Test Environment H4 is directed to plane convergence crossing 700, and the difference with Simulation Test Environment H3 is, horizontal ground Spacing between signal lamp group 7121 and 7122 is 5.5 meters, and the spacing between horizontal ground signal lamp group 7122 and 7123 is 6.5 meters, the spacing between horizontal ground signal lamp group 7123 and 7124 is 8 meters.Horizontal ground signal lamp group 7121 and 7122 it Between spacing be 5.5 meters, the spacing between horizontal ground signal lamp group 7122 and 7123 is 6.5 meters, horizontal ground signal lamp group Spacing between 7123 and 7124 is 8 meters.Enhancing efficiency contrasts obtained from carrying out emulation testing under Simulation Test Environment H4 Data are as shown in illustrating Fig. 6-A.

Simulation Test Environment H5 is directed to plane convergence crossing 800, in Simulation Test Environment H5, entrance lane 810 and 820 Respective phase cycling is 30 seconds, the single right of way phase of entrance lane 810 and 820 when a length of 16 seconds, entrance lane Overlapping 2 seconds in time between 810 and 820 right of way phase.1 right of way phase of entrance lane 810 is 0~16 second, 1 Non- right of way phase is 16~30 seconds.1 right of way phase of entrance lane 820 is 14~30 seconds, and 1 non-right of way phase is 0~14 Second.Wherein, the right of way phase of entrance lane 820 includes permitting row phase 14 seconds and warns row phase 2 seconds.The right of way of entrance lane 810 Phase includes permitting row phase 14 seconds and warns row phase 2 seconds.In Simulation Test Environment H5, boot section 812 and boot section 822 Length is 10 meters, and the spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, horizontal ground signal lamp group 8122 And the spacing between 8123 is 5 meters.Spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, horizontal ground signal Spacing between lamp group 8122 and 8123 is 5 meters.Wherein, effect obtained from emulation testing is carried out under Simulation Test Environment H5 Correction data can be lifted as shown in Fig. 6-A citings.

Simulation Test Environment H6 is directed to plane convergence crossing 800, wherein, the difference with Simulation Test Environment H5 is, In Simulation Test Environment H6, the length of boot section 812 and boot section 822 is 15 meters, the horizontal He of ground signal lamp group 8121 Spacing between 8122 is 7.5 meters, and the spacing between horizontal ground signal lamp group 8122 and 8123 is 7.5 meters.Horizontal ground letter Spacing between signal lamp group 8121 and 8122 is 735 meters, and the spacing between horizontal ground signal lamp group 8122 and 8123 is 7.5 Rice.Wherein, enhancing efficiency correction data such as Fig. 6-A citings institute obtained from carrying out emulation testing under Simulation Test Environment H6 Show.

Emulation testing data under Simulation Test Environment H3 can be close in different wagon flows as shown in Fig. 6-A shown in form Under degree, from the point of view of the throughput contrast and average speed contrast in 300 seconds emulation durations, application scheme is in vehicle Throughput and average speed etc. have lifting by a relatively large margin compared with traditional zipper formula passes through mode.

In being illustrated shown in above-mentioned with the overlapping duration (i.e. preaceleration duration) of the right of way phase in two entrances track for 2 seconds or Illustrate exemplified by 3 seconds, overlapping duration is alternatively other durations certainly, for example, 1 second, 4 seconds, 3.5 seconds, 5 seconds, 6 seconds, 8 seconds, 9 Second, 10 seconds or other durations less than corresponding right of way phase duration, but corresponding embodiment this analogize.Wherein, above-mentioned shown act Illustrate in example so that right of way phase includes permitting row phase, alert row phase and emptying phase as an example, right of way phase is also likely to be Fig. 3 Other forms shown in middle citing, such as right of way phase may include to permit row phase and empty phase, but not include alert row phase. Right of way phase can be by that analogy for the corresponding embodiment of other composition forms.

As a whole, the scheme of the embodiment of the present application is implemented, by the overlapping mechanism for introducing confluence conflict right of way phase And boot section, be advantageous to greatly improve speed of the vehicle by confluence.It can be seen from time=distance/speed, in identical The more fast vehicle that then passes through of speed is also more in duration, and traffic efficiency is also higher.The technical scheme of the embodiment of the present application with Traditional zipper formula transit scenario is compared, and then advantageously reduces fuel consumption and discharge amount of exhaust gas.As an example it is assumed that by every Car will pass through 5 plane convergence crossings daily, it is assumed that each plane convergence crossing waits 12 seconds red lights less, fuel oil during idling Average 1 liter of gasoline per hour is consumed to calculate, then calculated with 1,000,000, certain city car, can easily save the combustion of more than one hundred million members every year Oil.Such as 360 days * 100 ten thousand * (5*0.2 minutes * 1 liter/60 minutes)=6,000,000 liters.Assuming that every liter of oil by 7 yuan or so come based on Calculate, 6,000,000 liters of oily * 7 yuan=forty-two million members can be saved every year.This can save social resources while traffic efficiency is improved, Reduce pollutant emission.

The embodiment of the present application also provides a kind of storage medium, and the instruction of the storage medium storage or code can be used for performing The part or all of step for any one method that the embodiment of the present application is provided.

In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and does not have the portion being described in detail in some embodiment Point, it may refer to the associated description of other embodiment.

In several embodiments provided herein, it should be understood that disclosed device, can be by another way Realize.Such as device embodiment described above is only schematical, such as the division of said units, it is only one kind Division of logic function, can there is other dividing mode when actually realizing, for example, multiple units or component can combine or Another system is desirably integrated into, either some features can be ignored or not perform.Another, shown or discussed phase Coupling or direct-coupling or communication connection between mutually can be the INDIRECT COUPLINGs or logical by some interfaces, device or unit Letter connection, can be electrical or other forms.

The above-mentioned unit illustrated as separating component can be or may not be physically separate, show as unit The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple On NE.Some or all of unit therein can be selected to realize this embodiment scheme according to the actual needs Purpose.

If above-mentioned integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use When, it can be stored in a computer read/write memory medium.Based on such understanding, the technical scheme essence of the application On all or part of the part that is contributed in other words to prior art or the technical scheme can be with the shape of software product Formula is embodied, and the computer software product is stored in a storage medium, including some instructions to cause one calculating Machine equipment (can be personal computer, server or network equipment etc.) performs the complete of each embodiment above method of the application Portion or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, magnetic disc, CD, read-only storage (ROM, Read- Only Memory) or random access memory (RAM, Random Access Memory) etc. is various can be with store program codes Medium.

Claims

A kind of 1. Signalized control method at plane convergence crossing, it is characterised in that the plane convergence crossing includes：Cross Area, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj cross with described Area's entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance lane Ci Avoidance stop line overlapped on locus, or the boot section LE_Ci rolls boundary line away between the entrance lane Ci Avoidance stop line confluence corresponding with the entrance lane Ci drive between boundary line；The boot section LE_Ci's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Ci, or the boundary line of rolling away from of the boot section LE_Ci is situated between The rolling away between boundary line of boundary line and the entrance lane Ci is driven into the boot section LE_Ci；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance lane Cj Avoidance stop line overlapped on locus, or the boot section LE_Cj rolls boundary line away between the entrance lane Cj Avoidance stop line confluence corresponding with the entrance lane Cj drive between boundary line；The boot section LE_Cj's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Cj, or the boundary line of rolling away from of the boot section LE_Cj is situated between The rolling away between boundary line of boundary line and the entrance lane Cj is driven into the boot section LE_Cj；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, and the speed is drawn Leading lights array Ar_Ci includes NCi horizontal ground signal lamp groups, each transverse direction in the NCi horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on driving into for the boot section LE_Ci Border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position away from, described Spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, and the speed is drawn Leading lights array Ar_Cj includes NCj horizontal ground signal lamp groups, each transverse direction in the NCj horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on driving into for the boot section LE_Cj Border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；It is described Spacing between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the L_LE-min；

The Signalized control method includes：When away from reference to moment T_{ck_Cj}Arrival there remains overlapping duration T_{cd_Ci}When, control institute State NCi horizontal ground signal lamp group asynchronised handovers and send state to fair traveling optical signal, wherein, the horizontal ground signal lamp group Cip and the horizontal ground signal lamp group Ciq are switched to the time interval Δ T that fair traveling optical signal sends state_{g-Cip_Ciq}Be more than or Person is equal to the overlapping duration T_{cd_Ci}, and the Δ T_{g-Cip_Ciq}T was added less than 3 seconds_{cd_Ci}Or the Δ T_{g-Cip_Ciq}It is less than 1.2*T_{cd_Ci}；Wherein, it is described to refer to moment T_{ck_Cj}Fair traveling optical signal for the horizontal ground signal lamp group Cjq sends state Finish time T_ge-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ge-CjqIt is clear by safety corresponding to the entrance lane Cj again The long T of space-time_qk-CjAnd at the time of arrival, or it is described with reference to moment T_{ck_Cj}Believe for police's row light of the horizontal ground signal lamp group Cjq Number send the finish time T of state_ye-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ye-CjPass through the entrance lane Cj again Corresponding safety clearance duration T_qk-CjAnd at the time of arrival；

Wherein, the NCi horizontal ground signal lamp groups include horizontal ground signal lamp group Cii and horizontal ground signal lamp group Cij, the horizontal ground signal lamp group Cij and the entrance lane Ci spacing avoided between stop line, more than the horizontal stroke The earthward signal lamp group Cii and entrance lane Ci spacing avoided between stop line；The horizontal ground signal lamp group Cii and horizontal ground signal lamp group Cij is most short described in the spacing in the NCi horizontal ground signal lamp groups is more than or equal to The effectively any two transverse direction ground signal lamp group of guiding distance, the horizontal ground signal lamp group Cii are switched to fair row light letter At the time of fair traveling optical signal being switched at the time of number sending state earlier than the horizontal ground signal lamp group Cij and sends state；Its In, V_{g-Cii_Cij}Equal to L_{Cii_Cij}Divided by Δ T_{g-Cii_Cij}Obtained from business, the L_{Cii_Cij}For horizontal ground signal lamp group Cij with Spacing between horizontal ground signal lamp group Cii；The Δ T_{g-Cii_Cij}For horizontal ground signal lamp group Cij with it is described laterally Face signal lamp group Cii is switched to the interval duration that fair traveling optical signal sends state, the V_{g-Cii_Cij}Less than the entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed.
2. according to the method for claim 1, it is characterised in that the Signalized control method also includes：In the transverse direction Ground signal lamp group Ciq sends state in fair traveling optical signal and continue for duration T_g-CiqWhen, control the NCi horizontal traffic above-grounds Signal lamp group is synchronous from fair traveling optical signal to be sent state and is switched to forbidden optical signal and send state；Or in the horizontal ground signal Lamp group Ciq sends state in fair traveling optical signal and continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups State is sent from fair traveling optical signal being switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii is from fair row light At the time of signal sends state and is switched to forbidden optical signal and sends state, earlier than the horizontal ground signal lamp group Cij from fair row At the time of optical signal sends state and is switched to forbidden optical signal and sends state；Or switch in the horizontal ground signal lamp group Ciq Pass through duration T at the time of sending state to fair traveling optical signal again_g-CiqWhen, control the NCi horizontal ground traffic signal light groups Synchronism switching sends state to forbidden optical signal；Or it is switched to fair traveling optical signal in the horizontal ground signal lamp group Ciq and sends Pass through duration T at the time of state again_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to be switched to forbidden optical signal Send state, at the time of the horizontal ground signal lamp group Cii is switched to forbidden optical signal and sends state, earlier than it is described laterally At the time of face signal lamp group Cij is switched to forbidden optical signal and sends state；

Or the Signalized control method also includes：In the horizontal ground signal lamp group Ciq shape is sent in fair traveling optical signal State continue for duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups are synchronous to send state from fair traveling optical signal It is switched to alert traveling optical signal and sends state；Or send state in fair traveling optical signal in the horizontal ground signal lamp group Ciq and continue Duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light groups to send state from fair traveling optical signal and be switched to alert row Optical signal sends state, and the horizontal ground signal lamp group Cii sends state from fair traveling optical signal and is switched to alert traveling optical signal hair At the time of doing well, send state from fair traveling optical signal earlier than the horizontal ground signal lamp group Cij and be switched to alert traveling optical signal At the time of sending state；Or it is switched at the time of fair traveling optical signal sends state in the horizontal ground signal lamp group Ciq and passes through again Cross duration T_g-CiqWhen, control the NCi horizontal ground traffic signal light group synchronism switchings to send state to alert traveling optical signal；Or It is switched in the horizontal ground signal lamp group Ciq and passes through duration T at the time of fair traveling optical signal sends state again_g-CiqWhen, control The NCi horizontal ground traffic signal light groups are switched to alert traveling optical signal and send state, the horizontal ground signal lamp group Cii At the time of being switched to alert traveling optical signal and send state, alert traveling optical signal hair is switched to earlier than the horizontal ground signal lamp group Cij At the time of doing well.
3. according to the method for claim 2, it is characterised in that the Signalized control method also includes：In the transverse direction Ground signal lamp group Ciq sends state in alert traveling optical signal and continue for duration T_y-CiqWhen, control the NCi horizontal traffic above-grounds Signal lamp group is synchronous from alert traveling optical signal to be sent state and is switched to forbidden optical signal and send state；Or in the horizontal ground signal Lamp group Ciq sends state in alert traveling optical signal and continue for duration T_y-CiqWhen, control the NCi horizontal ground traffic signal light groups State is sent from alert traveling optical signal being switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii is from alert row light At the time of signal sends state and is switched to forbidden optical signal and sends state, earlier than the horizontal ground signal lamp group Cij from alert row At the time of optical signal sends state and is switched to forbidden optical signal and sends state；Or switch in the horizontal ground signal lamp group Ciq Pass through duration T again at the time of sending state to alert traveling optical signal_y-CiqWhen, control the NCi horizontal ground traffic signal light groups Synchronism switching sends state to forbidden optical signal；Or it is switched to alert traveling optical signal in the horizontal ground signal lamp group Ciq and sends Pass through duration T at the time of state again_y-CiqWhen, control the NCi horizontal ground traffic signal light groups to be switched to forbidden optical signal Send state, at the time of the horizontal ground signal lamp group Cii is switched to forbidden optical signal and sends state, earlier than it is described laterally At the time of face signal lamp group Cij is switched to forbidden optical signal and sends state.
4. the system according to Claims 2 or 3, it is characterised in that

V_{r-Cii_Cij}Equal to the L_{Cii_Cij}Divided by Δ T_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}Believe for the horizontal ground The signal lamp group Cij and horizontal ground signal lamp group Cii is switched to the interval duration that forbidden optical signal sends state, wherein, institute State V_{r-Cii_Cij}Minimum speed limit or the V equal to the entrance lane Ci_{r-Cii_Cij}More than the V_{g-Cii_Cij}。
5. according to the system described in claim 2,3 or 4, it is characterised in that the NCi horizontal ground signal lamp groups include institute Horizontal ground signal lamp group Cii, the horizontal ground signal lamp group Cij and horizontal ground signal lamp group Cik are stated, wherein, it is described The horizontal ground signal lamp group Cij and entrance lane Ci spacing avoided between stop line, believe less than the horizontal ground The signal lamp group Cik and entrance lane Ci spacing avoided between stop line；

Wherein, V_{r-Cii_Cij}Equal to V_{r-Cij_Cik}, the V_{r-Cij_Cik}Equal to L_{Cij_Cik}Divided by Δ T_{r-Cij_Cik}Obtained from business；It is described L_{Cij_Cik}For the spacing between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik, the Δ T_{r-Cij_Cik}Forbidden optical signal, which is switched to, for horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij sends state Interval duration, the L_{Cij_Cik}More than or equal to the most short effectively guiding distance；The V_{r-Cii_Cij}Equal to L_{Cii_Cij}Divided by ΔT_{r-Cii_Cij}Obtained from business, the Δ T_{r-Cii_Cij}For horizontal ground signal lamp group Cii and the horizontal ground signal lamp group Cij is switched to the interval duration that forbidden optical signal sends state.
6. according to the system described in any one of claim 1 to 5, it is characterised in that the NCi horizontal ground signal lamp group bags The horizontal ground signal lamp group Cii, the horizontal ground signal lamp group Cij and horizontal ground signal lamp group Cik are included, wherein, The horizontal ground signal lamp group Cij and entrance lane Ci avoid stop line between spacing, less than it is described laterally The face signal lamp group Cik and entrance lane Ci spacing avoided between stop line；

Wherein, V_{g-Cii_Cij}Less than or equal to V_{g-Cij_Cik}, the V_{g-Cij_}Equal to L_{Cij_Cik}Divided by Δ T_{g-Cij_Cik}Obtained from business； The L_{Cij_Cik}For the spacing between the horizontal ground signal lamp group Cij and the horizontal ground signal lamp group Cik；The Δ T_{g-Cij_Cik}Fair traveling optical signal, which is switched to, for horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij sends state Interval duration, the L_{Cij_Cik}More than or equal to the L_LE-min。
7. a kind of Signalized control equipment at plane convergence crossing, it is characterised in that the plane convergence crossing includes：Cross Area, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj cross with described Area's entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance lane Ci Avoidance stop line overlapped on locus, or the boot section LE_Ci rolls boundary line away between the entrance lane Ci Avoidance stop line confluence corresponding with the entrance lane Ci drive between boundary line；The boot section LE_Ci's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Ci, or the boundary line of rolling away from of the boot section LE_Ci is situated between The rolling away between boundary line of boundary line and the entrance lane Ci is driven into the boot section LE_Ci；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance lane Cj Avoidance stop line overlapped on locus, or the boot section LE_Cj rolls boundary line away between the entrance lane Cj Avoidance stop line confluence corresponding with the entrance lane Cj drive between boundary line；The boot section LE_Cj's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Cj, or the boundary line of rolling away from of the boot section LE_Cj is situated between The rolling away between boundary line of boundary line and the entrance lane Cj is driven into the boot section LE_Cj；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, and the speed is drawn Leading lights array Ar_Ci includes NCi horizontal ground signal lamp groups, each transverse direction in the NCi horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on driving into for the boot section LE_Ci Border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position away from, described Spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, and the speed is drawn Leading lights array Ar_Cj includes NCj horizontal ground signal lamp groups, each transverse direction in the NCj horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on driving into for the boot section LE_Cj Border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；It is described Spacing between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the L_LE-min；

The Signalized control equipment includes the memory and processor being coupled, wherein, the processor is used to perform as weighed Profit requires the Signalized control method described in 1 to 6 any one.
8. a kind of Signalized control equipment at plane convergence crossing, it is characterised in that the plane convergence crossing includes：Cross Area, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj cross with described Area's entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance lane Ci Avoidance stop line overlapped on locus, or the boot section LE_Ci rolls boundary line away between the entrance lane Ci Avoidance stop line confluence corresponding with the entrance lane Ci drive between boundary line；The boot section LE_Ci's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Ci, or the boundary line of rolling away from of the boot section LE_Ci is situated between The rolling away between boundary line of boundary line and the entrance lane Ci is driven into the boot section LE_Ci；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance lane Cj Avoidance stop line overlapped on locus, or the boot section LE_Cj rolls boundary line away between the entrance lane Cj Avoidance stop line confluence corresponding with the entrance lane Cj drive between boundary line；The boot section LE_Cj's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Cj, or the boundary line of rolling away from of the boot section LE_Cj is situated between The rolling away between boundary line of boundary line and the entrance lane Cj is driven into the boot section LE_Cj；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, and the speed is drawn Leading lights array Ar_Ci includes NCi horizontal ground signal lamp groups, each transverse direction in the NCi horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on driving into for the boot section LE_Ci Border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position away from, described Spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, and the speed is drawn Leading lights array Ar_Cj includes NCj horizontal ground signal lamp groups, each transverse direction in the NCj horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on driving into for the boot section LE_Cj Border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；It is described Spacing between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the LLE-min；

Wherein, the lamp system includes Signalized control equipment and speed guiding lamp array Ar-Ci, wherein, the speed The Ar-C connections of guiding lamp array；

Wherein, the Signalized control equipment connects with speed guiding lamp array Ar-Ci, and institute's Signalized control equipment is used to perform Signalized control method as described in any one of claim 1 to 6.
9. a kind of Signalized control equipment at plane convergence crossing, it is characterised in that the plane convergence crossing includes：Cross Area, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj cross with described Area's entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance lane Ci Avoidance stop line overlapped on locus, or the boot section LE_Ci rolls boundary line away between the entrance lane Ci Avoidance stop line confluence corresponding with the entrance lane Ci drive between boundary line；The boot section LE_Ci's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Ci, or the boundary line of rolling away from of the boot section LE_Ci is situated between The rolling away between boundary line of boundary line and the entrance lane Ci is driven into the boot section LE_Ci；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance lane Cj Avoidance stop line overlapped on locus, or the boot section LE_Cj rolls boundary line away between the entrance lane Cj Avoidance stop line confluence corresponding with the entrance lane Cj drive between boundary line；The boot section LE_Cj's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Cj, or the boundary line of rolling away from of the boot section LE_Cj is situated between The rolling away between boundary line of boundary line and the entrance lane Cj is driven into the boot section LE_Cj；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, and the speed is drawn Leading lights array Ar_Ci includes NCi horizontal ground signal lamp groups, each transverse direction in the NCi horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on driving into for the boot section LE_Ci Border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position away from, described Spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance L_LE-min, the L_LE-minMore than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, and the speed is drawn Leading lights array Ar_Cj includes NCj horizontal ground signal lamp groups, each transverse direction in the NCj horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on driving into for the boot section LE_Cj Border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；It is described Spacing between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the LLE-min；

Wherein, the lamp system includes semaphore and controller；The speed guiding lamp array Ar-Ci connects with controller Connect；

Wherein, the semaphore connects with controller, and the controller connects with the speed guiding lamp array Ar-Ci, described Controller is used to perform the Signalized control method as described in any one of claim 1 to 6.
10. a kind of Signalized control equipment at plane convergence crossing, it is characterised in that the plane convergence crossing includes：Cross Area, entrance lane Ci, entrance lane Cj and exit lane, the outlet of the entrance lane Ci and entrance lane Cj cross with described Area's entrance connection, the entrance of the exit lane are connected with the outlet of the confluence；

The entrance lane Ci has boot section LE_Ci, and the boot section LE_Ci's drives into boundary line and the entrance lane Ci Avoidance stop line overlapped on locus, or the boot section LE_Ci rolls boundary line away between the entrance lane Ci Avoidance stop line confluence corresponding with the entrance lane Ci drive between boundary line；The boot section LE_Ci's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Ci, or the boundary line of rolling away from of the boot section LE_Ci is situated between The rolling away between boundary line of boundary line and the entrance lane Ci is driven into the boot section LE_Ci；

The entrance lane Cj has boot section LE_Cj, and the boot section LE_Cj's drives into boundary line and the entrance lane Cj Avoidance stop line overlapped on locus, or the boot section LE_Cj rolls boundary line away between the entrance lane Cj Avoidance stop line confluence corresponding with the entrance lane Cj drive between boundary line；The boot section LE_Cj's rolls away from Boundary line is that boundary line is driven into confluence corresponding to the entrance lane Cj, or the boundary line of rolling away from of the boot section LE_Cj is situated between The rolling away between boundary line of boundary line and the entrance lane Cj is driven into the boot section LE_Cj；

Wherein, the boot section LE_Ci of the entrance lane Ci is provided with speed guiding lamp array Ar_Ci, and the speed is drawn Leading lights array Ar_Ci includes NCi horizontal ground signal lamp groups, each transverse direction in the NCi horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCi horizontal ground signal lamp groups include horizontal ground signal lamp Group Ciq and horizontal ground signal lamp group Cip, the horizontal ground signal lamp group Ciq are arranged on driving into for the boot section LE_Ci Border line position, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position away from, described Spacing between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is more than or equal to most short effectively guiding distance LLE-min, the LLE-min are more than or equal to 2 meters；

Wherein, the boot section LE_Cj of the entrance lane Cj is provided with speed guiding lamp array Ar_Cj, and the speed is drawn Leading lights array Ar_Cj includes NCj horizontal ground signal lamp groups, each transverse direction in the NCj horizontal ground signal lamp groups Ground signal lamp group includes at least one ground signal lamp；The NCj horizontal ground signal lamp groups include horizontal ground signal lamp Group Cjq and horizontal ground signal lamp group Cjp, the horizontal ground signal lamp group Cjq are arranged on driving into for the boot section LE_Cj Border line position, what the horizontal ground signal lamp group Cjp was arranged on the boot section LE_Cj rolls border line position away from；It is described Spacing between horizontal ground signal lamp group Cjp and horizontal ground signal lamp group Cjq is more than or equal to the LLE-min；

The lamp system includes semaphore, main controller, the first iversion controller and the second iversion controller；The speed guiding lamp array Ar-Ci is connected with the first iversion controller；

The semaphore connects with main controller, and the main controller connects with first iversion controller and second iversion controller respectively Connecing, first iversion controller connects with the speed guiding lamp array Ar-Ci, wherein, first iversion controller is used to perform such as Signalized control method described in any one of claim 1 to 6.