CN107845276A - The wagon flow at plane convergence crossing is handled up Intellectualized controller - Google Patents

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

The wagon flow at plane convergence crossing is handled up Intellectualized controller

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 (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 a large amount of Also emission from vehicles is largely increased while waste, have a strong impact on air quality.Therefore how " to control stifled " becomes industry The heat subject that interior many engineers and technicians study instantly.Such as how to improve plane convergence crossing vehicle pass-through efficiency and Safely controllable property is exactly a technical task highly studied.At present even technically alleviating the also foot of congestion 1 percent To make engineers and technicians joyful very much, because even congestion is alleviated into 1 percent, that can also add up to obtain for the whole society 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.The entrance lane Ci's and entrance lane Cj exports entrances different from the confluence respectively Connection.The entrance of the exit lane is connected with the outlet of the confluence.The entrance lane Ci's and entrance lane Cj sails It is identical or different to enter 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 bag in the individual horizontal ground signal lamp groups of the NCi Include at least one ground signal lamp.The NCi horizontal ground signal lamp groups are including horizontal ground signal lamp group Ciq and laterally Face signal lamp group Cip, wherein, what the horizontal ground signal lamp group Ciq was arranged on the boot section LE_Ci drives into boundary line position Put, what the horizontal ground signal lamp group Cip was arranged on the boot section LE_Ci rolls border line position, the horizontal ground away from Spacing between 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, institute State 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 bag in the NCj horizontal ground signal lamp groups Include at least one ground signal lamp.The NCj horizontal ground signal lamp groups are including horizontal ground signal lamp group Cjq and laterally What face signal lamp group Cjp, the horizontal ground signal lamp group Cjq were arranged on the boot section LE_Cj drives into 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.The horizontal ground signal Spacing between 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) it can also claim " boot section ground signal lamp array row " or " guiding Area's 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 the Nci between horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq A horizontal ground signal lamp group that subtracts 2.The NCj can be equal to 2,3,4,5,6,7,8,9,10,11,25 or other values.When NCj is more than 2, then the NCj horizontal ground signal lamp groups also include between horizontal ground signal lamp group Cjp and horizontal ground signal lamp A horizontal ground signal lamp group that NCj between 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 meters, 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 not necessarily Show the changing rule for being gradually reduced along certain direction or gradually increasing of the example above.

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}Sent out for the fair traveling optical signal of the horizontal ground signal lamp group Cjq The finish time T to do well_ge-Cjq, or it is described with reference to moment T_{ck_Cj}For the T_ge-CjqAgain by corresponding to the entrance lane Cj Safety clearance duration T_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 be the spacing in the NCi horizontal ground signal lamp groups be more than or equal to it is described most Any two transverse direction ground signal lamp group of short effectively guiding distance, the horizontal ground signal lamp group Cii are switched to fair row light At the time of fair traveling optical signal being switched at the time of signal sends state earlier than the horizontal ground signal lamp group Cij and sends state； 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 lamp Spacing between group Cij and horizontal ground signal lamp group Cii；The Δ T_{g-Cii_Cij}For horizontal ground signal lamp group Cij and institute State horizontal ground signal lamp group Cii and be switched to the interval duration that fair traveling optical signal sends state, the V_{g-Cii_Cij}Less than described 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 letter 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 laterally Between the signal lamp group Cip of face and between horizontal ground signal lamp group Cii spacing is more than or equal to the L_LE-minIts Its 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 hair Do well, then mean that and forbid vehicle to cross the traffic mark line corresponding to the horizontal ground signal lamp group, by that analogy.

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 (codomain is empty for safety coefficient μ 4 Value space Between i.e. span) for the real number of more than 0.4 and less than or equal to 1 (or more than 0.4 and less than 0.8).Safety coefficient μ 4 is for example 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, are had Body is 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, institute 0.4,0.5,0.8,0.7,0.9,0.65,1.1,1.9,1.2 or other values can be for example equal to by stating safety coefficient μ 5.Or in another example The Value space of entrance lane Ci maximum safe speed is, for example, 15~45 kilometers of speed per hour, specifically 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 kilometers/small When, 30 kilometers/hour, 36 kilometers/hour, 45 kilometers/hour, 38 kilometers/hour or other speed.Entrance lane Cj highests The determination mode of 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, be later than in the NCi horizontal ground signal lamp groups other At the time of 1 horizontal ground signal lamp group of meaning is switched to fair traveling optical signal and sends state.That is, the NCi is individual laterally Each horizontal ground signal lamp group in the signal lamp group of face can import direction along boot section and be sequentially switched to permit traveling optical signal hair Do well, this to cross the time of boot section and speed to vehicle with regard to preferably carrying out rationally suitable guiding and having established base Plinth, for example, advantageously allowing what vehicle was showed in the fair traveling optical signal that NCi horizontal ground traffic signal light groups are sent Guide it is safely controllable under the guiding of speed roll boot section away from, and then advantageously allow vehicle with the side of safer controllable high-efficiency Formula crosses 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, 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 ground signal lamp groups It 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 can regard as The fair row guiding speed that the two horizontal ground signal lamp groups are presented), Maximum speed limit less than the entrance lane Ci or Minimum speed limit or maximum safe speed.The effectively fair row guiding speed that i.e. described NCi horizontal ground signal lamp groups can be presented Degree, it is less than entrance lane Ci Maximum speed limit or minimum speed limit or maximum safe speed.Like this, advantageously allow It is switched in horizontal ground signal lamp group Ciq near at the time of fair traveling optical signal sends state, crosses the car for avoiding stop line Stream head car drives into confluence with more safely controllable speed, thus advantageously ensures that two of the track of confluence conflict each other enter Wagon flow on mouthful track (such as entrance lane Ci and entrance lane Cj) in the safely controllable property of confluence, be advantageous to avoid this two Stock wagon flow clashes 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.It is specific for example, during the safety clearance Long 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 Second, 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 emptying for track Cj (track Cj's empties the row rolled away from apart from for example, track Cj avoidance stop line and corresponding confluence between boundary line to distance Sail distance) 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 The NCi horizontal ground traffic signal light groups are switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii At the time of being switched to forbidden optical signal and send state, forbidden optical signal hair is switched to earlier than the horizontal ground signal lamp group Cij At the time of doing well.

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 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.

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 The NCi horizontal ground traffic signal light groups are switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii At the time of being switched to forbidden optical signal and send state, forbidden optical signal hair is switched to earlier than the horizontal ground signal lamp group Cij At the time of doing well.

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 letters 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, sends shape State.Certainly, in particular cases, certain two very near horizontal ground signal lamp groups of distance may also synchronism switching arrive alert row light and believe Number send 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 letters 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 shape State.Certainly, in particular cases, distance certain two very near horizontal ground signal lamp groups may also synchronism switching believe to forbidden light Number send 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 by that analogy.

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 seconds, 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 described 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}It is more than or waits In 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 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.

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}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.

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, can be switched to more than or equal to horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip Forbidden optical signal (or alert traveling optical signal) sends the interval duration of state.For example, the horizontal ground signal lamp group Ciq and horizontal stroke Earthward 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 laterally Face signal lamp group Ciq and horizontal ground signal lamp group Cip is switched to the interval duration that alert traveling optical signal sends state.

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 driven into Boundary line is the avoidance stop line of corresponding entrance lane, or boundary line keeping away between corresponding entrance lane is driven into the boot section Allow and stop line and roll away between boundary line.Boot section rolls boundary line away from and rolls boundary line, or boot section away from for corresponding entrance lane Boundary line of rolling away from drive into the rolling away between boundary line of boundary line and corresponding entrance lane between boot section.Boundary line is driven into keeping away Allow the distance of stop line to be less than and roll boundary line away from avoiding the distance between stop line.Boot section can be used as speed boot section, because This, introducing for boot section can be carried out accelerating to provide certain space basis in advance for slow-moving vehicle before confluence is driven into, I.e. so that guiding slow-moving vehicle carries out accelerating to become had possibility in advance before confluence is driven into.And entrance lane draws Lead area and deploy speed guiding lamp array, and speed guiding lamp array includes the multiple horizontal ground signal lamps for being distributed in boot section Group, speed guiding lamp array are introduced as controlling traveling shape of the vehicle when the transport condition and vehicle of boot section roll boot section away from State (such as speed when rolling boot section away from etc.) has established certain hardware foundation, and then also drives into confluence for control vehicle Speed (vehicle roll away from boot section speed be close to drive into the speed of confluence in or equal to vehicle) established it is certain hard Part basis.By controlling lamp array row dynamically to be controlled the transport condition of vehicle, so that will be each by network The prevailing state of individual crossing wagon flow, which carries out being uniformly coordinated control, has established hardware foundation, so that the basis at plane convergence crossing The intelligent level of facility 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 it is further Introducing the vehicle pass-through efficiency for causing to improve plane convergence crossing and security becomes have certain basis, and this is also just gathered around for alleviation It is stifled to lay a good foundation.It can be seen that the vehicle for being introduced as improving plane convergence crossing for being provided with the boot section of speed guiding lamp array leads to Line efficiency and security are made that larger technical contribution.The boot section that introducing is provided with speed guiding lamp array is considered as dashing forward The initiative innovation of one kind of broken conventional traffic control thinking, says, introduces and set drawing for speed guiding lamp array to a certain extent Lead the vehicle pass-through that area is plane convergence crossing and start brand-new situation, and using speed guiding lamp array come on corresponding track Vehicle carry out a variety of Precise controls and become 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 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 Because being placed in the relatively simple road surface of light environment, therefore it is 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 interim control to Vehicle Speed System, 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 control), it is more more accurate than the flow direction level control of high-altitude signal lamp (to flow to level and control the institute referred to same travel direction There is what track do not differentiated between mutually to be uniformly controlled).

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 can be clearly as far as possible The situation of change that index signal is sent between horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip is picked out, is needed There is 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 about 2 Rice or so, to enable driver to see the change between horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip clearly, 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 symbols Close 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 carries out accelerating offer certain time basis in advance before driving into confluence, when slow-moving vehicle drives into the advance of confluence The time basis and space basis that row accelerates in advance all possess, and are designed by this cleverly space-time conversion, then slow-moving vehicle It can in advance accelerate before confluence is driven into, and then vehicle is driven into and is crossed confluence with more high speed and become to have May.And in the prior art because wagon flow head car does not possess the time accelerated in advance and steric requirements, therefore be typically only capable to pole Low velocity alternately slowly drives into confluence.

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 when The V_{g-Cii_Cij}Maximum speed limit or minimum speed limit or maximum safe speed less than the entrance lane Ci, then with respect to The travel speed upper limit of the vehicle in boot section is limited), and then be advantageous to improve the vehicle pass-through peace at plane convergence crossing Full controllability, and identify corresponding traffic control letter for the signal lamp group driver that is more convenient for of the ground type of vehicle guiding Number, and then be advantageous to further improve the vehicle pass-through safely controllable property at plane convergence crossing.Such as because spacing is more than or waits In most short effectively guiding distance L_LE-minAny two transverse direction ground signal lamp group send state being switched to fair traveling optical signal Suitable order is showed on time, this by the time of boot section and speed to vehicle with regard to carry out rationally suitable draw Lead and lay a good foundation, such as regarding of being showed of the optical signal for being advantageous to make vehicle be sent in multiple horizontal ground signal lamp groups It is safely controllable efficiently to roll boot section away under the guiding for feeling guiding speed, and then be advantageous to make vehicle with safely controllable efficient Mode crosses 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 ability For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached Figure.

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 the arrangement form schematic diagram for several speed guiding lamp arrays that the embodiment of the present application provides；

Fig. 5-A~Fig. 5-C 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. 6-A and Fig. 6-B are the schematic diagram of several phase cyclings for the entrance lane that the embodiment of the present application provides；

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 includes unlisted step or unit, or alternatively also Including for the intrinsic other steps of these processes, method, product or equipment or unit.Such as term " first ", " second " and " 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 art Language 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 in " downstream track ". The outlet of each entrance lane at combined type plane convergence crossing entrance connections different from confluence respectively.Plane convergence crossing Each exit lane entrance respectively it is different from confluence outlet connection.The same inlet track at plane convergence crossing The side of driving into for driving into the entrance lane that direction is identical, in the different entrance lane groups at plane convergence crossing of entrance lane in group To difference.The direction to the car for driving into direction and specifically referring to drive into confluence of entrance lane.Due to the entrance at plane convergence crossing Track quantity (2N) is more than exit lane quantity (N number of), if therefore plane convergence crossing two entrances track group simultaneously Let pass, then the wagon flow on the two entrance lanes will collaborate to enter exit lane after (it is N that wagon flow, which closes 2N) in confluence.

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, exit lane 130 and handed over Remittance area 140.The outlet of entrance lane 110 and entrance lane 120 is connected with the entrance of confluence 140.The entrance of exit lane 130 Outlet with confluence 140 is connected.Entrance lane 110 drives into direction difference with entrance lane 120.Plane convergence crossing 200 Including entrance lane 210, entrance lane 220, exit lane 230 and confluence 240.Entrance lane 210 and entrance lane 220 Outlet is connected with the entrance of confluence 240.The entrance of exit lane 230 is connected with the outlet of confluence 240.Entrance lane 210 With 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 lane are driven into confluence corresponding to entrance lane 110 110 avoidance stop line and roll boundary line away from and overlapped on locus.Similar, confluence corresponding to entrance lane 120 is sailed Enter boundary line, entrance lane 120 avoidance stop line and roll boundary line 121 away from and overlapped on locus.Similar, entrance car The avoidance stop line in road 210 and roll boundary line 211 away from and overlapped on locus.The avoidance stop line of entrance lane 220 and sail Go out boundary line 221 to overlap on locus.The boundary line 131 of driving into of exit lane 130 crosses corresponding to exit lane 130 Boundary line is rolled in area 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, what boundary line and this entrance lane were driven into confluence corresponding to entrance lane rolls side away from Boundary line overlaps, thus confluence corresponding to entrance lane drive into that boundary line can also regard entrance lane as roll boundary line away from. What confluence corresponding to the exit lane at plane convergence crossing rolled boundary line and this exit lane away from drives into boundary line in space Overlapped on position.

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 mode at crossing Actual traffic efficiency and safely controllable property it is all relatively low.Application scheme is by changing the layout at plane convergence crossing and leading to Row control mode etc. lifts its traffic efficiency and safely controllable property.

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 lane Rolling boundary line away from and avoiding stop line for Ci separates on locus.Entrance lane Cj's rolls boundary line and avoidance stop line away from Separated 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 function Area for example including boot section, may also include crossing and/or non-motor vehicle lateral road etc..Difference in functionality area is on locus Can be separate or overlapped.The technical scheme of the embodiment of the present application, have mainly for the entrance lane at plane convergence crossing Have a situation of boot section, i.e., for plane convergence crossing entrance lane avoidance stop line and roll boundary line away from locus The situation of upper separation.

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 boundary line is driven into the boundary line of rolling away from of the boot section LE_Ci between the boot section LE_Ci With rolling away between boundary line for the entrance lane Ci.

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 boundary line is driven into the boundary line of rolling away from of the boot section LE_Cj between the boot section LE_Cj And the entrance lane Cj is rolled 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 and the outlet of confluence 340 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 bit in boot section 3220 Put coincidence.

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 and draw Lead a kind of area LE_Cj citing.Or entrance lane 320 can regard a kind of entrance lane Ci citing as, entrance lane 310 can be seen Make a kind of entrance lane Cj citing, boot section 3220 can regard a kind of boot section LE_Ci citing as, and boot section 3120 can be seen Make a kind of boot section LE_Cj citing.

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.Boot section 4120 is rolled away from The rolling away between boundary line 413 of boundary line 4121 and entrance lane 410 is driven into boundary line 4122 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, plane is handed over The entrance lane 420 at remittance crossing 400 has boot section 4220, wherein, boundary line 4221 is driven between entrance in boot section 4220 The avoidance stop line 421 in track 420 and roll away between boundary line 423.Boot section 4220 rolls boundary line 4222 away between guiding The rolling away between boundary line 423 of boundary line 4221 and entrance lane 420 is driven into area 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 and draw Lead a kind of area LE_Cj citing.Or entrance lane 420 can regard a kind of entrance lane Ci citing as, entrance lane 410 can be seen Make a kind of entrance lane Cj citing, boot section 4220 can regard a kind of boot section LE_Ci citing as, and boot section 4120 can be seen Make a kind of boot section LE_Cj citing.

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 boundary line and corresponding entrance lane away from roll that boundary line is also misaligned to be away from Example.However, it is also possible to boot section drive into boundary line and corresponding entrance lane to drive into boundary line misaligned, but boot section Boundary line of rolling away from overlapped with the boundary line of rolling away from of corresponding entrance lane, or may also boot section drive into boundary line with it is corresponding Entrance lane drives into boundary line coincidence, but roll away from boundary line and the boundary line of rolling away from of corresponding entrance lane of boot section do not weigh Close.

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 plane convergence crossing two entrances The layout type of the boot section in track is not mutually similar.Such as the boot section cloth of one of entrance lane at certain plane convergence crossing Office's mode such as entrance lane 310, and the boot section layout type of another entrance lane such as entrance lane 410, other situations are with this Analogize.

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 on the plane convergence road of reality Mouthful, exemplified some traffic mark lines in accompanying drawing (such as confluence drives into boundary line and confluence and rolls the friendship such as boundary line away from Remittance area 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 for driving into boundary line and rolling the spacing between boundary line away from of boot section for example can between 2 meters~50 meters, Such as the spacing driven into boundary line and rolled away between boundary line of boot section can be equal to 2 meters, 3 meters, 5 meters, 6 meters, 10 meters, 12 meters, 15 meters, 20 meters, 25 meters, 28.1 meters, 35 meters or other values.The entrance of the boot section of entrance lane/roll boundary line away from enters with this Between mouthful driveway travel directions the Value space of angle can between 45 degree~90 degree, angle for example can 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 Face 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 position away from Put, the spacing between the horizontal ground signal lamp group Cip and horizontal ground signal lamp group Ciq is effectively drawn more than or equal to most short Lead is from 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 Face 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 boundary line position away from Put；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, speed guiding lamp array (such as speed guiding lamp array Ar_Ci and speed guiding lamp array Ar_Cj) can also claim For " 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 meters, 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 its It is worth.In the case where NCj is more than 2, then the NCj horizontal ground signal lamp groups also include between horizontal ground signal A horizontal ground signal lamp group that NCj between 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 part 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 whole horizontal ground signal lamp groups.

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 phase Deng or be not mutually equal.Such as the spacing between any two adjacent transverse ground signal lamp group of speed guiding lamp array can be 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 signals It is bigger away from the spacing between two more remote horizontal ground signal lamp group Ciq adjacent transverse ground signal lamp groups in lamp group, that is, exist Boot section is imported on direction, between two adjacent transverse ground signal lamp groups in the NCi horizontal ground signal lamp groups Spacing gradually increases.Or in the NCi horizontal ground signal lamp groups, it is more remote apart from the horizontal ground signal lamp group Ciq Spacing between two adjacent transverse ground signal lamp groups is smaller, i.e., is imported in boot section on direction, the NCi horizontal ground The spacing between two adjacent transverse ground signal lamp groups in signal lamp group is gradually reduced.The certain NCi horizontal ground Spacing between two adjacent transverse ground signal lamp groups of signal lamp group is also likely to be changing rules arbitrarily change or other, 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 Rice 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 accordingly enter It is not parallel between the travel direction in mouth track.For example, the length direction and corresponding entrance lane of horizontal ground signal lamp group Travel direction between the scope of angle can be more than or equal to 45 ° and less than or equal to 90 °, 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 accordingly enter The scope of angle between the travel direction in mouth track 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 is believed 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 The light-emitting area or top surface of flush type ground signal lamp do not protrude from ground.The hair of convex type ground signal lamp after installation Smooth surface 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, what the horizontal ground signal lamp group 611 in speed guiding lamp array 610 was arranged at boot section 510 drives into side The position of boundary line 511, what the horizontal ground signal lamp group 612 in speed guiding lamp array 610 was arranged at boot section 510 rolls border away from The position of 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 speed Several horizontal ground signal lamp groups 613 of guiding lamp array 610.Horizontal ground signal lamp in speed guiding lamp array 610 Spacing is equal between 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 Put, 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 lamp array Several the horizontal ground signal lamp groups 623 of row 620.Spacing between horizontal ground signal lamp group in speed guiding lamp array 620 Gradually increase along direction is driven into.

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 Put, 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 lamp array Several the horizontal ground signal lamp groups 633 of row 630.Spacing between horizontal ground signal lamp group in speed guiding lamp array 630 It is inequal and not along drive into direction gradually increase or reduce.

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 illustrated. Such as horizontal ground signal lamp group 611,621,631 or 641 can regard horizontal ground signal lamp group Ciq or horizontal ground signals as The a kind of of lamp group Cjq realizes citing.It is appreciated that the cloth of boot section LE_Ci or boot section LE_Cj speed guiding lamp array Office form be not limited to Fig. 2 citing several forms, specific arrangement form can according to scene it needs to be determined that, herein no longer one at one stroke Example.

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.Such as Certain boot section is provided with 10 horizontal ground signal lamp groups altogether, and possible this 10 horizontal ground signal lamp groups belong to corresponding 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 corresponding car Fast guiding lamp array, and remaining 4 horizontal ground signal lamp groups are not intended as belonging to phase in this 10 horizontal ground signal lamp groups Speed guiding lamp array is answered, 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 car " permitting row phase " (the permitting row phase to be alternatively referred to as " clearance phase " or " current phase ") in road.Wherein, in conventional art, due to phase The color that induction signal lamp sends optical signal is green during fair row phase, therefore in the conventional technology, permits row phase general Also referred to as " green light phase ".In the embodiment of the present application scheme, corresponding signal lamp (such as avoids stop line during fair row phase Corresponding sky beamer and/or ground signal lamp) color that sends optical signal is likely not limited to green, and can be expanded To can be used to indicate that any monochromatic or varicolored combination for allowing vehicle pass-through, corresponding signal lamp institute during row phase is permitted The color for sending optical signal is a kind of citing embodiment in green simply the embodiment of the present application.Control on entrance lane The phase of Pedestrian Zone At any time can then be referred to as " the forbidden phase " of the entrance lane.In the conventional technology, due to corresponding signal lamp The color of sent optical signal is red during forbidden phase, therefore in conventional art, forbidden phase is typically also referred to as " red light phase ", in the embodiment of the present application during forbidden phase corresponding signal lamp (as corresponding to avoiding stop line aerial signal Lamp and/or ground signal lamp) color that sends optical signal is not limited to red, and can be forbidden by expanding to can be used to indicate that Any monochromatic or varicolored combination of vehicle pass-through.Similar, controlling the phase of the police's row of the vehicle on entrance lane can claim For " alert row phase " (alert row phase can also claim " transition phase ") of the entrance lane, by corresponding signal lamp institute in conventional art The color for sending optical signal is yellow during alert row phase, therefore in the conventional technology, alert row phase is typically also referred to as Amber light phase, in the embodiment of the present application during alert row phase corresponding signal lamp (as corresponding to avoidance stop line sky beamer And/or ground signal lamp) 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 even Forbidden phase and these concepts of alert row phase are not paid special attention to.It is directed primarily to implement each track in the scheme of the embodiment of the present application The control management comparatively to become more meticulous, therefore especially distinguish and permit row phase, forbidden phase and alert row phase this is several different Phase concept.Have under some special screnes, alert row phase can even is that without, under this scene, can only occur permitting row phase Position 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.These of the avoidance stop line of certain entrance lane are just crossed in the end of alert row phase (if present) or fair row phase Vehicle, generally the regular hour is also needed just to cross confluence, to avoid these vehicles with conflicting from another confluence as far as possible The vehicle that confluence is driven into track clashes in confluence, therefore can be to the duration of 1~2 second or so to ensure in alert row phase These vehicles for the avoidance stop line that the end of position (if present) or fair row phase is just crossed can have enough time safe Confluence is crossed, the period that this can be used for safety clearance is referred to as emptying phase.On a timeline, the right of way of certain entrance lane The fair row phase of phase+non-right of way phase=entrance lane+forbidden phase+police's row phase (if present).Forbidden phase can wrap Include and empty phase and non-clear phase.Certainly, empty phase it is some in particular cases may also be not necessarily, wherein, when Empty in the case that phase is not present, forbidden phase can be equal to non-right of way phase.That is, the non-right of way phase of entrance lane Position is the part or all of of the forbidden phase of the entrance lane.And in the case of it alert row phase be present and empty phase, right of way Phase can include permitting row phase, alert row phase and empty phase.When alert row phase be present and in the absence of emptying phase Under, right of way phase includes permitting row phase and alert row phase.When in the absence of alert row phase but in the case of existing and emptying phase, right of way Phase includes permitting row phase and empties phase.In the case of in the absence of warning row phase and emptying phase, right of way phase can be equal In fair row phase.Wherein, the right of way phase of exemplified certain entrance lane (such as entrance lane x8) of Fig. 3 include permitting row phase, Warn row phase and empty phase.Or the right of way phase of certain entrance lane (such as entrance lane x10) may include to permit row phase and clear Kongxiang position.Or the right of way phase of certain entrance lane (such as entrance lane x9) includes permitting row phase and alert row phase.Or certain The right of way phase of entrance lane (such as entrance lane x11) can be equal to fair row phase.The phase mentioned in some traffic specifications It is right of way phase that may be defaulted as, i.e., is probably that right of way phase is directly referred to as into phase in these traffic specifications.

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 warning Show the optical signal of vehicle pass-through, for example, certain track signal lamp send alert traveling optical signal during warn the vehicle pass-through in the track. 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 prohibiting Traveling optical signal, then the form of expression of forbidden optical signal is not limited to the example above, such as can also be by the optical signal of several colors Combined according to certain rule to indicate that no thoroughfare for vehicles, then the optical signal of these forms of expression is also regarded as prohibiting Traveling optical signal.In another example fair traveling optical signal can be green light signal, the green light signal that green light signal concretely flashes And/or non-flickering green light signal.Wherein, non-flickering green light signal can referred to as evergreen optical signal, the green light of flicker 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, because This any one, which 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 light letter Number can be yellow optical signal, the yellow optical signal and/or non-flickering yellow optical signal that yellow optical signal concretely flashes.Its In, non-flickering yellow optical signal can abbreviation Chang Huangguang signals, the yellow optical signal of flicker may be simply referred to as yellow flashing signal.Track Corresponding alert traveling optical signal is indicated for warning the optical signal of vehicle pass-through, and therefore, any one can be used to indicate that warning The optical signal of 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, forbidden Optical signal is different with alert traveling optical signal indicative function, then permits the performance shape of traveling optical signal, forbidden optical signal and alert traveling optical signal Formula 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 forbidden Do not occur simultaneously between the form of expression set of 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 in fair row With it is forbidden between transition.In some cases if without such transition, then may also be just without this mistake of alert traveling optical signal Cross 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}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}(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 institute again State safety clearance duration T corresponding to entrance lane Cj_qk-CjAnd at the time of arrival, or it is described with reference to moment T_{ck_Cj}For the transverse direction 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 institute State T_ye-CjPass through safety clearance duration T corresponding to the entrance lane Cj again_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 be the spacing in the NCi horizontal ground signal lamp groups be more than or equal to it is described most Any two transverse direction ground signal lamp group of short effectively guiding distance, the horizontal ground signal lamp group Cii are switched to fair row light At the time of fair traveling optical signal being switched at the time of signal sends state earlier than the horizontal ground signal lamp group Cij and sends state； 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 lamp Spacing between group Cij and horizontal ground signal lamp group Cii；The Δ T_{g-Cii_Cij}For horizontal ground signal lamp group Cij and institute State horizontal ground signal lamp group Cii and be switched to the interval duration that fair traveling optical signal sends state, the V_{g-Cii_Cij}Less than described 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 letter 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 laterally Between the signal lamp group Cip of face and between horizontal ground signal lamp group Cii spacing is more than or equal to the L_LE-minIts Its 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 hair Do well, then meaning that allows vehicle to cross the traffic mark line corresponding to the horizontal ground signal lamp group, by that analogy.

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, are had Body is 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, institute 0.4,0.5,0.8,0.7,0.9,0.65,1.1,1.9,1.2 or other values can be for example equal to by stating safety coefficient μ 5.Or in another example The Value space of entrance lane Ci maximum safe speed is, for example, 15~45 kilometers of speed per hour, specifically 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 kilometers/small When, 30 kilometers/hour, 36 kilometers/hour, 45 kilometers/hour, 38 kilometers/hour or other speed.Entrance lane Cj highests The determination mode of 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, be later than in the NCi horizontal ground signal lamp groups other At the time of 1 horizontal ground signal lamp group of meaning is switched to fair traveling optical signal and sends state.That is, the NCi is individual laterally Each horizontal ground signal lamp group in the signal lamp group of face can import direction along boot section and be sequentially switched to permit traveling optical signal hair Do well, this to cross the time of boot section and speed to vehicle with regard to preferably carrying out rationally suitable guiding and having established base Plinth, for example, advantageously allowing what vehicle was showed in the fair traveling optical signal that NCi horizontal ground traffic signal light groups are sent Guide it is safely controllable under the guiding of speed roll boot section away from, and then advantageously allow vehicle with the side of safer controllable high-efficiency Formula crosses confluence.

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.It is specific for example, during the safety clearance Long 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 Second, 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 emptying for track Cj (track Cj's empties the row rolled away from apart from for example, track Cj avoidance stop line and corresponding confluence between boundary line to distance Sail distance) positive correlation (such as directly proportional or approximate directly proportional).In some embodiments, because vehicle travels in the same direction, Therefore can also save confluence empties 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 stop line. Such as fair traveling optical signal sends state or alert traveling optical signal sends state when signal lamp corresponding to avoidance stop line is currently at, So represent that this signal lamp currently indicates that vehicle allows to cross avoidance stop line.When avoiding, signal lamp corresponding to stop line is current State is sent in forbidden optical signal, then represents that this signal lamp currently indicates that vehicle is forbidden crossing avoidance stop 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 whether vehicle is permitted That is permitted to cross the avoidance stop line and boot section LE_Ci drives into boundary line.

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, be later than in the NCi horizontal ground signal lamp groups other At the time of 1 horizontal ground signal lamp group of meaning is switched to fair traveling optical signal and sends state.That is, the NCi is individual laterally Each horizontal ground signal lamp group in the signal lamp group of face can import direction along boot section and be sequentially switched to permit traveling optical signal hair Do well, this to cross the time of boot section and speed to vehicle with regard to preferably carrying out rationally suitable guiding and having established base Plinth, for example, advantageously allowing what vehicle was showed in the fair traveling optical signal that NCi horizontal ground traffic signal light groups are sent Guide it is safely controllable under the guiding of speed roll boot section away from, and then advantageously allow vehicle with the side of safer controllable high-efficiency Formula crosses confluence.

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~figures The exemplified several possible switching modes of the working condition of horizontal ground signal lamp group of 4-B.Wherein, the switching in Fig. 4-A Pattern QM1 is exemplified, horizontal ground signal lamp group (such as horizontal ground signal lamp group Ciq, horizontal ground signal lamp group Cip, Other horizontal ground letters in horizontal ground signal lamp group Cjq, horizontal ground signal lamp group Cjp or other speeds guiding lamp array Signal lamp group) traveling optical signal sends state and forbidden optical signal sends a kind of possible embodiment for switching between state permitting.Figure Switch mode QM2 in 4-A is exemplified, and horizontal ground signal lamp group sends state, alert traveling optical signal hair in fair traveling optical signal Do well and forbidden optical signal sends a kind of possible embodiment switched between state.Switch mode QM3 citings in Fig. 4-A Show, horizontal ground signal lamp group sends a kind of possible embodiment party switched between state and OFF state in fair traveling optical signal Formula.In another example the switch mode QM4 in Fig. 4-B is exemplified, horizontal ground signal lamp group fair traveling optical signal send state, Extinguishing optical signal sends state and forbidden optical signal sends a kind of possible embodiment switched between state.In another example Fig. 4-B In switch mode QM5 and QM6 it is 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 The NCi horizontal ground traffic signal light groups are switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii At the time of being switched to forbidden optical signal and send state, forbidden optical signal hair is switched to earlier than the horizontal ground signal lamp group Cij At the time of doing well.

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 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.

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 The NCi horizontal ground traffic signal light groups are switched to forbidden optical signal and send state, the horizontal ground signal lamp group Cii At the time of being switched to forbidden optical signal and send state, forbidden optical signal hair is switched to earlier than the horizontal ground signal lamp group Cij At the time of doing well.

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.Institute State 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}Alert row can be regarded as Guide 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 regard as It is 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 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_{r-Cij_Cik}Forbidden 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；The V_{r-Cii_Cij}It is 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 with it is described laterally Face 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 and institute The entrance lane Ci spacing avoided between stop line is stated, less than the horizontal ground signal lamp group Cik and the entrance lane The 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}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 and the horizontal ground signal Spacing between lamp group Cik；The Δ T_{g-Cij_Cik}For horizontal ground signal lamp group Cik and the horizontal ground signal lamp group Cij It is switched to the interval duration that fair traveling optical signal sends state, the L_{Cij_Cik}More than or equal to it is described most it is short effectively guiding away from From.

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, can be switched to more than or equal to horizontal ground signal lamp group Ciq and horizontal ground signal lamp group Cip Forbidden optical signal (or alert traveling optical signal) sends the interval duration of state.For example, the horizontal ground signal lamp group Ciq and horizontal stroke Earthward 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 laterally Face signal lamp group Ciq and horizontal ground signal lamp group Cip is switched to the interval duration that alert traveling 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 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 letters 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, sends shape State.Certainly, in particular cases, certain two very near horizontal ground signal lamp groups of distance may also synchronism switching arrive alert row light and believe Number send 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 letters 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 shape State.Certainly, in particular cases, distance certain two very near horizontal ground signal lamp groups may also synchronism switching believe to forbidden light Number send state.

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 the road due to entrance lane The start/stop time of phase is weighed (such as when permitting the start-stop of the start/stop time of row phase, the start/stop time of alert row phase or forbidden phase Carve etc.) determined by semaphore, the start/stop time of these phases is recordable in the multiphase traffic time allocation table that semaphore is safeguarded, because This semaphore can learn the start/stop time of the right of way phase of each entrance lane, that is to say, that what moment semaphore can be learned It is away from reference to moment T_{ck_Ci}Arrival there remains overlapping duration T_{cd_Ci}When.And controller then can be from semaphore (or and semaphore Connection or the other equipment controlled by semaphore) what moment is away from reference to moment T for direct or indirect learning_{ck_Ci}Arrival It there remains overlapping duration T_{cd_Ci}When.Such as controller can be based on (or being connected with semaphore or by semaphore from semaphore The other equipment of control) the countdown signal for permitting row phase or forbidden phase, it is away from reference to the moment to learn what 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}It is overlapping for overlapping duration corresponding to entrance lane Ci 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 enter Mouth track 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 be divided into The even acceleration guiding speed that initial velocity is zero and the even acceleration guiding speed that initial velocity is not zero) or non-even acceleration guiding speed Deng.

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 The spacing between the horizontal ground signal lamp group of arbitrary neighborhood two in the NCi horizontal ground signal lamp groups that leading lights array includes It is 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 light Signal sends the interval duration of state (or forbidden optical signal sends state or alert traveling optical signal sends state), this pattern It 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, any in the NCi horizontal ground signal lamp groups Two neighboring horizontal ground signal lamp group is switched to fair traveling optical signal and sends state (or forbidden optical signal sends state or alert row light Signal sends state) interval duration it is equal, this pattern can claim " waiting the not equidistant pattern of duration ".Similar, it is " not equidistant Do not wait time model " 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, the horizontal ground signal lamp of arbitrary neighborhood two by 11 horizontal ground signal lamp groups Spacing between group is 1 meter, and the horizontal ground signal lamp group of arbitrary neighborhood two is switched to fair traveling optical signal and sent between state Every 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 lane Ci guiding section length is 10 meters, if 6 horizontal ground signal lamp groups uniformly (equidistant) can be distributed in boot section, such as is being drawn Lead and 1 horizontal ground signal lamp group is set every 2 meters in area, boot section can be divided into 5 and draw by 6 horizontal ground signal lamp groups Lead differentiation section, the spacing between the horizontal ground signal lamp group of arbitrary neighborhood two is 2 meters, two horizontal ground signals of arbitrary neighborhood Lamp group be switched to fair traveling optical signal send the interval duration of state can be equal or different.Arbitrary neighborhood in speed guiding lamp array Other equal set-up modes of spacing can be by that analogy between two horizontal ground signal lamp groups.

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, accuracy requirement in actual applications below Difference etc. carries out accommodation, such as result obtained from referring to following calculations is adjusted and (such as delays or carry Before) and obtain actual use value.

Such as (horizontal ground signal lamp group Ci-a is the NCi horizontal ground signals to horizontal ground signal lamp group Ci-a Any 1 horizontal ground signal lamp in lamp group) at the time of be switched to fair traveling optical signal and send state, believe 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 being cut successively along travel direction since horizontal ground signal lamp group Ciq Fair traveling optical signal is changed 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 speed₀ Universal expression formula during more than 0 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.It is described L_{LE_Ci}Represent entrance lane Ci guiding section length, L_{LE_Ci}It is also equal to horizontal ground signal lamp group Ciq and horizontal ground signal lamp Spacing between group Cip.The L_{Ci-a_Ci-q}Represent between horizontal ground signal lamp group Ci-a and horizontal ground signal lamp group Ciq Spacing, the L_{Ci-a_Ci-q}Be also equal to horizontal ground signal lamp group Ci-a and entrance lane Ci boot section drive into boundary line it Between spacing.Wherein, horizontal ground signal lamp group Ci-a is any one horizontal ground in NCi horizontal ground signal lamp groups 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, permitted using what the NCi horizontal ground signal lamp groups were sent The guiding speed that traveling optical signal is showed, fair row phase stem is driven into the travel speed guiding control of the vehicle of confluence 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 ecotopiaGinseng Examine basis.The plan initial value of overlapping duration corresponding to entrance lane Ci is represented,Represent drawing for entrance lane Ci Lead the plan initial value of section length.

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 during fine day 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), μ 1 (or μ 2) value when the rainy day (such as 1.2,1.3,1.5,2 or other values) are more than the value of the μ 1 (or μ 2) when fine day.In another example (or the μ of μ 1 when light intensity is preferable 2) value can be equal to 1 or close to 1 (such as 1.1 or 1.05 or other value), and when light intensity is poor, μ 1 (or μ 2) value is (such as 1.2nd, 1.3,1.5,2 or other values) be more than when light intensity is preferable μ 1 value.In another example μ 1 (or μ 2) takes 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 1.2nd, 1.3,1.5,1.8,2 or other values) be more than the value of μ 1 when the gradient is larger.The μ 1 when confluence complexity is smaller The value of (or μ 2) is equal to 1 or close to 1 (such as 1.1,1.04,1.08 or other value), and when confluence complexity is larger μ 1 (or μ 2) value (such as 1.2,1.3,1.5,1.7,1.9,1.8,2 or other values) is more than the μ 1 when complexity is smaller The value of (or μ 2).

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 particularly limited to herein.

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, wagon flow Amount 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}It 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, work as friendship The vehicle flowrate in remittance area guides section length L when being 15~25 per minute_{LE_Ci}For 8 meters or other values.When confluence, vehicle flowrate is less than Section length L is guided at 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}It is equal toOr V_{lk_q}* μ 3, the 3rd safety coefficient μ 3 value 1 can be equal to 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 The environmental factors such as crossing 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 crossing 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 signals At the time of horizontal ground signal lamp group Ci-a in lamp group is switched to forbidden optical signal and sends state, believe 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 811 of entrance lane 810 Boundary line is driven into for boot section 812.The boundary line 813 of rolling away from of entrance lane 810 rolls boundary line away from for boot section 812.Enter The avoidance stop line 821 in mouth track 820 drives into boundary line for boot section 822.The boundary line 823 of rolling away from of entrance lane 820 is Boot section 822 rolls boundary line away from.The speed guiding lamp array 8120 that boot section 812 is set includes horizontal ground signal lamp group 8121st, 8122 and 8123,3 horizontal ground signal lamp groups altogether.The speed guiding lamp array 8220 that boot section 822 is set wraps Horizontal ground signal lamp group 8221,8222 and 8223 is included, 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 (its In, the phase cycling of entrance lane itself is the right of way phase of the entrance lane and the non-right of way phase loop duration of one week), enter The single right of way phase in mouthful track 710 and 720 when a length of 23 seconds, the right of way phase of entrance lane 710 and 720 weighs in time It is folded 3 seconds.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, and 1 non-right of way phase is 23~40 Second.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.Entrance lane 720 Right of way phase include 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 With alert row phase 2 seconds.In Simulation Test Environment H1, the length of boot section 712 and boot section 722 is 20 meters.Horizontal ground Spacing in signal lamp group 7121,7122,7123,7124 between the horizontal ground signal lamp group of arbitrary neighborhood two is 6.67 Rice.In horizontal ground signal lamp group 7221,7222,7223,7224 between the horizontal ground signal lamp group of arbitrary neighborhood two between Away from being 6.67 meters.Fair row/police's row/forbidden optical signal of each horizontal ground signal lamp group sends state sustained periods of time such as Fig. 6-B Shown in citing, in Fig. 6-B citings, horizontal ground signal lamp group 7121 was switched to fair traveling optical signal at the 0th second and sends state, From fair traveling optical signal send state within 21st second and be switched to alert traveling optical signal and send state, shape was sent from alert traveling optical signal at the 23rd second State is switched to forbidden optical signal and sends state.Horizontal ground signal lamp group 7124 was switched to fair traveling optical signal at the 4th second and sends shape State, from fair traveling optical signal sent state at the 22nd second and is switched to alert traveling optical signal and send state, at the 24th second from alert traveling optical signal The state of sending is switched to forbidden optical signal and sends state.Horizontal ground signal lamp group 7221 was switched to fair traveling optical signal at the 20th second State is sent, from fair traveling optical signal state was sent at the 41st second and is switched to alert traveling optical signal and send state, at the 43rd second from alert row Optical signal, which sends state and is switched to forbidden optical signal, sends state.Other situations are by that analogy.As can be seen that the 20th~23 second this The individual period belongs to the overlapping period of the right of way phase of entrance lane 710 and 720.Emulation survey is carried out under Simulation Test Environment H1 Enhancing efficiency correction data obtained from examination is as shown in illustrating Fig. 6-A.

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 810 Without temporal overlapping between 820 right of way phase.1 right of way phase of entrance lane 810 is 0~15 second, 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.Its In, the right of way phase of entrance lane 820 includes permitting row phase 13 seconds, alert row phase 2 seconds.The right of way phase bag of entrance lane 810 Include fair row phase 13 seconds, alert row phase 2 seconds.In Simulation Test Environment H2, the length of boot section 812 and boot section 822 is 10 meters, the spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, horizontal ground signal lamp group 8122 and 8123 it Between spacing be 5 meters, the spacing between horizontal ground signal lamp group 8221 and 8222 is 5 meters, horizontal ground signal lamp group 8222 And the spacing between 8223 is 5 meters.Wherein, enhancing efficiency pair obtained from carrying out emulation testing under Simulation Test Environment H2 Than data 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, is entered The single right of way phase in mouthful track 710 and 720 when a length of 23 seconds, in the time between the right of way phase of entrance lane 710 and 720 It is upper overlapping 3 seconds.1 right of way phase of exemplified entrance lane 710 is 0~23 second in Fig. 5-C, and 1 non-right of way phase is 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, entrance car The right of way phase in road 720 includes permitting row phase 21 seconds and warns row phase 2 seconds.The right of way phase of entrance lane 710 includes permitting row phase Position 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 20 Rice, the spacing between horizontal ground signal lamp group 7121 and 7122 are 6.67 meters, horizontal ground signal lamp group 7122 and 7123 it Between spacing be 6.67 meters, the spacing between horizontal ground signal lamp group 7123 and 7124 is 6.67 meters.Equally, horizontal ground letter Spacing between signal lamp group 7121 and 7122 is 6.67 meters, and the spacing between horizontal ground signal lamp group 7122 and 7123 is 6.67 meters, the spacing between horizontal ground signal lamp group 7123 and 7124 is 6.67 meters.Wherein, under Simulation Test Environment H3 Enhancing efficiency correction data obtained from carrying out emulation testing 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 810 Overlapping 2 seconds in time between 820 right of way phase.1 right of way phase of entrance lane 810 is 0~16 second, 1 Ge Fei roads It is 16~30 seconds to weigh phase.1 right of way phase of entrance lane 820 is 14~30 seconds, and 1 non-right of way phase is 0~14 second.Its In, 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 phase bag of entrance lane 810 Include fair row phase 14 seconds and warn row phase 2 seconds.In Simulation Test Environment H5, the length of boot section 812 and boot section 822 is equal For 10 meters, the spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, horizontal ground signal lamp group 8122 and 8123 Between spacing be 5 meters.Spacing between horizontal ground signal lamp group 8121 and 8122 is 5 meters, horizontal ground signal lamp group Spacing between 8122 and 8123 is 5 meters.Wherein, efficiency obtained from carrying out emulation testing under Simulation Test Environment H5 carries Correction data is risen 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 led in vehicle Excessive and average speed etc. has 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 seconds, 10 seconds or other durations less than corresponding right of way phase duration, but corresponding embodiment this analogize.Wherein, in above-mentioned shown citing Illustrate 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 to be illustrated in Fig. 3 Shown other forms, 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 press each Car will pass through 5 plane convergence crossings daily, it is assumed that each plane convergence crossing waits 12 seconds red lights less, fuel consumption during idling Average 1 liter of gasoline per hour calculates, then is calculated with 1,000,000, certain city car, can easily save the fuel oil of more than one hundred million members every year.Example 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 calculates by 7 yuan or so, often 6,000,000 liters of oily * 7 yuan=forty-two million members can be saved year.This can save social resources while traffic efficiency is improved, and reduce dirty Contaminate thing discharge.

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, only one kind are patrolled The division of volume function, can there is other dividing mode when actually realizing, for example, multiple units or component can combine or can be with Another system is integrated into, either some features can be ignored or not perform.It is another, it is shown or discussed it is mutual it Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, device or unit Connect, 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 the mesh of this embodiment scheme according to the actual needs 's.

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 of the application is substantially The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer Equipment (can be personal computer, server or network equipment etc.) perform each embodiment above method of the application whole 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 Jie of store program codes Matter.

Claims (10)

1. a kind of Signalized control device 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 device includes：

Monitoring unit, the vehicle for monitoring the monitoring section JC-Ci and monitoring section JC-Cj drive into situation；

Control unit, the head car for that ought monitor the monitoring section JC-Ci drives into and the monitoring section JC-Cj has vehicle to sail Enter, and the NCj horizontal ground traffic lights groups are currently at fair traveling optical signal and send state and the NCi horizontal ground friendships Logical lamp group is currently at forbidden optical signal and sends state, controls the NCj horizontal ground traffic lights groups to be sent out from permission optical signal Do well and be switched to forbidden optical signal and send state, control the NCi horizontal ground traffic lights groups to be sent from forbidden optical signal State is switched to fair traveling optical signal and sends state；

Wherein, at the time of the horizontal ground traffic lights group Ci-p is switched to fair traveling optical signal and sends state, it is no earlier than the horizontal stroke At the time of earthward traffic lights group Cj-p is switched to forbidden optical signal and sends state；Wherein, the horizontal ground traffic lights group Cj- At the time of q is switched to forbidden optical signal and sends state, it is no earlier than the horizontal ground traffic lights group Cj-p and is switched to forbidden light letter It is late at the time of the horizontal ground traffic lights group Ci-p is switched to fair traveling optical signal and sends state at the time of number sending state At the time of the horizontal ground traffic lights group Ci-q is switched to forbidden optical signal and sends state；

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

2. Signalized control device according to claim 1, it is characterised in that described control unit is additionally operable to：Work as monitoring Driven into the monitoring section JC-Ci and the monitoring section JC-Cj without vehicle, control the NCj horizontal ground traffic lights groups Keep forbidden optical signal to send state or send state from fair traveling optical signal and be switched to forbidden optical signal and send state, control institute State the horizontal ground traffic lights groups of NCi keep permitting traveling optical signals send state or from forbidden optical signal send state be switched to it is fair Traveling optical signal sends state, wherein, the entrance lane Ci is main road and the entrance lane Cj is bypass.

3. Signalized control device according to claim 1, it is characterised in that described control unit is additionally operable to：Work as monitoring There is vehicle to drive into the monitoring section JC-Ci and the monitoring section JC-Cj, and drive into the head car of the monitoring section JC-Ci The distance between avoidance stop line of the entrance lane Ci, more than drive into the head car of the monitoring section JC-Cj with it is described enter The distance between mouth track Cj avoidance stop line, the NCj horizontal ground traffic lights groups are controlled to keep forbidden optical signals hair Do well or send state from fair traveling optical signal and be switched to forbidden optical signal and send state, control the NCi horizontal ground Traffic lights group, which keeps permitting traveling optical signal to send state or send state from forbidden optical signal and be switched to fair traveling optical signal, sends shape State.

4. Signalized control device according to claim 1, it is characterised in that described control unit is additionally operable to：Work as monitoring There is vehicle to drive into the monitoring section JC-Ci and the monitoring section JC-Cj, and the horizontal ground traffic lights group Cj-q is kept The duration that forbidden optical signal sends state exceedes and refer to clearance duration, control the individual horizontal ground traffic lights groups of the NCj from Forbidden optical signal, which sends state and is switched to fair traveling optical signal, sends state, controls the NCi horizontal ground traffic lights groups from taboo Traveling optical signal, which sends state and is switched to fair traveling optical signal, sends state.

5. Signalized control device according to claim 1, it is characterised in that described control unit is additionally operable to：Work as monitoring There is vehicle to drive into the monitoring section JC-Ci and the monitoring section JC-Cj, and the horizontal ground traffic lights group Ci-q is current State is sent in fair traveling optical signal and the horizontal ground traffic lights group Cj-q is currently at forbidden optical signal and sends shape State, then keep forbidden optical signal to send the duration of state in the horizontal ground traffic lights group Ci-q and reach the entrance car When corresponding to road Ci with reference to clearance duration, control the NCj horizontal ground traffic lights groups to send state from forbidden optical signal and cut Change to fair traveling optical signal and send state, and control the NCi horizontal ground traffic lights groups to keep sending shape from forbidden optical signal State is switched to fair traveling optical signal and sends state.

6. Signalized control device according to claim 5, it is characterised in that

Clearance duration is referred to corresponding to the entrance lane Ci, with being switched to fair row light in the horizontal ground traffic lights group Ci-q The vehicle queue length that signal sends monitoring section JC-Ci at the time of state is directly proportional.

7. Signalized control device according to claim 6, it is characterised in that

Clearance duration is referred to corresponding to the entrance lane Ci, with being switched to fair row light in the horizontal ground traffic lights group Ci-q The signal length of interval that the vehicle queue length of the monitoring section JC-Ci is fallen at the time of sending state is corresponding, wherein, it is different Length of interval correspond to different reference clearance durations, do not occur simultaneously between different length of interval, the bigger length of higher limit It is bigger with reference to clearance duration corresponding to section.

8. Signalized control device according to claim 7, it is characterised in that in the horizontal ground traffic lights group Ci-q At the time of being switched to fair traveling optical signal and send state, if the vehicle queue length of the monitoring section JC-Ci is less than or equal to the One threshold value, most short clearance duration corresponding to a length of entrance lane Ci when reference corresponding to the entrance lane Ci is let pass； At the time of the horizontal ground traffic lights group Ci-q is switched to fair traveling optical signal and sends state, if the monitoring section JC-Ci Vehicle queue length is more than or equal to Second Threshold, a length of entrance lane when reference corresponding to the entrance lane Ci is let pass Most long clearance duration corresponding to Ci, the first threshold are less than the Second Threshold.

9. the Signalized control device according to any one of claim 1 to 8, it is characterised in that

In the case where the entrance lane Ci is main road and the entrance lane Cj is bypass, corresponding to the entrance lane Ci Clearance duration is referred to reference to corresponding to clearance duration is more than the entrance lane Cj.

10. a kind of Signalized control device 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 device includes：Processor and memory；

Processor, the vehicle for monitoring the monitoring section JC-Ci and monitoring section JC-Cj drive into situation；When monitoring the prison Survey area JC-Ci head car drives into and the monitoring section JC-Cj has vehicle to drive into, and the NCj horizontal ground traffic lights groups are worked as It is preceding that in permitting, traveling optical signal sends state and the NCi horizontal ground traffic lights groups are currently at forbidden optical signal and send shape State, the NCj horizontal ground traffic lights groups are controlled to send state from allowing optical signal to send state and be switched to forbidden optical signal, Control the NCi horizontal ground traffic lights groups from forbidden optical signal to send state and be switched to fair traveling optical signal and send state；

Wherein, at the time of the horizontal ground traffic lights group Ci-p is switched to fair traveling optical signal and sends state, it is no earlier than the horizontal stroke At the time of earthward traffic lights group Cj-p is switched to forbidden optical signal and sends state；Wherein, the horizontal ground traffic lights group Cj- At the time of q is switched to forbidden optical signal and sends state, it is no earlier than the horizontal ground traffic lights group Cj-p and is switched to forbidden light letter It is late at the time of the horizontal ground traffic lights group Ci-p is switched to fair traveling optical signal and sends state at the time of number sending state At the time of the horizontal ground traffic lights group Ci-q is switched to forbidden optical signal and sends state；

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