CN107909827A

CN107909827A - The safe and efficient current bootstrap technique of wagon flow and system of grade crossing

Info

Publication number: CN107909827A
Application number: CN201710836942.7A
Authority: CN
Inventors: 苏晓峰
Original assignee: Czech Republic Shenzhen City Creative Technology Ltd
Current assignee: Czech Republic Shenzhen City Creative Technology Ltd
Priority date: 2016-09-17
Filing date: 2017-09-17
Publication date: 2018-04-13
Also published as: CN107909830A; CN107845272A; CN107845267A; CN107845268A; CN107845280A; CN107845270A; CN107909829A; CN107909832A; CN107909828A; CN107909826A; CN107909831A; CN107845271A; CN107845269A; CN107845266A

Abstract

The embodiment of the present application discloses the Signalized control method of grade crossing, and the grade 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 guiding lamp array, and the guiding lamp array includes NCi horizontal ground signal lamp group, and each transverse direction ground signal lamp group in the NCi transverse direction ground signal lamp group includes at least one ground signal lamp.Described NCi horizontal ground signal lamp group includes transverse direction ground signal lamp group Ci p and transverse direction ground signal lamp group Ci q, what horizontal ground signal lamp group Ci p were arranged at the boot section rolls border line position away from, and what horizontal ground signal lamp group Ci q were arranged at the boot section drives into border line position.

Description

Safe and efficient traffic flow guiding method and system for plane intersection

Technical Field

The application relates to the technical field of traffic electronics, in particular to a signal lamp control method for a plane intersection, a related device and a related system.

Background

Currently, with the acceleration of the urbanization process, the living standard of people is gradually improved, and the quantity of motor vehicles in a large city tends to increase year by year, so that the problem of more and more serious traffic jam is caused. Urban traffic congestion has caused certain influence on daily trips of people, and has restricted economic development to a great extent. In addition, congestion causes a great increase in vehicle fuel consumption (fuel consumption of the vehicle in an idling/creep state is increased by more than 50% compared with that of the vehicle at a normal speed), resources and time are wasted, and exhaust emission of the vehicle is increased greatly, so that air quality is seriously affected. Therefore, how to "cure" is a hot topic currently studied by many engineers in the industry. For example, how to improve the vehicle passing efficiency and safety controllability of a plane intersection is a very worthy technical subject. At present, even one percent of congestion relief technically is enough to make engineering technicians happy, and even if the congestion is relieved by one percent, huge social benefits can be obtained for the whole society in an accumulated way. However, the research progress in this field is very slow and has little effect.

The industry generally considers that the intelligent road is an important research direction for relieving congestion and improving road traffic efficiency, however, at present, the intelligent road still stays in a conceptual stage, products (software/hardware products) and schemes related to the intelligent road are slowly hatched, and a large number of companies in the international traffic field are vigorously put into research and development in this aspect, but related formed products and schemes are not released.

Disclosure of Invention

The embodiment of the application provides a signal lamp control method and a related system for a plane intersection.

A first aspect of an embodiment of the present application provides a planar intersection, which may include: the system comprises an entrance lane Ci and an entrance lane Cj, wherein the entrance lane Ci and the entrance lane Cj are intersection zone conflict lanes. The entrance lane Ci and the entrance lane Cj may be two or any two of the entrance lanes included in the planar intersection and being the collision lanes of the intersection area.

Wherein the entrance lane Ci has a guide area LE-Ci. Wherein an entering boundary line of the guide zone LE-Ci coincides with a stop line of the entry lane Ci, or the entering boundary line of the guide zone LE-Ci is between the stop line and an exiting boundary line of the entry lane Ci; the exit boundary line of the guide zone LE-Ci is the exit boundary line of the entry lane Ci, or the exit boundary line of the guide zone LE-Ci is between the entrance boundary line of the guide zone LE-Ci and the exit boundary line of the entry lane Ci.

The guide area LE-Ci is provided with a speed guide lamp array Ar-Ci, and the speed guide lamp array Ar-Ci comprises NCi transverse ground signal lamp groups, wherein NCi is a positive integer greater than 1, and each transverse ground signal lamp group in the NCi transverse ground signal lamp groups comprises at least 1 ground signal lamp; the NCi transverse ground signal lamp groups comprise a transverse ground signal lamp group Ci-p and a transverse ground signal lamp group Ci-q, soThe transverse ground signal lamp group Ci-p is arranged at the position of an outgoing boundary line of the guide area LE-Ci, the transverse ground signal lamp group Ci-q is arranged at the position of an incoming boundary line of the guide area, and the distance between the transverse ground signal lamp group Ci-p and the transverse ground signal lamp group Ci-q is larger than or equal to the shortest effective guide distance L_LE-minSaid L is_LE-minGreater than or equal to 2 meters.

Further, the entrance lane Cj has a guide area LE-Cj. The entering boundary line of the guide area LE-Cj is the stop line of the entrance lane Cj, or the entering boundary line of the guide area LE-Cj is between the stop line of the entrance lane Cj and the exiting boundary line of the entrance lane Cj. The exit boundary line of the guide area LE-Cj is the exit boundary line of the entrance lane Cj, or the exit boundary line of the guide area LE-Cj is between the entrance boundary line of the guide area LE-Cj and the exit boundary line of the entrance lane Cj.

Wherein the guide area LE-Cj is provided with a guide lamp array Ar-Cj. The guidance light array Ar-Cj includes NCj transverse ground signal light groups. Each of the NCj transverse ground signal light groups comprises at least 1 ground signal light. The NCj transverse ground signal lamp groups comprise transverse ground signal lamp groups Cj-q and transverse ground signal lamp groups Cj-p, the transverse ground signal lamp groups Cj-q are arranged at the position of an entering boundary line of the guide area LE-Cj, and the transverse ground signal lamp groups Cj-p are arranged at the position of an exiting boundary line of the guide area LE-Cj. The distance between the transverse ground signal lamp group Cj-p and the transverse ground signal lamp group Cj-q is greater than or equal to L_LE-min. The guidance light arrays (e.g., the guidance light arrays Ar-Ci and Ar-Cj) may also be referred to as a "guidance-area signal light array" or a "guidance-area ground signal light array" or the like.

The NCi may equal 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 29, or other values. When NCi is greater than 2, then the NCi transverse ground signal lamp groups further include NCi minus 2 transverse ground signal lamp groups between the transverse ground signal lamp group Ci-p and the transverse ground signal lamp group Ci-q.

The NCj may be equal to 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 25, or other values. When NCj is greater than 2, then the NCj transverse ground signal light groups further include NCj minus 2 transverse ground signal light groups between the transverse ground signal light groups Cj-p and the transverse ground signal light groups Cj-q.

For example, the distance L between the run-out boundary line and the run-in boundary line of the guide zone LE-Ci (or the guide zone LE-Cj)_LE-Ci(or L)_LE-Cj) For example, between 2 meters and 50 meters. Specific examples of the same are_LE-Ci(or L)_LE-Cj) The value range space of (a) may be between 8 meters and 25 meters. Examples are L_LE-Ci(or L)_LE-Cj) Equal to 2 meters, 3 meters, 5 meters, 8 meters, 8.4 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 40, 50 meters, or other values.

The NCi transverse ground signal lamp groups may be uniformly or non-uniformly distributed in the corresponding guide areas. The distances between any two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups are equal or partially equal or different from each other. For example, the spacing between any two adjacent ones of the NCi transverse ground signal light groups may be 1 meter, 1.5 meters, 2 meters, 2.5 meters, 3 meters, 4 meters, or other values. For another example, in the NCi transverse ground signal lamp groups, the farther the distance between two adjacent transverse ground signal lamp groups from the transverse ground signal lamp group Ci-q is, i.e., in the driving direction of the guidance area, the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups gradually increases. Or in the NCi transverse ground signal lamp groups, the farther the distance between two adjacent transverse ground signal lamp groups from the transverse ground signal lamp group Ci-q is, the smaller the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups is, namely, in the driving direction of the guide area, the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups is gradually reduced. Of course, the distance between two adjacent transverse ground signal light groups of the NCi transverse ground signal light groups may also be varied randomly or in other variations, and does not necessarily exhibit the above-mentioned exemplary variation which gradually decreases or gradually increases in a certain direction.

A second aspect of the embodiments of the present application provides a signal lamp control method for a planar intersection, for example, any one of the planar intersections as provided in the first aspect. Wherein the signal light method may include: when it is from the reference time T_{ck_Cj}Has an overlap duration T_{cd_Ci}And then, controlling the NCi transverse ground signal lamp groups to asynchronously switch to the allowing optical signal sending state (for example, the NCi transverse ground signal lamp groups can be asynchronously switched to the allowing optical signal sending state from the forbidding optical signal sending state or the extinguishing state). Wherein the transverse ground signal lamp group Ci-p and the transverse ground signal lamp group Ci-q are switched to a time interval delta T allowing an optical signal to be sent out_{g-Ci-p_Ci-q}Is greater than or equal to the overlap duration T_{cd_Ci}. For example, the Δ T_{g-Ci-p_Ci-q}Less than 3 seconds + T_{cd_Ci}(i.e., 3 seconds plus T)_{cd_Ci}) Or the Δ T_{g-Ci-p_Ci-q}Less than 1.2T_{cd_Ci}(i.e., 1.2 times T_{cd_Ci})。

The NCi transverse ground signal lamp groups comprise transverse ground signal lamp groups Ci-i and transverse ground signal lamp groups Ci-j, and the distance between the transverse ground signal lamp groups Ci-j and the stop line of the entrance lane Ci is larger than the distance between the transverse ground signal lamp groups Ci-i and the stop line of the entrance lane Ci. The distance between the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j is larger than or equal to the L_LE-minWherein, the time when the transverse ground signal lamp group Ci-i is switched to the state allowing the optical signal to be sent is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the state allowing the optical signal to be sent; wherein, V_{g-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{g-Ci-i_Ci-j}The quotient obtained thereby, said L_{Ci-i_Ci-j}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i is defined; the Δ T_{g-Ci-i_Ci-j}For transverse ground signal lampsThe group Ci-j and the transverse ground signal lamp group Ci-i are switched to the interval duration allowing the optical signal to send out, and the interval duration V is_{g-Ci-i_Ci-j}Is less than or equal to the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci.

Wherein the reference time T_{ck_Cj}An end time T of a state of allowing light signal emission of a signal lamp corresponding to a stop line of the entrance lane Cj_ge-CjOr the reference time T_{ck_Cj}Is said T_ge-CjThen passing through a safe emptying time length T corresponding to the entrance lane Cj_qk-CjThe time of arrival; or the reference time T_{ck_Cj}An ending time T of the state of the alarm light signal of the signal lamp corresponding to the stop line of the entrance lane Cj_ye-CjOr the reference time T_{ck_Cj}Is said T_ye-CjThen passing through a safe emptying time length T corresponding to the entrance lane Cj_qk-CjBut the time of arrival.

It will be appreciated that the group of transverse ground signal lamps Ci-i may be the group of transverse ground signal lamps Ci-q, or possibly other groups of transverse ground signal lamps interposed between the group of transverse ground signal lamps Ci-q and the group of transverse ground signal lamps Ci-p. The transverse ground signal lamp group Ci-j can be the transverse ground signal lamp group Ci-p, or can also be a space which is between the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p and is larger than or equal to the L and is between the transverse ground signal lamp group Ci-i_LE-minAnd any other 1 lateral ground signal light group.

It can be understood that when a certain transverse ground signal lamp group is in the allowing light signal emitting state, it indicates that the vehicle is allowed to drive through the traffic identification line corresponding to the transverse ground signal lamp group, and when a certain transverse ground signal lamp group is in the prohibiting light signal emitting state, it indicates that the vehicle is prohibited from driving through the traffic identification line corresponding to the transverse ground signal lamp group, for example, when the transverse ground signal lamp group Ci-q is in the allowing light signal emitting state, it indicates that the vehicle is allowed to drive through the traffic identification line corresponding to the transverse ground signal lamp group Ci-q (i.e., the driving boundary line of the guide area LE-Ci), and when the transverse ground signal lamp group Ci-q is in the prohibiting light signal emitting state, it indicates that the vehicle is prohibited from driving through the driving boundary line of the guide area LE-Ci, and so on.

The determination of the highest safe speed of a certain entrance lane (e.g., the entrance lane Ci or the entrance lane Cj) may be performed in various manners. For example, the highest safe speed of the entrance lane Ci is, for example, equal to the highest speed limit of the entrance lane Ci by a safety factor μ 4, the safety factor μ 4 is a real number greater than 0 and less than or equal to 1, and for example, the value range space (i.e., the value range) of the safety factor μ 4 is a real number greater than 0.4 and less than or equal to 1 (or greater than 0.4 and less than 0.8). The safety factor 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 values. Or, for another example, the highest safe speed of the entrance lane Ci is, for example, equal to the lowest speed limit of the entrance lane Ci by a safety factor μ 5, the safety factor μ 5 being a real number greater than 0 and less than 2, in particular, for example, the value range space of the safety factor μ 5 being a real number greater than 0.4 and less than 2 (or greater than 0.4 and less than 1.2). Wherein the safety factor μ 5 may be, for example, equal to 0.4, 0.5, 0.8, 0.7, 0.9, 0.65, 1.1, 1.9, 1.2, or other values. Or, for example, the maximum safe speed range space of the entrance lane Ci is, for example, 15-45 km/h, and specifically, the maximum safe speed of the entrance lane Ci may be equal to 15 km/h, 18 km/h, 20 km/h, 22 km/h, 26 km/h, 30 km/h, 36 km/h, 45 km/h, 38 km/h, or other speeds. Similarly, the determination of the highest safe speed of the entrance lane Cj may be analogized to that.

For example, the time when the transverse ground signal lamp group closer to the transverse ground signal lamp group Ci-q among the NCi transverse ground signal lamp groups is switched to the allowed light signal emission state is earlier. For example, the time when the transverse ground signal lamp group Ci-p is switched to the allowed light signal sending state is later than the time when any other 1 transverse ground signal lamp group in the NCi transverse ground signal lamp groups is switched to the allowed light signal sending state. That is to say, each transverse ground signal lamp group in the NCi transverse ground signal lamp groups can be sequentially switched to the state of sending out the traveling light signal along the traveling direction of the guide area, which better lays a foundation for reasonably and suitably guiding the time and the speed of the vehicle traveling through the guide area, for example, the vehicle can safely and controllably exit the guide area under the guidance of the guide speed presented by the traveling light signal sent by the NCi transverse ground signal lamp groups, and the vehicle can further safely, controllably and efficiently travel through the intersection area.

Said L_LE-minGreater than or equal to 2 meters. In the embodiments of the present application, L_LE-minThe value range space of (a) may be, for example, 2 meters to 10 meters. The shortest effective guide distance may be, for example, 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. Wherein, for example, when the shortest effective guiding distance is 5 meters, it means that the distance (e.g., L) between any two transverse ground signal lamp groups (e.g., the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j) of the NCi transverse ground signal lamp groups, which are spaced apart by more than or equal to 5 meters_{Ci-i_Ci-j}) Dividing by the duration of the interval for switching the two transverse ground signal lamp groups to the state allowing the light signal to be sent out (e.g. Δ T)_{g-Ci-i_Ci-j}) To obtain a quotient V_{g-Ci-i_Ci-j}(V_{g-Ci-i_Ci-j}Which may be considered as the allowed guidance speed exhibited by the two lateral ground signal light groups), is less than the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci. That is, the effective allowable guiding speed that the NCi transverse ground signal lamp groups can present is less than the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci. Therefore, the traffic head vehicle driving through the stop line can drive into the intersection area at a safer and controllable speed near the moment when the transverse ground signal lamp group Ci-q is switched to the state of sending the permission light signal, so that the safety and controllability of the traffic flow on two entrance lanes (such as the entrance lane Ci and the entrance lane Cj) of the lanes which conflict with each other in the intersection area can be ensured, and the two traffic flows can be prevented from conflicting in the intersection area.

For example, the safe purge duration T_qk-CjThe range space of (a) may be, for example, between 0.2 seconds and 5 seconds. In particular, for example, the safe emptying duration T_qk-CjThe range space of (a) may be, for example, between 2 seconds and 5 seconds. In particular, for example, the safe emptying duration T_qk-CjThe range space of (a) may be, for example, between 2 seconds and 4 seconds. More specifically, T_qk-CjMay be equal to 0.5 seconds, 1 second, 1.2 seconds, 1.8 seconds, 2 seconds, 2.5 seconds, 2.8 seconds, 3 seconds, 4 seconds, 4.5 seconds, or other values. E.g. safe emptying duration T_qk-CjIs positively correlated (e.g., proportional or approximately proportional) to the clearing distance of the lane Cj (e.g., the clearing distance of the lane Cj is, for example, the travel distance between the stop line of the lane Cj and the corresponding intersection area exit boundary line).

Optionally, the method may further include: the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the permission light signals to the state of sending the prohibition light signals. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd when the NCi transverse ground traffic signal lamp groups are controlled to asynchronously switch from the state of sending the permission optical signal to the state of sending the prohibition optical signal, the moment when the transverse ground signal lamp group Ci-i is switched from the state of sending the permission optical signal to the state of sending the prohibition optical signal is earlier than the moment when the transverse ground signal lamp group Ci-j is switched from the state of sending the permission optical signal to the state of sending the prohibition optical signal. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be synchronously switched to a forbidden light signal sending state; or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qWhen the signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched to the forbidden light signal sending state, wherein the Ci-i transverse ground signal lamp groups are switched to the forbidden light signal sending state,and the time is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the state of sending out the forbidden light signal.

Optionally, the method may further include: the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the permission light signal to the state of sending the warning light signal. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd when the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched from the state of sending the traffic light signals to the state of sending the warning light signals, the moment when the transverse ground signal lamp groups Ci-i are switched from the state of sending the traffic light signals to the state of sending the warning light signals is earlier than the moment when the transverse ground signal lamp groups Ci-j are switched from the state of sending the traffic light signals to the state of sending the warning light signals. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to synchronously switch to a warning light signal sending state. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qAnd then, controlling the NCi transverse ground traffic signal lamp groups to asynchronously switch to the warning light signal sending state, wherein the time when the transverse ground signal lamp group Ci-i is switched to the warning light signal sending state is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the warning light signal sending state.

Optionally, the method may further include: the transverse ground signal lamp group Ci-q continues for a time length T in the state of sending out the warning light signal_y-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the warning light signal to the state of sending the forbidden light signal. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of sending out the warning light signal_y-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp sets are controlled to asynchronously switch from the state of sending the warning light signal to the state of forbiddingAnd the time when the transverse ground signal lamp group Ci-i is switched from the row-alarming light signal sending state to the row-forbidding light signal sending state is earlier than the time when the transverse ground signal lamp group Ci-j is switched from the row-alarming light signal sending state to the row-forbidding light signal sending state. Or the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal for a time length T_y-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to be synchronously switched to a forbidden light signal sending state. Or the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal for a time length T_y-Ci-qAnd then, controlling the NCi transverse ground traffic signal lamp groups to be switched to an asynchronous forbidden light signal sending state, wherein the time when the transverse ground signal lamp group Ci-i is switched to the forbidden light signal sending state is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the forbidden light signal sending state.

For example, the timing at which the lateral ground signal lamp group closer to the lateral ground signal lamp group Ci-q among the NCi lateral ground signal lamp groups is switched to the warning light signal emission state is earlier. For example, the time when the transverse ground signal lamp group Ci-p is switched to the state of sending the warning light signal is later than the time when any other 1 transverse ground signal lamp group in the NCi transverse ground signal lamp groups is switched to the state of sending the warning light signal. That is, each of the NCi transverse ground signal light groups may be sequentially switched to the warning light signal emitting state along the guidance area incoming direction. Of course, in special cases, two transverse ground signal lamp sets with very close distances may also be switched to the warning light signal sending state synchronously.

For example, the timing at which the lateral ground signal lamp group closer to the lateral ground signal lamp group Ci-q among the NCi lateral ground signal lamp groups is switched to the disabled light signal emission state is earlier. For example, the time when the transverse ground signal lamp group Ci-p is switched to the forbidden light signal emission state is later than the time when any other 1 transverse ground signal lamp group in the NCi transverse ground signal lamp groups is switched to the forbidden light signal emission state. That is to say, each transverse ground signal lamp group in the NCi transverse ground signal lamp groups can be sequentially switched to the forbidden light signal sending state along the guide area converging direction. Of course, in special cases, two transverse ground signal lamp sets with very close distances may also be switched to the disabled light signal sending state synchronously.

Asynchronous and synchronous in the embodiments of the present application are mutually opposite words, synchronous means temporally simultaneous, and asynchronous means non-synchronous (i.e. temporally non-simultaneous). For example, if the NCi transverse ground traffic signal light groups are controlled to asynchronously switch from the allowing light signal sending state to the warning light signal sending state, the NCi transverse ground traffic signal light groups are controlled to non-simultaneously switch from the allowing light signal sending state to the warning light signal sending state. For another example, if the NCi transverse ground traffic signal light groups are controlled to be synchronously switched from the permission light signal emitting state to the warning light signal emitting state, the NCi transverse ground traffic signal light groups are controlled to be simultaneously switched from the permission light signal emitting state to the warning light signal emitting state. And so on.

For convenience of understanding, a period of time when the signal lamp corresponding to the stop line of the entrance lane (such as the entrance lane Ci or the entrance lane Cj) is in the allowing light signal emitting state may be regarded as the allowing phase of the entrance lane, a period of time when the signal lamp corresponding to the stop line of the entrance lane is in the prohibiting light signal emitting state may be regarded as the prohibiting phase of the entrance lane, and a period of time when the signal lamp corresponding to the stop line of the entrance lane is in the warning light signal emitting state may be regarded as the warning phase of the entrance lane. Specifically, for example, when the stop line of the entrance lane Ci coincides with the driving-in boundary line of the guide zone LE-Ci, the transverse ground signal lamp group Ci-q is a traffic light corresponding to the stop line of the entrance lane Ci (in some cases, even if the driving-in boundary line of the guide zone LE-Ci is between the stop line and the driving-out boundary line of the entrance lane Ci, the transverse ground signal lamp group Ci-q may be regarded as a traffic light corresponding to the stop line of the entrance lane Ci), and then a period of time when the transverse ground signal lamp group Ci-q is in a light-allowing signal emitting state may be regarded as a allowing phase of the entrance lane Ci; the time interval when the transverse ground signal lamp group Ci-q is in the state of sending out the warning light signal can also be regarded as the warning phase of the entrance lane Ci; the period of time that the transverse ground signal lamp group Ci-q is in the forbidden light signal emitting state can also be regarded as the forbidden phase of the entrance lane Ci. And so on for other cases.

The reference time T_{ck_Cj}For example, the end time of the road right phase of the entrance lane Cj.

Wherein the overlap duration T_{cd_Ci}Can be stored for the lamp control equipment (the lamp control equipment can update the currently stored T according to the overlapping time length updating instruction from the upper computer or the man-machine interaction interface_{cd_Ci}) Or overlap duration T_{cd_Ci}Can be calculated in real time based on a preset algorithm. E.g. overlap time length T_{cd_Ci}May 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 time periods. Overlap duration T_{cd_Ci}For example greater than 0 seconds and less than 25 seconds. Or overlap duration T_{cd_Ci}For example, less than the road-weight phase duration of the entry lane Cj.

Optionally, V_{y-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{y-Ci-i_Ci-j}The quotient obtained, wherein said Δ T_{y-Ci-i_Ci-j}And switching the interval duration of the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i to the state of sending out the warning light signal. The V is_{y-Ci-i_Ci-j}Equal to the lowest limit speed or said V_{y-Ci-i_Ci-j}Greater than said V_{g-Ci-i_Ci-j}。

Optionally, V_{r-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, wherein said Δ T_{r-Ci-i_Ci-j}And switching the interval duration of the emission state of the forbidden light signals for the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i. The V is_{r-Ci-i_Ci-j}Equal to the lowest limit speed or said V_{r-Ci-i_Ci-j}Greater than said V_{g-Ci-i_Ci-j}. Wherein, V_{y-Ci-i_Ci-j}Greater than or equal to or less than V_{r-Ci-i_Ci-j}。

For example, the NCi transverse ground signal lamp groups include the transverse ground signal lamp group Ci-i, the transverse ground signal lamp group Ci-j, and the transverse ground signal lamp group Ci-k. And the distance between the transverse ground signal lamp group Ci-j and the stop line of the entrance lane Ci is smaller than the distance between the transverse ground signal lamp group Ci-k and the stop line of the entrance lane Ci.

For example, V_{r-Ci-i_Ci-j}Is equal to V_{r-Ci-j_Ci-k}Said V is_{r-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{r-Ci-j_Ci-k}And the resulting quotient. Said L_{Ci-j_Ci-k}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k is the delta T_{r-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state of sending out the forbidden light signal, L_{Ci-j_Ci-k}Greater than or equal to the shortest effective guide distance. The V is_{r-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, the Δ T_{r-Ci-i_Ci-j}And switching the interval duration of the emission state of the forbidden light signals for the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j.

And e.g. V_{g-Ci-i_Ci-j}Less than or equal to V_{g-Ci-j_Ci-k}Said V is_{g-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{g-Ci-j_Ci-k}The resulting quotient; said L_{Ci-j_Ci-k}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k is defined; the Δ T_{g-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state allowing the optical signal to be sent out is L_{Ci-j_Ci-k}Greater than or equal to the shortest effective guide distance.

For example, the interval duration of switching the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p to the state of allowing the traffic light signal to be sent may be greater than or equal to the interval duration of switching the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p to the state of prohibiting the traffic light signal (or the traffic light signal) to be sent. For example, the time interval between the switching of the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p to the off-line light signal emitting state may be greater than or equal to or less than the time interval between the switching of the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p to the off-line light signal emitting state.

It can be seen that in the technical solutions of some embodiments of the present application, the entrance lane of the plane intersection has a guidance area, and the guidance area is formed by entrance lane segments defined by entrance boundary lines and exit boundary lines of the guidance area, where the entrance boundary lines of the guidance area are parking lines of the corresponding entrance lane, or the entrance boundary lines of the guidance area are between the parking lines and the exit boundary lines of the corresponding entrance lane. The guidance-zone exit boundary line is an exit boundary line of the corresponding entry lane, or the exit boundary line of the guidance zone is between the entry boundary line of the guidance zone and the exit boundary line of the corresponding entry lane. The distance between the entry boundary line and the stop line is smaller than the distance between the exit boundary line and the stop line. The guidance zone can be used as a vehicle speed guidance zone, so that the guidance zone can provide a certain space basis for the low-speed vehicle to accelerate in advance before entering the intersection zone, namely, the guidance of the low-speed vehicle to accelerate in advance before entering the intersection zone becomes possible. And the guiding area of the entrance lane is provided with a guiding lamp array, the guiding lamp array comprises a plurality of transverse ground signal lamp groups distributed in the guiding area, and the introduction of the guiding lamp array lays a certain hardware foundation for controlling the running state of the vehicle in the guiding area and the running state of the vehicle when the vehicle exits from the guiding area (such as the speed when the vehicle exits from the guiding area), and further lays a certain hardware foundation for controlling the speed of the vehicle entering the road area (the speed when the vehicle exits from the guiding area can be close to or equal to the speed when the vehicle enters the road area). The running state of the vehicle can be dynamically controlled by controlling the lamp array, so that a hardware foundation is laid by uniformly and coordinately controlling the traffic state of the traffic flow at each intersection through a network, and the intelligent level of the infrastructure of the plane intersection is improved.

When the transverse ground signal lamp group in the guide lamp array is controlled to send out an ordered traffic control signal, the ordered traffic control of vehicles on the corresponding entrance lane can be easily realized, and the further introduction of the guide lamp array can help to improve the traffic efficiency and the safety of the plane intersection and lay a foundation for relieving congestion. The introduction of the guide area provided with the guide lamp array makes a great technical contribution to improving the vehicle passing efficiency and safety of the plane intersection. The introduction of the guide area provided with the guide lamp array can be regarded as a pioneering innovation for breaking through the traditional traffic control thinking, and to a certain extent, the introduction of the guide area provided with the guide lamp array creates a brand-new situation for the vehicle passing at the plane intersection, and the use of the guide lamp array to carry out various fine control on the vehicle on the corresponding lane becomes more feasible.

When a vehicle passes through a plane intersection, the attention of a driver is mainly focused in a narrow visual angle range in the front of the vehicle head due to the relative complexity of the passing condition of the plane intersection. Research practices show that continuous visual angle switching is easy to disperse driver attention, and further great driving safety hidden danger is caused. The ground signal lamp of the array form of this application is along the entry lane and drives into the direction overall arrangement, and the driver of being convenient for can see the guide signal that the signal lamp sent on the way clearly under the prerequisite that does not change the visual angle basically, because the driver need not frequently to carry out the visual angle and switches and be favorable to reducing the driving safety hidden danger like this.

When the car light highlight illumination that receives the opposite direction car during the driving at night, make the driver clearly see the air signal lamp behind the highlight very easily, and the ground signal lamp of this application is arranged in the road surface that the locomotive is nearly preceding, sees the change condition of the guide signal that the signal lamp sent clearly relatively more easily to difficult the leading appears violating the chapter and the potential safety hazard because of the mistake rushes the red light. In addition, at night, the urban light environment is very mixed, so that the high-altitude signal lamp is easily mixed with other interference light due to color difference, and the ground signal lamp is not easily mixed with other interference light because the ground signal lamp is arranged on a road with a relatively simple light environment.

The guide lamp array is arranged for the lane, and the guide area can be divided into the lane sections by the transverse ground signal lamp group distributed along the lane running direction, so that the vehicle running speed can be controlled in a staged manner, and the more accurate control of the vehicle running speed is facilitated. Therefore, the method is beneficial to realizing accurate command (namely lane-level control) of the vehicle based on the lane, and is more accurate than the flow-direction-level control of the high-altitude signal lamp (the flow-direction-level control refers to the unified control which is not distinguished from each other and is carried out on all lanes in the same driving direction).

In the scheme of the application, the distance between the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p is greater than or equal to L_LE-min, and said L_LEMin is greater than or equal to 2 m, L_LEAnd the min value refers to parameters such as the phenomenon of visual persistence and the safe driving speed of the vehicle. The human eye has a characteristic called "persistence of vision" so that the image of the object viewed by the eye can be maintained for about 0.1-0.4 seconds after the object disappears. Research shows that a time interval of about 0.5 second is needed to enable a driver to clearly identify the change condition of the guide signal sent between the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p as much as possible, when the safe vehicle speed is about 15 km/h, the moving distance corresponding to 0.5 second is about 2 meters, so that the driver can clearly see the change between the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p, therefore, the L is_LEThe value of-min is more than or equal to 2 meters, which is quite scientific.

In summary, the arrangement position of the guide light array, the fusion mode of the guide light array and the entrance lane, the shape of the guide light array and other aspects in the scheme of the application are all considered from the aspects of human engineering, driving safety and the like, and the guide light array is an innovative design which accords with the natural law and can obtain the technical effect which accords with the natural law.

Specifically, for example, when it is away from the reference time T_{ck_Cj}Has an overlap duration T_{cd_Ci}The method comprises the steps that a plurality of NCi transverse ground signal lamp groups in a guide lamp array of an entrance lane Ci are controlled to be switched to a light-allowing signal sending state, so that the time superposition of road right phases of the entrance lane Ci and an entrance lane Cj is shown, the superposition time can provide a certain time base for pre-accelerating low-speed vehicles on the entrance lane Ci before entering into an intersection area, the time base and the space base for pre-accelerating the low-speed vehicles before entering into the intersection area are both provided, and through the ingenious time-space switching design, the low-speed vehicles can be pre-accelerated before entering into the intersection area, so that the vehicles can possibly enter into and pass through the intersection area at higher speed. In the prior art, because the traffic flow head vehicle does not have the time and space conditions of pre-acceleration, the traffic flow head vehicle can only alternately and slowly drive into the intersection area at an extremely low speed.

Furthermore, the guiding area of the entrance lane can be divided into a plurality of entrance lane sections by the plurality of transverse ground signal lamp groups included in the guiding lamp array, and the traffic control light signals emitted by the plurality of transverse ground signal lamp groups are utilized, so that the running state of the vehicle in the guiding area and the speed of the vehicle running in the entrance lane area can be controlled more accurately (for example, when the V is arranged on the road surface of the entrance lane), and the V is arranged on the road surface of the entrance lane_{g-Ci-i_Ci-j}The maximum speed limit or the minimum speed limit or the maximum safe speed which is less than the maximum speed limit or the minimum speed limit of the entrance lane Ci is relatively limited to the upper limit of the running speed of the vehicle in the guide area), so that the safety controllability of the vehicle passing at the plane intersection is favorably improved, and the ground type signal lamp group for vehicle guide is more convenient for a driver to identify a corresponding traffic control signal, so that the safety controllability of the vehicle passing at the plane intersection is favorably further improved. For example, because the pitch is greater than or equal to the shortest effective guide distance L_LE-minAny two transverse ground signal lamp groups present considerable orderliness in the time for switching to the state of allowing the light signal to be sent out, which lays a foundation for reasonably and appropriately guiding the time and the speed of the vehicle passing through the guiding area,for example, the vehicle can safely, controllably and efficiently exit the guidance area under the guidance of the visual guidance speed presented by the light signals emitted by the plurality of transverse ground signal lamp groups, and the vehicle can safely, controllably and efficiently pass through the intersection area.

Further, since the speed of the traffic flow (especially the traffic flow head car) when the traffic flow exits the guidance area can be controlled by using the guidance lamp array, it is found in practice that, if the speed of the traffic flow (especially the traffic flow head car) when the traffic flow exits the guidance area is suppressed to a certain extent at the initial stage of the admission phase, the dispersion of the traffic flow when the traffic flow passes through the intersection area during the corresponding admission phase is favorably reduced, and the lower dispersion of the traffic flow is favorable for improving the traffic flow density of the unit length of the lane, so that the lane utilization rate is improved, and further, the congestion is favorably alleviated.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIGS. 1-A and 1-B are schematic layout views of several planar intersections provided by embodiments of the present application;

1-C are schematic diagrams of several possible positional relationships between the guidance area of the entrance lane and the pedestrian crossing provided by embodiments of the present application;

fig. 2 is a schematic diagram of several possible composition manners of a road-right phase and a non-road-right phase provided in an embodiment of the present application;

fig. 3 is a schematic layout diagram of several guidance light arrays according to an embodiment of the present application;

4-A and 4-B are schematic diagrams of several switching modes of the working states of the transverse ground signal lamp group provided by the embodiment of the application;

FIGS. 5-A-5-C are schematic diagrams of several phase cycles of an entry lane provided by embodiments of the present application;

FIG. 6-A is a schematic diagram illustrating comparison of simulation effects in several simulation test environments provided by an embodiment of the present application;

fig. 6-B is a schematic diagram illustrating an example of a switching time of an operating state of a transverse ground signal lamp group in a speed guidance lamp array according to an embodiment of the present application;

fig. 7-a-7-B are schematic views of layout configurations of several planar intersections provided in the embodiments of the present application.

Detailed Description

The terms "comprising" and "having," and any variations thereof, as appearing in the specification, claims and drawings of this application, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. For example, the terms "first," "second," and "third," etc. are used to distinguish between different objects and not to describe a particular order. Some relevant scenarios and terms are explained below by way of example.

The planar intersection will be described first. The plane intersection provided by the embodiment of the application comprises a road junction area, a plurality of exit roads and a plurality of entrance roads. The entrance lane of a level crossing may also be referred to as an "entrance lane". The exit lane of the level crossing may also be referred to as a "downstream lane". The outlets of different inlet channels of the plane intersection are respectively connected with different inlets of the intersection area. The entrances of the different exit lanes of the level crossing are connected to the different exits of the intersection zone. The driving directions of different entrance roads of the plane intersection are different. An entry lane of a level crossing may include one or more entry lanes, which may also be referred to as "entry lanes". Wherein an exit lane of the level crossing may include one or more exit lanes, which may also be referred to as "downstream lanes". The entrance lanes Ci and the entrance lanes Cj included in the plane intersection belong to different entrance lanes in the plurality of entrance lanes included in the plane intersection, and the exits of the entrance lanes Ci and the entrance lanes Cj are connected with different entrances of the intersection area. The exit boundary line of the entry lane Ci and the stop line are spatially separated. The exit boundary line of the entry lane Cj and the stop line may be spatially separated or coincide.

Referring to fig. 1-a, the planar intersection 100 illustrated in fig. 1-a is an exemplary planar intersection of the present application. The planar intersection 100 includes an intersection area 150 and entrance roads 111, 121, 131, and 141, and the planar intersection 100 further includes exit roads 112, 122, 132, and 142. The inlet channels 111, 121, 131 and 141 are connected to different inlets of the intersection zone 150, respectively, and the outlet channels 112, 122, 132 and 142 are connected to different outlets of the intersection zone 150, respectively. In the relevant drawings of the embodiments of the present application, the inlet lane is mainly located on the right side of the adjacent outlet lane as an example, the inlet lane of some countries in the world may also be located on the left side of the adjacent outlet lane, and so on for some embodiments in the case of such differences.

In the embodiment of the present application, the planar intersection 100 illustrated in fig. 1-a is a cross-shaped planar intersection (a cross-shaped planar intersection is a special case of a four-fork-shaped planar intersection), however, the planar intersection in the embodiment of the present application is not limited to the four-fork-shaped planar intersection, and may be a three-fork-shaped planar intersection (a T-shaped planar intersection is a special case of a three-fork-shaped planar intersection), a five-fork-shaped planar intersection, a six-fork-shaped planar intersection, or other types of planar intersections.

For example, a cross-shaped planar intersection (e.g., planar intersection 100) may generally include 4 entry lanes and 4 exit lanes, each entry lane may include one or more entry lanes, and each exit lane may include one or more exit lanes. A T-plane intersection typically includes 3 entry lanes and 3 exit lanes, each entry lane may include one or more entry lanes and each exit lane may include one or more exit lanes. Of course, the number of the inlet channels and the outlet channels of some plane intersections may not be equal, for example, a cross-shaped plane intersection may only include 3 inlet channels and 4 outlet channels.

If an entrance lane of a level crossing includes multiple entrance lanes, the multiple entrance lanes may be oriented the same, partially the same, or different from each other. The guidance of the entrance lane can be divided into left turn, straight running, right turn, head-off and the like. For example, a certain entrance lane X includes 6 entrance lanes, and if the direction of 2 of the above 6 entrance lanes is a left turn, the two entrance lanes may be referred to as a left turn entrance lane of the entrance lane X. The left-turn entrance lane may be referred to as a "left-turn lane" for short. Further, assuming that the guidance of the other 3 entrance lanes of the above-mentioned 6 entrance lanes is straight, the 3 entrance lanes may be referred to as a straight entrance lane of the entrance lane X. The straight-driving entrance lane can be called as a straight-driving lane for short. Assuming that the remaining 1 of the above-described 6 entrance lanes is directed to turn right, the 1 entrance lane may be referred to as a right-turn entrance lane of the entrance lane X. The right-turn entrance lane may be referred to as a "right-turn lane" for short. And so on.

In some cases, the guidance of certain entrance lanes may be changeable (i.e., non-fixed), such as during some times when a certain entrance lane is a left-turn lane, and during other times it may be a straight-ahead lane, and such lanes may be referred to as a guidance-changeable lane, and the like. In some cases, the guidance of some entry lanes may be multiple, for example, an entry lane may be both a straight lane and a right-turn lane. Specifically, for example, the rightmost entrance lane of an entrance lane may be a straight lane and a right-turn lane, and such lanes may be referred to as "multiple guidance lanes" or "composite guidance lane", and so on.

The driving direction of the lane may be, for example, east (i.e., east), west (i.e., west), south (i.e., south), north (i.e., north), and so on. For example, if the driving direction of an entrance lane is east, the left-turn lane in the entrance lane may also be referred to as an "east-left-turn lane", the straight lane in the entrance lane may also be referred to as an "east-straight lane", and similarly, the right-turn lane in the entrance lane may also be referred to as an "east-right-turn lane". Among them, the east-oriented left-turn lane may also be referred to as "east-oriented left-turn lane". The east-oriented straight lane may also be referred to as an "east-oriented straight lane". The east-right turn lane is also referred to as an "east-right turn lane". And so on.

The intersection zone boundary lines comprise a plurality of intersection zone entrance boundary lines and a plurality of intersection zone exit boundary lines. The entrance lane is corresponding to an entrance border line of a section of intersection area, the entrance border line of the intersection area corresponding to the entrance lane is an adjacent intersection area entrance border line of the entrance lane, and generally, the entrance border line of the intersection area corresponding to the entrance lane is an intersection line of the entrance lane and the intersection area. A downstream lane corresponds to an exit boundary line of a section of intersection area, an exit boundary line of an intersection area corresponding to a downstream lane is an exit boundary line of an intersection area adjacent to the entrance lane, and generally, an exit boundary line of an intersection area corresponding to a downstream lane is an intersection line of the downstream lane and the intersection area.

The 1 characteristic of the plane intersection that this application embodiment scheme provided is that the boundary line is driven out and the stop line of entry lane separates on spatial position. For example, in the example shown in fig. 1-a, the exit boundary line of the entrance lane and the stop line may coincide or be separated in spatial position (the separation distance between the exit boundary line of the entrance lane and the stop line may be set according to actual needs). Specifically, the exit boundary line 1212 of the entrance lane 121 is separated from the stop line 1211, the exit boundary line 1112 of the entrance lane 111 is separated from the stop line 1111, the exit boundary line 1312 of the entrance lane 131 is separated from the stop line 1311, and the exit boundary line 1411 of the entrance lane 141 is overlapped with the stop line 1111. In fig. 1-a, the exit boundary line of a part of the entrance roads of the plane intersection 100 coincides with the stop line, and the exit boundary line of another part of the entrance roads is separated from the stop line, but in practical applications, the exit boundary lines of all the entrance roads of the plane intersection may be separated from the stop line. It is understood that the exit boundary line and the stop line of one entry lane are separated, which means that the exit boundary line and the stop line of all entry lanes included in the entry lane are separated; similarly, the exit boundary line and the stop line of one entry lane overlap, which means that the exit boundary line and the stop line of all entry lanes included in the entry lane overlap. Of course in practical applications the following may also be the case: the exit boundary line and the stop line of a part of the entrance lanes included in one entrance lane are separated, and the exit boundary line and the stop line of the rest of the entrance lanes included in the one entrance lane are overlapped.

In the case of a physically separated stop line and exit boundary line of the entrance lane, several functional zones, for example comprising guidance zones, crosswalks (i.e. pedestrian crossings) and/or non-motor crossings (i.e. non-motor crossings), etc., can be provided on the lane segments between the stop line and the exit boundary line of the entrance lane.

In the embodiment of the application, a part or all of the entrance lanes of the plane intersection can be provided with the guide area, the guide area of the entrance lanes can also be regarded as a speed guide area, for vehicles which drive into the guide area at low speed, the guide area can be regarded as an acceleration area, and for vehicles which drive into the guide area at high speed, the guide area can be regarded as a deceleration area, so that the speed guide area can be used for guiding the vehicle speed to a reasonable speed interval. The guidance zone of the entrance lane is adjacent or close to the intersection zone. The stop line of the entrance lane is an entrance boundary line of a guidance area of the entrance lane.

Wherein the entrance boundary line of the guidance area of the entrance lane may be a stop line of the entrance lane. The exit boundary line of the guide area of the entrance lane may be the exit boundary line of the entrance lane; or an exit boundary line of the guidance area of the entry lane is interposed between the exit boundary line of the entry lane and the entry boundary line of the guidance area. For example, the entrance lane x1 shown by way of example in fig. 1-B has a guidance area 213, the stop line 211 of the entrance lane x1 is an entrance boundary line of the guidance area 213, and the exit boundary line 212 of the entrance lane x1 is an exit boundary line of the guidance area 213. The entry lane x2 shown by way of example in fig. 1-B has a guidance area 224, the stop line 221 of the entry lane x2 is an entrance boundary line of the guidance area 224, and an exit boundary line of the guidance area 213 is between the entrance boundary line 221 of the guidance area 224 and the exit boundary line 222 of the entry lane x 2.

Further, when a plurality of function areas including a guidance area are provided on a lane section between a stop line and an exit boundary line of an entrance lane, the plurality of function areas (including the guidance area and a crosswalk, for example) may be independent from or overlap each other in spatial position. Fig. 1-C illustrates some possible positional relationships between the guidance area of the entrance lane and the crosswalk, by way of example. The pedestrian crossing of the entry lane x3 shown in the example of fig. 1-C partially overlaps the guide area in spatial position, with the entire area of the pedestrian crossing falling within the spatial extent of the guide area. The crosswalk of the entrance lane x4 partially overlaps the guide area in spatial position, and a partial area of the crosswalk thereof falls within the spatial range of the guide area. The crosswalk of the entry lane x5 is spatially adjacent to the guide area, without intersection between the crosswalk and the spatial extent of the guide area. The crosswalk of the entry lane x6 is spatially close to the guide area, with a distance between them. The crosswalk and the guide area of the entrance lane x7 overlap in spatial position, and the crosswalk and the guide area completely fall within the spatial range of each other. Other positional relationships between different functional zones and so on.

The exit/entrance boundary line of the guidance area may be a physical traffic sign line depicted on the lane, or may be a virtual traffic sign line formed by a projection line (or an extension line of the projection line + the projection line) of other types of traffic signs (such as ground signal lights, etc.) on a horizontal plane (or a lane surface plane). In addition, it can be understood that some traffic identification lines illustrated in some of the drawings of the present application are mainly used to distinguish some functional areas of a plane intersection, but in an actual plane intersection, some traffic identification lines illustrated in the drawings (for example, intersection area boundary lines such as a road intersection area driving-in boundary line and an intersection area driving-out boundary line) may not be actually depicted at corresponding positions of the actual plane intersection.

The distance between the entry boundary line and the exit boundary line of the guidance area (i.e., the guidance area length) can be arbitrarily set as needed, and the range space of the distance between the entry boundary line and the exit boundary line of the guidance area can be, for example, 2 to 50 meters, and the distance between the entry boundary line and the exit boundary line of the guidance area can be, for example, 2, 3, 5, 6, 10, 12, 15, 20, 25, 28.1, 35 meters or other values. The range space of the angle between the entry/exit boundary line of the guide area of the entry lane and the driving direction of the entry lane may be between 45 degrees and 90 degrees, and the angle may be, for example, equal to 90 degrees, 89 degrees, 85 degrees, 81 degrees, 80 degrees, 78 degrees, 75 degrees, 70 degrees, 60 degrees, 63 degrees, or 53 degrees, or other values.

The introduction of the guide area lays a spatial foundation for guiding the driving speed of the traffic flow before the traffic flow enters the intersection. Furthermore, the entrance lane of the plane intersection of the embodiment of the application not only has the guide area, but also is provided with the guide lamp array, and the guide lamp array can be used for vehicle speed guide and the like, namely, the guide lamp array is introduced to lay a hardware foundation for the vehicle speed guide before the traffic flow enters the intersection. Of course, the arrangement of the guiding lamp array and the combination manner of the guiding lamp array in the guiding area are various.

For example, the guide zone LE-Ci of the entrance lane Ci is provided with a guide light array Ar-Ci, which includes NCi transverse ground signal light groups, each of which includes at least 1 ground signal light. The NCi horizontal ground lettersThe signal lamp group comprises a transverse ground signal lamp group Ci-q and a transverse ground signal lamp group Ci-p, the transverse ground signal lamp group Ci-q is arranged at the position of an entering boundary line of the guide area LE-Ci, the transverse ground signal lamp group Ci-p is arranged at the position of an exiting boundary line of the guide area LE-Ci, and the distance between the transverse ground signal lamp group Ci-p and the transverse ground signal lamp group Ci-q is larger than or equal to the shortest effective guide distance L_LE-min。

For example, the guidance area LE-Cj of the entrance lane Cj is provided with a guidance light array Ar-Cj, which includes NCj lateral ground signal light groups, each of the NCj lateral ground signal light groups including at least 1 ground signal light. The NCj transverse ground signal lamp groups comprise transverse ground signal lamp groups Cj-q and transverse ground signal lamp groups Cj-p. The transverse ground signal lamp group Cj-q is arranged at the position of the driving boundary line of the guide area LE-Cj. The transverse ground signal lamp group Cj-p is arranged at the position of the exit boundary line of the guide area LE-Cj; the distance between the transverse ground signal lamp group Cj-p and the transverse ground signal lamp group Cj-q is greater than or equal to L_LE-min. Among them, the guidance light arrays (e.g., the guidance light arrays Ar-Ci and Ar-Cj) may also be referred to as "guidance ground signal light arrays" or "guidance signal light arrays" or the like.

Said L_LE-minGreater than or equal to 2 meters. In the embodiments of the present application, L_LE-minFor example, 2 meters to 10 meters. The minimum effective guide distance may be, for example, 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 value. When NCi is greater than 2, then the NCi transverse ground signal light groups further include NCi minus 2 transverse ground signal light groups between the transverse ground signal light group Ci-p and the transverse ground signal light group Ci-q. The NCj may be, for example, equal to 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 23, 36, or other values. In the case where NCj is greater than 2, then the NCj groups of lateral ground signal lights further include NCj minus 2 groups of lateral ground signal lights between the groups Cj-p and Cj-q. For example NCi 6, then NCi-2 6-2-4, and so on. The NCi transverse ground signal lamp groups may be part or all of the transverse ground signal lamp groups arranged in the guide area LE-Ci. The NCj transverse ground signal lamp groups may be part or all of the transverse ground signal lamp groups arranged in the guiding area LE-Cj.

The guidance light arrays are distributed one by one in the respective guidance areas along the entrance direction, but the specific distribution pattern of the guidance light arrays in the respective guidance areas may be various.

For example, the guidance light array may include groups of transverse ground signal lights distributed uniformly or non-uniformly in the corresponding guidance area. For example, the spacing between any two adjacent transverse ground signal light groups in the guidance light array is equal or partially equal or different from each other. For example, the spacing between any two adjacent transverse ground signal light groups of the guidance light array may be 0.6 meters, 1 meter, 2 meters, 2.5 meters, 3 meters, 4 meters, 5 meters, 8 meters, 10 meters, or other values. For another example, in the NCi transverse ground signal lamp groups, the farther the distance between two adjacent transverse ground signal lamp groups from the transverse ground signal lamp group Ci-q is, i.e., in the direction in which the guiding area converges, the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups gradually increases. Or in the NCi transverse ground signal lamp groups, the farther the distance between two adjacent transverse ground signal lamp groups from the transverse ground signal lamp group Ci-q is, the smaller the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups is, that is, the distance between two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups is gradually reduced in the direction in which the guide area converges. Of course, the distance between two adjacent transverse ground signal light groups of the NCi transverse ground signal light groups may also be varied randomly or in other variations, and does not necessarily exhibit the above-mentioned exemplary variation which gradually decreases or gradually increases in a certain direction.

For example as describedDistance L between an outgoing boundary line and an incoming boundary line of a guide zone LE-Ci of a driveway Ci_LE-CiMay be, for example, between 2 meters and 50 meters. Specific examples thereof are_LE-CiThe value range space of (a) may be between 8 meters and 25 meters. More specifically, L_LE-CiFor example, may be equal to 2 meters, 3 meters, 5 meters, 8 meters, 8.4 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 40 meters, or other values.

It is to be understood that "lateral" in the lateral ground signal light group is intended to mean that the length direction of the lateral ground signal light group is perpendicular or substantially perpendicular to the direction of travel of the corresponding entrance lane, at least that there is no parallelism between the length direction of the lateral ground signal light group and the direction of travel of the corresponding entrance lane. For example, the angle between the length direction of the lateral ground signal light group and the direction of travel of the respective entrance lane may range from greater than or equal to 45 ° to less than or equal to 90 °, which may be equal to 90 °, 89 °, 85 °, 80 °, 78 °, 75 °, 60 °, 53 °, or other angles. Of course, the range of the angle between the length direction of the lateral ground signal light group and the traveling direction of the corresponding entrance lane is not limited to the above-described exemplary range.

The signal lamp mentioned in the embodiments of the present application may also be referred to as a "traffic light" or a "traffic signal lamp" or a "signal indicator lamp" or the like. The signal lights may be classified into air signal lights (which may also be referred to as "overhead traffic lights" or "overhead signal lights" or "signal indicator lights" or the like) or ground signal lights (which may also be referred to as "ground traffic lights" or "ground signal lights" or "signal indicator lights" or the like) based on the installation positions of the signal lights. The overhead signal lights and the ground signal lights are generally different in product morphology. The overhead signal lamps may include, for example, a post type signal lamp, a cantilever type signal lamp, and the like. Among them, the floor signal lamp can be classified into, for example, a buried floor signal lamp, a raised floor signal lamp, and the like. It is understood that the light emitting surface or the top surface of the buried floor signal lamp after the installation is completed does not protrude from the ground. The light-emitting surface and/or the top surface of the raised floor signal lamp after the installation is finished protrudes out of the ground.

Some possible layouts of the guiding lamp array of the guiding area are set up as exemplified below in connection with the figures.

Referring to fig. 2, several possible layouts of the guiding lamp array of some guiding area arrangements are shown by way of example. For example, in the scenario illustrated in fig. 2, the number of transverse ground signal lamp groups included in the guide lamp array 610 disposed in the guide area 510 exceeds 2, the transverse ground signal lamp group 611 in the guide lamp array 610 is disposed at the position of the entry boundary line 511 of the guide area 510, the transverse ground signal lamp group 612 in the guide lamp array 610 is disposed at the position of the exit boundary line 512 of the guide area 510, and furthermore, a plurality of transverse ground signal lamp groups 613 assigned to the guide lamp array 610 are disposed between the exit boundary line 511 and the exit boundary line 512 of the guide area 510. The groups of lateral ground signal lights in the guidance light array 610 are equally spaced.

For another example, the guidance light array 620 provided in the guidance area 520 includes more than 2 lateral ground signal light groups, the lateral ground signal light group 621 of the guidance light array 620 is provided at the entrance boundary line 521 of the guidance area 520, the lateral ground signal light group 622 of the guidance light array 620 is provided at the exit boundary line 522 of the guidance area 520, and a plurality of lateral ground signal light groups 623 belonging to the guidance light array 620 are provided between the exit boundary line 521 and the exit boundary line 522 of the guidance area 520. The intervals between the lateral ground signal lamp groups in the guidance lamp array 620 gradually increase along the entrance direction.

For another example, the guidance light array 630 provided in the guidance area 530 includes more than 2 lateral ground signal light groups, the lateral ground signal light group 631 of the guidance light array 630 is provided at the entrance boundary line 531 of the guidance area 530, the lateral ground signal light group 632 of the guidance light array 630 is provided at the exit boundary line 532 of the guidance area 530, and a plurality of lateral ground signal light groups 633 belonging to the guidance light array 630 are provided between the exit boundary line 531 and the exit boundary line 532 of the guidance area 530. The spacing between the transverse ground signal lamp sets in the guiding lamp array 630 is not all equal and does not gradually increase or decrease along the driving direction.

For another example, the number of the lateral ground signal lamp groups included in the guidance light array 640 provided in the guidance area 540 is 2, the lateral ground signal lamp group 641 of the guidance light array 640 is provided at the entrance boundary 541 position of the guidance area 540, and the lateral ground signal lamp group 642 of the guidance light array 630 is provided at the exit boundary 542 position of the guidance area 540.

The layout of the guide light arrays in the guide areas LE-Ci or LE-Cj may be similar to the layout of the guide light arrays 610, 620, 630, and 640 shown in fig. 2. For example, the group of transverse ground signal lamps 612, 622, 632, or 642 can be considered as an example of an implementation of the group of transverse ground signal lamps Ci-p or the group of transverse ground signal lamps Cj-p. For example, the group of lateral ground signal lamps 611, 621, 631 or 641 may be considered as an example of an implementation of the group of lateral ground signal lamps Ci-q or the group of lateral ground signal lamps Cj-q. It is to be understood that the layout configuration of the guide light array of the guide area LE-Ci or the guide area LE-Cj is not limited to the several configurations illustrated in fig. 2, and the specific layout configuration may be determined according to the scene requirement, which is not illustrated here.

It is understood that the guiding lamp array layout manners of the guiding zones LE-Ci and LE-Cj may be the same or different, for example, the number of the transverse ground signal lamp groups included in the guiding lamp array disposed in the guiding zones LE-Ci and LE-Cj may be equal or different, and for example, the distribution uniformity of the transverse ground signal lamp groups in the guiding lamp array disposed in the guiding zones LE-Ci and LE-Cj may be the same or different.

It should be noted that, in the embodiments of the present application, although it is described that the guidance light array is disposed in the guidance area, this does not mean that all the lateral ground signal light groups disposed in the guidance area necessarily belong to the guidance light array, that is, some or all of the lateral ground signal light groups disposed in the guidance area may be regarded as belonging to the guidance light array. For example, 10 transverse ground signal lamp groups are arranged in a certain guide area, and it is possible that all 10 transverse ground signal lamp groups belong to the corresponding guide lamp array, but it is also possible that 6 transverse ground signal lamp groups in the 10 transverse ground signal lamp groups belong to the corresponding guide lamp array, and the remaining 4 transverse ground signal lamp groups in the 10 transverse ground signal lamp groups are not considered to belong to the corresponding guide lamp array, and so on.

Optionally, in some possible embodiments of the present application, some or all of the ground signal lamps in the guidance lamp array are buried ground signal lamps or raised ground signal lamps. The product form of the ground signal lamp can be various. The ground signal lamp may include, for example: v lamp pearl, be used for the drive V circuit board that lamp pearl worked and be used for holding V lamp pearl with the casing of circuit board. The circuit board is provided with a wired driving signal input port and/or a wireless driving signal input port, and V is a positive integer. Where V may be equal to 1, 2, 3, 5, 7, 8, 10, 21, 29, 36, 50, 100, or other values, for example. For example, the V lamp beads may include: the lamp beads include v1 lamp beads capable of sending forbidden light signals, v2 lamp beads capable of sending allowed light signals and/or v3 lamp beads capable of sending warning light signals. The v1 and the v2 and the v3 are both positive integers.

In the embodiment of the present application, vehicles on each entrance lane of the plane intersection may be allowed to pass (allowed pass may also be referred to as "allowed pass") or prohibited to pass (prohibited pass may also be referred to as "prohibited pass") or warned to pass (warned pass may also be referred to as "warning pass") under the control of the signal lamp. Generally, a signal light corresponding to an entrance lane can control the vehicle on the entrance lane to allow or warn or prohibit. The phase that controls the admission of a vehicle on an entry lane may be referred to as the "admission phase" of that entry lane (admission phase may also be referred to as "let-through phase" or "transit phase"). Among them, in the conventional art, since the color of the light signal emitted from the corresponding signal lamp is green during the admission phase, the admission phase is also generally referred to as a "green lamp phase" in the conventional art. In the embodiments of the present application, the color of the light signal emitted by the corresponding signal lamp (e.g., the air signal lamp and/or the ground signal lamp corresponding to the stop line) during the permission phase may not be limited to green, but may be extended to any single color or combination of colors that can be used to indicate that the vehicle is permitted to pass through. The phase controlling the vehicle's prohibition on the entrance lane may then be referred to as the "prohibition phase" of the entrance lane. In the conventional art, since the color of the light signal emitted by the corresponding signal lamp is red during the prohibition phase, the prohibition phase is also generally referred to as "red light phase" in the conventional art, and the color of the light signal emitted by the corresponding signal lamp (e.g., the air signal lamp and/or the ground signal lamp corresponding to the parking line) during the prohibition phase in the embodiment of the present application is not limited to red, but can be extended to any single color or a combination of colors that can be used to indicate prohibition of vehicle passage. Similarly, the phase for controlling the vehicle on the entrance lane to warn may be referred to as a "warning phase" of the entrance lane (the warning phase may also be referred to as a "transition phase"), wherein the warning phase is also referred to as a "yellow phase" in the conventional technology because the color of the light signal emitted by the corresponding signal lamp is yellow during the warning phase, and the color of the light signal emitted by the corresponding signal lamp (e.g., the air signal lamp and/or the ground signal lamp corresponding to the stop line) during the warning phase is not limited to yellow in the embodiment of the present application.

It should be noted that the "phase" mentioned in some traffic regulations is generally defined as an allowed phase (e.g. green light phase) by default, that is, the allowed phase (e.g. green light phase) is simply referred to as a phase in some traffic regulations, and these traffic regulations do not even pay special attention to the concepts of the forbidden phase and the alert phase. The scheme of the embodiment of the application mainly aims to implement relatively fine control management on each lane, so that different phase concepts of an allowed phase, a forbidden phase and a warning phase are particularly distinguished. In some special scenarios, the warning phase may not even be present, and in such scenarios, only the enable phase and the disable phase may be present.

The concept of "intersection zone conflict lanes" is proposed below, where intersection zone conflict lanes are relative concepts, and when two entrance lanes are intersection zone conflict lanes, it indicates that the driving tracks of vehicles on the two entrance lanes passing through the intersection zone are crossed (or interlaced), that is, the driving tracks of vehicles on any two entrance lanes passing through the intersection zone of the two entrance lanes are crossed. For two entrance lanes that are conflicting lanes for each other, the intersection zone can be considered as a driving shared zone. If the east-west through lane and the south-north through lane are intersection zone collision lanes, the driving tracks of the vehicles on the east-west through lane and the south-north through lane passing through the intersection zone are intersected, for example, as shown in fig. 2, if the vehicles on the west through lane and the south through lane simultaneously pass through the intersection zone, the two flows will collide in the intersection zone. Fig. 2 also shows, by way of example, that the west-going straight lane and the north-going straight lane are also intersection zone collision lanes, and the rest is the same as the intersection zone collision lanes. In the embodiment of the application, the intersection zone conflict lanes can be called as conflict lanes for short.

The concept of "intersection zone conflict admission phase" is presented below, and intersection zone conflict admission phase is also a relative concept. In short, the allowed phases of the two entrance lanes which are the intersection zone conflict lanes are the intersection zone conflict allowed phases. Similarly, the warning phases of the two entrance lanes of the mutual intersection zone conflict lane are mutual intersection zone conflict warning phases. In the embodiment of the present application, the intersection region conflict permission phase may be referred to as "conflict permission phase" for short. The collision warning phase of the intersection area can be called as the collision warning phase for short.

The following proposes the concepts of "road-right phase" and "non-road-right phase", and generally, the road-right phase of the entrance lane is used to control the traffic flow on the entrance lane to pass through the intersection area, which may indicate that the traffic flow on the entrance lane obtains the right to pass through the intersection area. In order to avoid collision between the vehicles driving through the intersection region from another intersection region with the vehicles driving through the intersection region from the collision lane at the end of the alert phase (if any) or the let phase, a time period of about 2 seconds can be given to ensure that the vehicles driving through the stop line at the end of the alert phase (if any) or the let phase can have enough time to safely drive through the intersection region, and the time period for safe emptying can be called as an emptying phase. On the time axis, the road-right phase + non-road-right phase of an entrance lane is the traffic-allowed phase + traffic-forbidden phase + warning phase (if any) of the entrance lane. The forbidden phase may include a clear phase and a non-clear phase. Of course the emptying phase may not be necessary in some special cases. In the absence of the clear phase, the forbidden phase may be equal to the non-road-weight phase. That is, the non-right-of-way phase of an entry lane is part or all of the no-way phase of the entry lane. And in the case that the alert phase and the clear phase exist, the road right phase may include an enable phase, an alert phase and a clear phase. In the case where the alert phase is present and the clear phase is not present, the wayside phase includes an enable phase and an alert phase. When the alert phase is not present but the clear phase is present, the right-of-way phase includes an enable phase and a clear phase. In the absence of the alert phase and the clear phase, the weight phase may be equal to the let phase. Fig. 3 illustrates that the right-of-way phase of a certain entry lane (e.g., entry lane x8) includes a clear phase, and a clear phase. Or the right-of-way phase of an entry lane (e.g., entry lane x10) may include a let-through phase and a clear-out phase. Or the right-of-way phase of a certain entry lane (e.g., entry lane x9) includes the let-go phase and the alert-go phase. Or the right phase of an entry lane (e.g., entry lane x11) may be equivalent to the let phase. Some traffic regulations may also default to the right-of-way phase, i.e., the right-of-way phase may be directly referred to as simply the phase in these traffic regulations. In the technical solution of the embodiment of the present application, the phase period of the entrance lane may be a fixed time period (i.e., a fixed period) or a non-fixed time period (i.e., an indefinite period).

For the sake of simplicity, in some embodiments of the present application, the traffic-restricted optical signal may be referred to as a "traffic-restricted optical signal", the traffic-permitted optical signal may be referred to as a "traffic-permitted optical signal", and the warning traffic optical signal may be referred to as a "warning traffic optical signal". The prohibition light signal is a light signal for indicating prohibition of passage of the vehicle. For example, a traffic light of an entrance lane prohibits the passage of vehicles in the lane during the period when the traffic light signals. The permission light signal is a light signal for indicating that a vehicle is permitted to pass, and for example, a vehicle in a certain entrance lane is permitted to pass during a time when a signal light of the lane gives the permission light signal. The warning light signal is a light signal for indicating a warning of the passage of a vehicle, for example, the passage of a vehicle warning a certain entrance lane during the time when a signal light of the lane gives a warning light signal. Other cases may be analogized.

The specific presentation forms of the non-permission optical signal, the permission optical signal and the warning optical signal may be flexible and changeable, and may be set according to the specific scene needs. For example, the disable light signal can be a red light signal, wherein the red light signal can be a flashing red light signal and/or a non-flashing red light signal. The non-flashing red light signal can be referred to as a normal red light signal for short, and the flashing red light signal can be referred to as a red flashing light signal for short. The forbidden light signal corresponding to the lane is a light signal for indicating that the vehicle is forbidden to pass through, so any light signal capable of indicating that the vehicle is forbidden to pass through can be regarded as the forbidden light signal, and the representation form of the forbidden light signal is not limited to the above examples, for example, light signals of several colors can be combined according to a certain rule to indicate that the vehicle is forbidden to pass through, and the light signals of the representation forms can also be regarded as the forbidden light signal. For another example, the allowed light signal may be a green light signal, and the green light signal may specifically be a flashing green light signal and/or a non-flashing green light signal. The non-flashing green light signal may be referred to as an evergreen light signal for short, and the flashing green light signal may be referred to as a green flashing light signal for short. The traffic lane corresponding permission optical signal is an optical signal for indicating that the vehicle is permitted to pass, so any optical signal that can be used for indicating that the vehicle is permitted to pass can be regarded as the permission optical signal. Also for example, the warning light signal may be a yellow light signal, and the yellow light signal may be a flashing yellow light signal and/or a non-flashing yellow light signal. The non-flashing yellow light signal can be referred to as a normally yellow light signal for short, and the flashing yellow light signal can be referred to as a yellow flashing signal for short. The traffic warning light signal corresponding to the lane is a light signal for indicating the traffic of the warning vehicle, so any light signal capable of indicating the traffic of the warning vehicle can be regarded as the traffic warning light signal.

In general, the enable optical signal may have one or more representations, the disable optical signal may have one or more representations, and the alarm optical signal may have one or more representations. However, since the indication functions of the permission optical signal, the prohibition optical signal and the warning optical signal are different, the expression forms of the permission optical signal, the prohibition optical signal and the warning optical signal are also different from each other, that is, there is no intersection among the expression form set of the prohibition optical signal, the expression form set of the warning optical signal and the expression form set of the prohibition optical signal.

The warning light signal is a light signal for indicating the passing of the warning vehicle, so that from a certain point of view, the warning light signal can be regarded as a transition signal (so the warning light signal can also be called as an excessive light signal) indicating the transition between allowing and forbidding the vehicle. In some cases, if such a transition is not needed, it may not be necessary to alert the optical signal of such a transition.

The embodiment of the application provides a signal lamp control method for a plane intersection, and the plane intersection is any one of the plane intersections provided by the embodiment of the application.

The signal lamp control method may include: when it is from the reference time T_{ck_Cj}Has an overlap duration T_{cd_Ci}Then, the NCi transverse ground signal lamp groups are controlled to be switched to the allowing light signal emitting state (for example, the allowing light signal emitting state can be switched to the non-allowing light signal emitting state or the extinguishing light signal can be switched to the extinguishing light signal emitting stateThe state is switched to the state of allowing the optical signal to send out), wherein the group of transverse ground signal lamps Ci-p and the group of transverse ground signal lamps Ci-q are switched to the time interval Δ T of allowing the optical signal to send out_{g-Ci-p_Ci-q}Is greater than or equal to the overlap duration T_{cd_Ci}And said Δ T_{g-Ci-p_Ci-q}Less than 3 seconds plus T_{cd_Ci}(3 seconds + T)_{cd_Ci}) Or the said Δ T_{g-Ci-p_Ci-q}Less than 1.2T_{cd_Ci}(1.2 times T_{cd_Ci}). Wherein the reference time T_{ck_Cj}For the end time T of the state of sending out the allowed light signal of the transverse ground signal lamp group Cj-q_ge-Cj-qOr the reference time T_{ck_Cj}Is said T_ge-Cj-qThen passing through a safe emptying time length T corresponding to the entrance lane Cj_qk-CjBut the time of arrival, or the reference time T_{ck_Cj}The ending time T of the state of sending out the warning light signal of the transverse ground signal lamp group Cj-q_ye-Cj-qOr the reference time T_{ck_Cj}Is said T_ye-CjThen passing through a safe emptying time length T corresponding to the inlet lane Cj_qk-CjBut the time of arrival.

The NCi transverse ground signal lamp groups comprise transverse ground signal lamp groups Ci-i and transverse ground signal lamp groups Ci-j, and the distance between the transverse ground signal lamp groups Ci-j and the stop line of the entrance lane Ci is larger than the distance between the transverse ground signal lamp groups Ci-i and the stop line of the entrance lane Ci; the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j are any two transverse ground signal lamp groups with the distance between the NCi transverse ground signal lamp groups being larger than or equal to the shortest effective guide distance, and the moment when the transverse ground signal lamp group Ci-i is switched to the state of allowing the optical signal to be sent is earlier than the moment when the transverse ground signal lamp group Ci-j is switched to the state of allowing the optical signal to be sent; wherein, V_{g-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{g-Ci-i_Ci-j}The quotient obtained by the process, wherein L_{Ci-i_Ci-j}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i; the Δ T_{g-Ci-i_Ci-j}Is a cross barThe interval duration for switching the ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i to the state of allowing the optical signal to be sent out is V_{g-Ci-i_Ci-j}Is smaller than the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci.

It can be understood that when a certain transverse ground signal lamp group is in the running-permitted optical signal emitting state, it indicates that the vehicle is permitted to drive through the traffic identification line corresponding to the transverse ground signal lamp group, and when a certain transverse ground signal lamp group is in the running-prohibited optical signal emitting state, it indicates that the vehicle is permitted to drive through the traffic identification line corresponding to the transverse ground signal lamp group, and so on.

The determination of the highest safe speed of a certain entrance lane (e.g., the entrance lane Ci or the entrance lane Cj) may be performed in various manners. For example, the highest safe speed of the entrance lane Ci is, for example, equal to the highest speed limit of the entrance lane Ci by a safety factor μ 4, the safety factor μ 4 being a real number greater than 0 and less than 1, for example, the value range space of the safety factor μ 4 being a real number greater than 0.4 and less than 1 (or greater than 0.4 and less than 0.8). The safety factor μ 4 may be, for example, equal to 0.4, 0.3, 0.35, 0.6, 0.8, 0.7, 0.9, 0.65, or other values. The value range space is also called "value range". Or, for another example, the highest safe speed of the entrance lane Ci is, for example, equal to the lowest speed limit of the entrance lane Ci by a safety factor μ 5, the safety factor μ 5 being a real number greater than 0 and less than 2, in particular, for example, the value range space of the safety factor μ 5 being a real number greater than 0.4 and less than 2 (or greater than 0.4 and less than 1.2). The safety factor μ 5 may, for example, be equal to 0.4, 0.5, 0.8, 0.7, 0.9, 0.65, 1.1, 1.9, 1.2, or other values. The value range space of the highest safe speed of the entrance lane Ci is, for example, 15-45 km/h, specifically, the highest safe speed of the entrance lane Ci is equal to 15 km/h, 18 km/h, 20 km/h, 22 km/h, 26 km/h, 30 km/h, 36 km/h, 45 km/h, 38 km/h or other speeds. The determination of the maximum safe speed of the entrance lane Cj may be done in the same way.

For example, the time when the transverse ground signal lamp group closer to the transverse ground signal lamp group Ci-q among the NCi transverse ground signal lamp groups is switched to the allowed light signal emission state is earlier. For example, the time when the transverse ground signal lamp group Ci-p is switched to the allowed light signal sending state is later than the time when any other 1 transverse ground signal lamp group in the NCi transverse ground signal lamp groups is switched to the allowed light signal sending state. That is to say, each transverse ground signal lamp group in the NCi transverse ground signal lamp groups can be sequentially switched to the state of allowing the optical signal to be sent along the converging direction of the guide area, which better lays a foundation for reasonably and suitably guiding the time and the speed of the vehicle driving through the guide area, for example, the vehicle can safely and controllably drive out of the guide area under the guidance of the guide speed presented by the allowing optical signal sent by the NCi transverse ground signal lamp groups, and the vehicle can further drive through the intersection area in a safer, controllable and efficient manner.

Said L_LE-minGreater than or equal to 2 meters. Wherein the shortest effective guiding distance L is assumed_LE-minIs 5 meters, then represents the spacing (e.g., L) of any two transverse ground signal lamp groups (e.g., transverse ground signal lamp group Ci-i and transverse ground signal lamp group Ci-j) of the NCi transverse ground signal lamp groups with a spacing greater than or equal to 5 meters_{Ci-i_Ci-j}) Dividing by the duration of the interval for switching the two transverse ground signal lamp groups to the state allowing the light signal to be sent out (e.g. Δ T)_{g-Ci-i_Ci-j}) To obtain a quotient (V)_{g-Ci-i_Ci-j}，V_{g-Ci-i_Ci-j}Can be regarded as two transverse beamsThe speed of the allowed guidance presented to the ground signal lamp group) is smaller than the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci. That is, the effective allowable guiding speed that the NCi transverse ground signal lamp groups can present is less than the highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci. Therefore, the traffic head vehicle driving through the stop line can drive into the intersection area at a safer and controllable speed near the moment when the transverse ground signal lamp group Ci-q is switched to the state of sending the permission light signal, so that the safety and controllability of the traffic flow on two entrance lanes (such as the entrance lane Ci and the entrance lane Cj) of the lanes which conflict with each other in the intersection area can be ensured, and the two traffic flows can be prevented from conflicting in the intersection area.

Wherein the reference time T_{ck_Cj}For example, the end time of the road right phase of the entrance lane Cj.

Wherein a signal light (e.g. an air signal light and/or a ground signal light corresponding to a stop line) corresponding to a stop line (a stop line is a kind of traffic sign line) may be used to indicate whether the vehicle is allowed to drive through said stop line. For example, when the signal light corresponding to the stop line is currently in the allowing light signal emitting state or the warning light signal emitting state, it indicates that the signal light currently indicates that the vehicle allows to pass through the stop line. When the signal lamp corresponding to the stop line is in the state of sending the forbidding light signal, the signal lamp indicates that the vehicle is forbidden to drive through the stop line currently.

It can be understood that since the entrance boundary line of the guide zone LE-Ci is between the stop line of the entrance lane Ci and the exit boundary line of the entrance lane Ci, it may be indicated that the stop line of the entrance lane Ci (if the stop line is not controlled) and the entrance boundary line of the guide zone LE-Ci allow the vehicle to pass when the lateral ground signal lamp group Ci-q is switched to the light-allowing signal emitting state. When the transverse ground signal lamp group Ci-q is switched to the state of forbidding the sending of the running light signal, the stop line of the entrance lane Ci (if the stop line is not controlled by the lamp) and the entering boundary line of the guide zone LE-Ci can be represented to forbid the vehicle to pass. That is, the lateral ground signal lamp group Ci-q may be used to indicate whether the vehicle is allowed to travel past the stop line and the entry boundary line of the guide zone LE-Ci.

In the embodiment of the present application, the working state of the transverse ground signal lamp group includes a state allowing light signals to be emitted, and may further include at least 1 of the following working states: the light signal sending state is forbidden, the light signal sending state is alarming, and the light signal is extinguished. The following are examples of several possible switching modes of the operation state of the transverse ground signal lamp group. Referring to fig. 4-a-4-B, fig. 4-a-4-B illustrate several possible switching modes of the operation states of the transverse ground signal lamp group. The switching pattern QM1 in fig. 4-a illustrates one possible implementation of switching between an allowed light signaling state and a forbidden light signaling state for a transverse ground signal lamp group (e.g., other transverse ground signal lamp groups Ci-q, Ci-p, Cj-q, Cj-p, or other guide lamp array). The switching pattern QM2 in fig. 4-a illustrates one possible implementation of the transverse ground signal light bank switching between an enable optical signaling state, a police optical signaling state, and a disable optical signaling state. Switching pattern QM3 in fig. 4-a illustrates one possible implementation of the transverse ground signal lamp bank switching between an allowed light signaling state and an extinguished state. As another example, the switching pattern QM4 in fig. 4-B illustrates one possible implementation of the transverse ground signal light bank switching between the on light signaling state, the off light signaling state, and the off light signaling state. As another example, the switching modes QM5 and QM6 in fig. 4-B illustrate several possible embodiments in which the transverse ground signal light bank may be switched between an enable light signaling state, an off state, a warning light signaling state, and a disable light signaling state.

For example, the method may further include: the time length T is prolonged when the emission state of the transverse ground signal lamp group Ci-q is continued_g-Ci-qAnd meanwhile, controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the permission light signal to the state of sending the prohibition light signal. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd then, controlling the NCi transverse ground traffic signal lamp groups to switch from the state of sending the permission optical signal to the state of sending the prohibition optical signalAnd when the transverse ground signal lamp group Ci-i is in the off state, the moment when the transverse ground signal lamp group Ci-i is switched from the off state to the on state is earlier than the moment when the transverse ground signal lamp group Ci-j is switched from the off state to the on state. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to send out_g-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to be synchronously switched to a forbidden light signal sending state. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qAnd when the NCi transverse ground traffic signal lamp groups are controlled to be switched to the forbidden optical signal sending state, the moment when the transverse ground signal lamp groups Ci-i are switched to the forbidden optical signal sending state is earlier than the moment when the transverse ground signal lamp groups Ci-j are switched to the forbidden optical signal sending state.

For another example, the method may also include: the time length T is prolonged when the emission state of the transverse ground signal lamp group Ci-q is continued_g-Ci-qAnd meanwhile, controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the permission light signal to the state of sending the warning light signal. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qAnd when the transverse ground signal lamp group Ci-i is switched from the state of allowing the traffic light signal to the state of giving the warning light signal, the moment when the transverse ground signal lamp group Ci-i is switched from the state of allowing the traffic light signal to the state of giving the warning light signal is earlier than the moment when the transverse ground signal lamp group Ci-j is switched from the state of allowing the traffic light signal to the state of giving the warning light signal. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to send out_g-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to synchronously switch to a warning light signal sending state. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal light group is controlled to switch to the alarming light signal for sending by the NCi transverse ground traffic signal light groupsAnd when the transverse ground signal lamp group Ci-i is in the state of sending out the warning light signal, the time for switching the transverse ground signal lamp group Ci-i to the state of sending out the warning light signal is earlier than the time for switching the transverse ground signal lamp group Ci-j to the state of sending out the warning light signal.

For another example, the method may also include: the time length T is prolonged when the transverse ground signal lamp group Ci-q continues in the state of sending out the warning light signal_y-Ci-qAnd meanwhile, controlling the NCi transverse ground traffic signal lamp groups to synchronously switch from the state of sending the warning light signal to the state of sending the forbidden light signal. Or the transverse ground signal lamp group Ci-q continues for a time length T in the state of sending out the warning light signal_y-Ci-qAnd when the transverse ground signal lamp group Ci-i is switched from the state of sending the warning optical signal to the state of sending the forbidden optical signal, the moment of switching the transverse ground signal lamp group Ci-i from the state of sending the warning optical signal to the state of sending the forbidden optical signal is earlier than the moment of switching the transverse ground signal lamp group Ci-j from the state of sending the warning optical signal to the state of sending the forbidden optical signal. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal_y-Ci-qAnd controlling the NCi transverse ground traffic signal lamp groups to be synchronously switched to a forbidden light signal sending state. Or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal_y-Ci-qAnd when the NCi transverse ground traffic signal lamp groups are controlled to be switched to the forbidden optical signal sending state, the moment when the transverse ground signal lamp groups Ci-i are switched to the forbidden optical signal sending state is earlier than the moment when the transverse ground signal lamp groups Ci-j are switched to the forbidden optical signal sending state.

For example, V_{y-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{y-Ci-i_Ci-j}And the resulting quotient. The Δ T_{y-Ci-i_Ci-j}And switching the interval duration of the sending state of the warning light signal for the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i. The V is_{y-Ci-i_Ci-j}Equal to the lowest limit speed or said V_{y-Ci-i_Ci-j}Greater than said V_{g-Ci-i_Ci-j}. Wherein, V_{y-Ci-i_Ci-j}Can be considered as the alert traffic guidance speed.

For example, V_{r-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, wherein said Δ T_{r-Ci-i_Ci-j}And switching the interval duration of the emission state of the forbidden light signals for the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i. The V is_{r-Ci-i_Ci-j}Equal to the lowest speed limit or said V_{r-Ci-i_Ci-j}Greater than said V_{g-Ci-i_Ci-j}. Wherein, V_{r-Ci-i_Ci-j}It can be seen as disabling the boot speed.

Wherein, V_{y-Ci-i_Ci-j}Greater than or equal to or less than V_{r-Ci-i_Ci-j}。

For example, the NCi transverse ground signal lamp groups include the transverse ground signal lamp group Ci-i, the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k, and a distance between the transverse ground signal lamp group Ci-j and a stop line of the entrance lane Ci is smaller than a distance between the transverse ground signal lamp group Ci-k and the stop line of the entrance lane Ci. Wherein, V_{r-Ci-i_Ci-j}Is equal to V_{r-Ci-j_Ci-k}Said V is_{r-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{r-Ci-j_Ci-k}The resulting quotient; said L_{Ci-j_Ci-k}The distance Δ T between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k_{r-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state of sending out the forbidden light signal is L_{Ci-j_Ci-k}Greater than or equal to the shortest effective guide distance; the V is_{r-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, the Δ T_{r-Ci-i_Ci-j}And switching the interval duration of the emission state of the forbidden light signals for the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j.

Also for example, assume that the NCi transverse ground signal light groups include the Ci-i transverse ground signal light groups, the transverse ground signal light groupThe system comprises a ground signal lamp group Ci-j and a transverse ground signal lamp group Ci-k, wherein the distance between the transverse ground signal lamp group Ci-j and the stop line of the entrance lane Ci is smaller than the distance between the transverse ground signal lamp group Ci-k and the stop line of the entrance lane Ci. Wherein, V_{g-Ci-i_Ci-j}Less than or equal to V_{g-Ci-j_Ci-k}Said V is_{g-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{g-Ci-j_Ci-k}The resulting quotient; said L_{Ci-j_Ci-k}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k is defined; the Δ T_{g-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state of allowing the optical signal to be sent out is L_{Ci-j_Ci-k}Greater than or equal to the shortest effective guide distance.

For example, the main body for executing the method can be a light control device such as a signal machine or a controller. The signal machine mentioned in the embodiment of the present application may also be referred to as a program controlled switch, a traffic control signal machine, a traffic signal machine, an intersection area traffic signal machine, a signal controller, or an intersection area traffic control signal machine, and the like.

Specifically, the lamp control device may control the operation of the guidance lamp array by sending a control command to the guidance lamp array, or the like. Each transverse ground signal lamp group can work under the control of the lamp control equipment. For example, since the start and stop times of the various phases of the entrance lane (for example, the start and stop times of the permitted phase, the start and stop times of the warning phase, or the start and stop times of the prohibited phase, etc.) are determined by the traffic signal, and the start and stop times of these phases are recorded in, for example, a phase timing table maintained by the traffic signal, the traffic signal can know the start and stop times of the right-of-way phase of each entrance lane, that is, what time the traffic signal can know is from the reference time T_{ck_Ci}Has an overlap duration T_{cd_Ci}At the same time. The controller may learn what to do from the semaphores (or other devices connected to or controlled by the semaphores) directly or indirectlyThe time being from a reference time T_{ck_Ci}Has an overlap duration T_{cd_Ci}At the same time. For example, the controller may learn what time is from the reference time T based on a countdown signal from the semaphore (or other device connected to or controlled by the semaphore) for an enable phase or a disable phase, and so on_{ck_Ci}Has an overlap duration T_{cd_Ci}At the same time. Of course, the signal or the controller can also deduce what time is from the reference time T based on the timing result of its own timer_{ck_Ci}Has an overlap duration T_{cd_Ci}And then wait.

Wherein the above-mentioned overlapping time length T_{cd_Ci}Presets storable for the lamp control device (the lamp control device can update the currently stored T according to an overlap duration update command from an upper computer or a man-machine interface_{cd_Ci}) Or overlap duration T_{cd_Ci}Can be calculated in real time based on a preset algorithm. E.g. overlap duration T_{cd_Ci}May 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 time periods.

It should be noted that the overlapping time lengths corresponding to different entrance lanes (e.g., the entrance lane Ci and the entrance lane Cj) of the same plane intersection may be equal or different. Wherein the overlap duration T_{cd_Ci}The overlap duration corresponding to the entrance lane Ci, overlap duration T_{cd_Cj}The corresponding overlap duration for the entry lane Cj. For example, in the scenario illustrated in fig. 5-a, the road-weight phases of the entrance lane Ci and the entrance lane Cj overlap. Overlap duration T_{cd_Ci}The overlap duration corresponding to the entrance lane Ci, overlap duration T_{cd_Cj}For the overlap duration, T, corresponding to the entry lane Cj_{cd_Ci}And T_{cd_Cj}May be equal or unequal.

In practical applications, the NCi transverse ground signal lamp sets are sequentially switched from the transverse ground signal lamp set Ci-q to the state of allowing the traveling light signal to be emitted along the traveling direction, and may substantially exhibit a uniform guiding speed or a variable guiding speed, and the variable guiding speed may be, for example, a uniform guiding speed (where the uniform guiding speed may be divided into a uniform guiding speed with an initial speed of zero and a uniform guiding speed with an initial speed greater than zero), a non-uniform guiding speed, or the like.

For example, not only may the distances between two adjacent transverse ground signal light groups in the NCi transverse ground signal light groups included in the guidance light array be equal, but also the interval durations of switching any two adjacent transverse ground signal light groups in the NCi transverse ground signal light groups to the enable light signal sending state (or the disable light signal sending state or the warning light signal sending state) are also equal, and this mode may be referred to as an "equal-distance equal-duration mode". For another example, in some scenarios, the distance between any two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups included in the guidance lamp array is equal, but the interval duration for switching any two adjacent transverse ground signal lamp groups in the NCi transverse ground signal lamp groups to the enable light signal sending state (or the disable light signal sending state or the warning light signal sending state) is not equal, and this mode may be referred to as an "equal-distance unequal-duration mode".

For another example, in some scenarios, the distances between two adjacent transverse ground signal light groups in the NCi transverse ground signal light groups included in the guidance light array are not equal, but the time intervals for switching any two adjacent transverse ground signal light groups in the NCi transverse ground signal light groups to the enable light signaling state (or the disable light signaling state or the warning light signaling state) are equal, and this mode may be referred to as "equal-length unequal-distance mode". Similarly, the "unequal spacing unequal duration mode" may be analogized.

For example, assuming that NCi is equal to 11 and the length of the guidance area of the entrance lane Ci is 10 meters, if NCi transverse ground signal lamp groups are uniformly (i.e., equidistantly) distributed in the guidance area, 1 transverse ground signal lamp group is arranged every 1 meter in the guidance area, then 11 transverse ground signal lamp groups can equally divide the guidance area into 10 guidance area segments, the distance between any two adjacent transverse ground signal lamp groups is 1 meter, and the time interval for switching any two adjacent transverse ground signal lamp groups to the allowed light signal sending state can be equal (e.g., 0.2 second, 1 second, 1.5 seconds, 2 seconds, etc.) or unequal. For another example, assuming that NCi is equal to 6 and the length of the guidance area of the entrance lane Ci is 10 meters, if 6 transverse ground signal lamp groups can be uniformly (equidistantly) distributed in the guidance area, for example, 1 transverse ground signal lamp group is arranged on the guidance area every 2 meters, 6 transverse ground signal lamp groups can equally divide the guidance area into 5 guidance area segments, the distance between any two adjacent transverse ground signal lamp groups is 2 meters, and the time intervals for switching any two adjacent transverse ground signal lamp groups to the state allowing the traveling light signals to be sent out can be equal or unequal. Other arrangement modes that the distance between any two adjacent transverse ground signal lamp groups in the guide lamp array is equal can be analogized.

Next, the switching time of the operating state of each transverse ground signal lamp group in the guidance lamp array is exemplified. The following exemplary embodiments are illustrative, and in practical applications, adaptive adjustment may be performed based on different specific scenarios, different accuracy requirements, and the like, for example, adjustment (for example, delay or advance) may be performed with reference to the result obtained by the following calculation method to obtain an actual usage value.

For example, when the transverse ground signal lamp group Ci-a (the transverse ground signal lamp group Ci-a is any 1 transverse ground signal lamp in the NCi transverse ground signal lamp groups) is switched to the allowing light signal sending state, the interval duration of the time when the transverse ground signal lamp group Ci-q is switched to the allowing light signal sending state is expressed as Δ T_{g-Ci-a_Ci-q}. Then, for example, in the case where the NCi transverse ground signal lamp groups exhibit a uniform guiding speed by sequentially switching from the transverse ground signal lamp group Ci-q in the traveling direction to the light-allowing-light-signaling state, thenFor another example, in the case where the NCi lateral ground signal lamp groups exhibit the uniform acceleration guide speed with the initial speed of 0 by sequentially switching to the light-allowing signal emission state in the traveling direction from the lateral ground signal lamp group Ci-q, thenInitial velocity v, e.g. when the guiding velocity is uniformly accelerated₀The general expression for values greater than 0 may be:

wherein, T is_{cd_Ci}Indicates the corresponding overlap duration, T, of the entry lane Ci_{cd_Ci}And is also equal to the interval duration of the starting time for switching to the state of allowing the optical signal to be sent between the transverse ground signal lamp group Ci-q and the transverse ground signal lamp group Ci-p. Said L_{LE_Ci}Guide zone length, L, representing entrance lane Ci_{LE_Ci}And also equal to the spacing between the set of lateral ground signal lamps Ci-q and the set of lateral ground signal lamps Ci-p. Said L_{Ci-a_Ci-q}Represents the spacing between the set of transverse ground signal lamps Ci-a and the set of transverse ground signal lamps Ci-q, L_{Ci-a_Ci-q}And also equal to the distance between the lateral ground signal light group Ci-a and the entrance lane Ci guide-in boundary line. The transverse ground signal lamp group Ci-a is any one transverse ground signal lamp group in the NCi transverse ground signal lamp groups.

Wherein L is_{LE_Ci}And/or T_{cd_Ci}The value of (A) can be fixed and can also be changed along with the change of the environment. Generally, for safety reasons, the speed of the head vehicle entering the intersection zone behind the stop line of the entry lane Ci is preferably in a safe range, for example, 15 km or 30 km per hour is a relatively safe range. If the driving speed of the head car is within the safe range, the head car can brake in time when the emergency situation of the intersection area occurs, and the probability of the accident of the intersection area is favorably reduced. In view of the safety aspects, the driving speed of the vehicle driving into the intersection area at the head of the allowable phase is guided and controlled to be within the safe range by utilizing the guiding speed presented by the allowable light signal emitted by the NCi transverse ground signal lamp groups, so that the safety of the intersection area is further ensuredIt is used.

For example, the time period required for a common vehicle to accelerate from a starting state to a safe speed under an ideal environment is obtainedThe distance required by a common vehicle from starting to accelerating to a safe speed under an ideal environment is obtainedReference basis for (1).A virtual initial value indicating the overlap period corresponding to the entrance lane Ci,a virtual initial value indicating the guide field length of the entrance lane Ci.

Wherein L is_{LE_Ci}Can be equal toT_{cd_Ci}Can be equal toOr for L_{LE_Ci}And/or T_{cd_Ci}The value of (a) may vary with environmental changes,

wherein μ 1 is a first safety factor and μ 2 is a second safety factor. That is, the security factor corresponding to the current environmental factor can be selected according to the change of the current environmental factor, and then based on the change of the current environmental factor(or) And the currently selected safety factor to obtain the currently used T_{cd_Ci}(or L)_{LE_Ci}) The value of (a).

The value of μ 1 (or μ 2) may be equal to 1, and the value of μ 1 (or μ 2) may be greater than 1 or less than 1. The value of μ 1 (or μ 2) may be determined, for example, with reference to one or more of the environmental factors weather, light intensity, grade, and intersection zone complexity. For example, the value of μ 1 (or 1/μ 2) may be equal to 1 or close to 1 (e.g., 1.1, 1.05, or other values) on sunny days, and the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 2, or other values) on rainy days is greater than the value of μ 1 (or μ 2) on sunny days. For example, when the light intensity is good, the value of μ 1 (or μ 2) may be equal to 1 or close to 1 (e.g., 1.1 or 1.05 or other values), and when the light intensity is poor, the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 2 or other values) is greater than the value of μ 1 when the light intensity is good. For another example, when the gradient is small, the value of μ 1 (or μ 2) may be equal to 1 or close to 1 (e.g., 1.1, 1.06, or other values), and when the gradient is small, the value of μ 1 (or μ 2) (e.g., 1.2, 1.3, 1.5, 1.8, 2, or other values) is greater than the value of μ 1 when the gradient is large. When the complexity of the intersection region is smaller, the value of μ 1 (or μ 2) is equal to 1 or close to 1 (such as 1.1, 1.04, 1.08 or other values), and when the complexity of the intersection region is larger, the value of μ 1 (or μ 2) (such as 1.2, 1.3, 1.5, 1.7, 1.9, 1.8, 2 or other values) is larger than the value of μ 1 (or μ 2) when the complexity is smaller.

It will be appreciated that one of the purposes of setting μ 1 (or μ 2) is to improve security, and therefore the value of μ 1 (or μ 2) may also be determined with reference to one or more other security-affecting factors. Specifically, it is referred to which factors affecting safety, and how to determine the value of μ 1 (or μ 2) by referring to each factor affecting safety, which may be selected according to the needs of a specific scenario, and is not particularly limited herein.

Also for example, the different time periods and the lane guide zone length L_{LE_Ci}May have a correspondence therebetween. For example, the position of the guiding area LE-Ci entering the boundary line corresponding to the busy period can be preset (so that the period L is_{LE_Ci}10 meters or other value), a guide area LE-Ci corresponding to a half-busy time periodInto the position of the borderline (so that the period L is_{LE_Ci}8 meters), the guide area LE-Ci corresponding to the idle time period enters the position of the boundary line (for example, the time period L)_{LE_Ci}6 meters), etc. For example, the ratio of 7: busy time periods are defined at 30-9: 30 and 17: 30-20: 00, idle time periods are defined at 0: 00-6: 00, other time periods are defined as semi-busy time periods, and other time period division modes can be provided corresponding to different application scenes, which is not illustrated in any way. For another example, the traffic volume and the position of the driving boundary line of the guiding zone LE-Ci may have a corresponding relationship, i.e. different time periods and the length L of the guiding zone_{LE_Ci}May have a correspondence therebetween. For example, when the traffic flow in the intersection area is greater than 25 vehicles per minute, L_{LE_Ci}10 meters or other value, and when the traffic flow of the intersection area is 15-25 vehicles per minute, the length L of the guide area_{LE_Ci}8 meters or other values. Length L of guide zone when traffic flow in the road zone is less than 15 vehicles per minute_{LE_Ci}6 meters or other values, and so on.

For the case that the road right phase includes the emptying phase, considering that the emptying lengths of different entrance lanes at different plane intersections may not be the same as much as possible, and the emptying lengths of different entrance lanes at the same plane intersection may also not be the same as much as possible, therefore, the length of time of the emptying phase is a specific value is not necessarily the most scientific. Therefore, it can be considered that the clear phase duration T corresponding to the clear length of the lane is obtained according to the clear length of the lane_qk. For exampleOr whenGreater than or equal to 1 secondWhen in useLess than 1 second time T_{qk_Ci}The value is 1 second. L is_{qk_Ci}Indicates the clearance distance (L) corresponding to the entrance lane Ci_{qk_Ci}Equal to the distance from the stop line of the entry lane Ci to the exit boundary line of the intersection zone). T is_{qk_Ci}Indicating the clear phase duration of the entrance lane Ci. V'_{lk_Ci}E.g. equal to the lowest speed limit V of the plane intersection to which the entrance lane Ci belongs_{lk_min}Or desired speed V_{lk_q}. Or V'_{lk_Ci}Is equal to V_{lk_min}Mu 3 or V_{lk_q}μ 3, the third safety factor μ 3 may be equal to 1 or greater than 1 or less than 1. Specifically, for example, the value of μ 3 may be determined by referring to environmental factors such as weather, light intensity, gradient, and/or intersection complexity, and the specific value manner of μ 3 may refer to the specific value manner of μ 1.

T obtained by way of example_{qk_Ci}May not be of fixed duration (fixed duration e.g. 1 second or 2 seconds), T_{qk_Ci}The adaptive change can be realized according to different specific plane intersection conditions, so that the collision of vehicles in the intersection area can be better ensured, and the traffic safety of the intersection area can be further improved.

For another example, the interval duration of switching the transverse ground signal lamp group Ci-p and the transverse ground signal lamp group Ci-q to the forbidden light signal sending state is equal to the guide zone clearing duration of the entrance lane Ci.

The guide zone clearing period of the entrance lane Ci is denoted T_{LE_qk_Ci}，V'_{LE_qk_Ci}Can be equal to V_{lk_max}Or V_{lk_min}Or V_{lk_q}Said V is_{lk_max}Representing the highest speed limit, V, of the grade crossing_{lk_min}Represents the lowest speed limit, V, of the grade crossing_{lk_q}Representing a desired speed of the grade crossing. Wherein the guide area clear time length T_{LE_qk_Ci}E.g. less than the overlap duration T_{cd_Ci}。V_{lk_min}Less than V_{lk_max}。V_{lk_q}Is greater than or equal to the V_{lk_min}And is less than or equal to V_{lk_max}Any real number of (a) is,i.e. V_{lk_q}Is greater than or equal to V_{lk_min}And is less than or equal to V_{lk_max}。

For example, in the case where the NCi transverse ground signal lamp groups exhibit a uniform guiding speed by sequentially switching to the disabled light signal emitting state from the transverse ground signal lamp group Ci-q in the traveling direction, then the time at which the transverse ground signal lamp group Ci-a in the NCi transverse ground signal lamp groups is switched to the disabled light signal emitting state is represented by Δ T with respect to the interval duration of the time at which the transverse ground signal lamp group Ci-q is switched to the disabled light signal emitting state_{r-Ci-a_Ci-q}Wherein

the above exemplary example is performed on the switching time of the operating state of each transverse ground signal lamp group in the guidance lamp array, and in practical application, the switching time may not need to be strictly performed according to the above exemplary embodiment, and an actual usage value may be obtained by performing fuzzy processing based on the calculation result of the exemplary calculation method, or may be calculated by other calculation methods.

The performance improvement effect of the embodiment of the present application is described below by using some specific examples and related simulation test data. The simulation test environment mentioned in the following examples includes an intersection layout environment (static environment) and a signal control environment (dynamic environment). Different simulation test environments may refer to different road junction layout environments and/or different signal control environments.

The following is an example of 7 different simulation test environments.

A test environment H1 was simulated. The intersection layout environment in the simulation test environment H1 is shown in fig. 7-a, and the planar intersection 700 shown in fig. 7-a is a conventional cross planar intersection, in which the planar intersection 700 includes an intersection area 750, an entrance lane Y1, an entrance lane Y2, an entrance lane Y5, an entrance lane Y7, an exit lane Y2, an exit lane Y4, an exit lane Y6, and an exit lane Y2. The exit from each entrance is connected to the entrance of the intersection area 750, and the entrance of each exit channel is connected to the exit of the intersection area 750. The entrance lane Y1 includes entrance lanes 71 and 72. The entrance lane Y3 includes entrance lanes 73 and 74. The entrance lane Y5 includes entrance lanes 75 and 76. The entrance lane Y7 includes entrance lanes 77 and 78. The entrance lanes 71, 73, 75 and 77 are straight lanes. The entrance lanes 72, 74, 76, and 78 are left turn lanes. The level crossing 700 has the stop line and exit boundary line of each entrance lane coincident. The entrance lane of the level crossing 700 has no guidance area (more no guidance light array). The traffic flow passing control of each entrance lane is completed by an air signal lamp.

The signal control environment in the simulation test environment H1 is shown in fig. 5-B, which illustrates an example of the manner in which the right-of-way phase of each entrance lane is set. The respective phase periods of the entrance lanes are all 100 seconds, the duration of the single right-of-way phase of each entrance lane is 25 seconds, and the duration of the single non-right-of-way phase is 75 seconds. The single weight phase (25 seconds total) consists of a grant phase (duration 20 seconds), a police phase (duration 3 seconds) and a clear phase (duration 2 seconds). Specifically, the phases of the entrance lanes 71 and 75 are changed synchronously, wherein the road-right phase of the entrance lanes 71 and 75 is 0-25 seconds, and the non-road-right phase is 25-100 seconds. The phases of the entrance lanes 73 and 77 are changed synchronously, the road-right phases of the entrance lanes 73 and 77 are 25-50 seconds, and the non-road-right phases are 0-25 seconds and 50-100 seconds. The phases of the entrance lanes 72 and 74 are changed synchronously, the road weight phases of the entrance lanes 72 and 74 are 50-75 seconds, and the non-road weight phases are 0-50 seconds and 75-100 seconds. The phases of the entrance lanes 76 and 78 are changed synchronously, the road-right phases of the entrance lanes 76 and 78 are 75-100 seconds, and the non-road-right phases are 0-75 seconds. The test data for the simulated pass test with saturated vehicle flow input under the simulated test environment H1 is shown in the table of fig. 6-a.

A test environment H2 was simulated. The intersection layout environment in the simulation test environment H2 is shown in fig. 7-B, and the planar intersection 700 shown in fig. 7-B is a planar intersection 800 obtained by upgrading and modifying a conventional cross planar intersection according to the embodiment of the present invention. In contrast to the conventional level crossing 700 shown in fig. 7-a, the stop line of the entrance lane of the level crossing 800 shown in fig. 7-B no longer coincides with the exit boundary line, and the stop line of the entrance lane is separated from the exit boundary line (the stop line setting position of the entrance lane is changed). The guidance area is introduced in the entrance lane by changing the stop line setting position of the entrance lane. And further a vehicle speed guidance lamp array is provided in the guidance area.

Specifically, as shown in fig. 7-B, the entry lane 71 has a guidance area 710, a stop line of the entry lane 71 coincides with an entrance boundary line 711 of the guidance area 710, and an exit boundary line 712 of the entry lane 73 coincides with an exit boundary line of the guidance area 710. Further, the guidance area 710 is provided with a guidance light array 717, the guidance light array 717 includes lateral ground signal light groups 713, 714, 715, and 716 sequentially arranged in the traveling direction of the entry lane 71, the lateral ground signal light group 713 is disposed at the entry boundary line 711, and the lateral ground signal light group 716 is disposed at the exit boundary line 712.

The entry lane 72 has a guidance area 720, and a stop line of the entry lane 72 coincides with an entry boundary line 721 of the guidance area 720, and an exit boundary line 722 of the entry lane 73 coincides with an exit boundary line of the guidance area 720. The guidance area 720 is provided with a guidance light array 727, the guidance light array 727 comprises transverse ground signal light groups 723, 724, 725 and 726 which are sequentially arranged along the driving direction of the entrance lane 72, the transverse ground signal light group 723 is arranged at the position of an entrance boundary line 721, and the transverse ground signal light group 726 is arranged at the position of an exit boundary line 722.

The entry lane 73 has a guidance area 730, and a stop line of the entry lane 73 coincides with an entry boundary line 731 of the guidance area 730, and an exit boundary line 732 of the entry lane 73 coincides with an exit boundary line of the guidance area 730. The guidance area 730 is provided with a guidance lamp array 737, the guidance lamp array 737 includes lateral ground signal lamp groups 733, 734, 735, and 736 arranged in this order in the traveling direction of the entrance lane 73, the lateral ground signal lamp group 733 is provided at the position of the entrance boundary line 731, and the lateral ground signal lamp group 736 is provided at the position of the exit boundary line 732.

The entrance lane 74 has a guidance area 740, and a stop line of the entrance lane 74 coincides with an entrance boundary 741 of the guidance area 740, and an exit boundary 742 of the entrance lane 73 coincides with an exit boundary of the guidance area 740. The guidance area 740 is provided with a guidance light array 747, the guidance light array 747 includes lateral ground signal light groups 743, 744, 745, and 746 arranged in sequence in the traveling direction of the entrance lane 74, the lateral ground signal light group 743 is provided at the entrance boundary line 741, and the lateral ground signal light group 746 is provided at the exit boundary line 742.

The entrance lane 75 has a guide area 750, and a stop line of the entrance lane 75 coincides with an entrance boundary line 751 of the guide area 750, and an exit boundary line 752 of the entrance lane 73 coincides with an exit boundary line of the guide area 750. The guide area 750 is provided with a guide lamp array 757, the guide lamp array 757 includes lateral floor signal lamp groups 753, 754, 755, and 756 sequentially arranged in a traveling direction of the entrance lane 75, the lateral floor signal lamp group 753 is disposed at an entrance boundary line 751, and the lateral floor signal lamp group 756 is disposed at an exit boundary line 752.

Entry lane 76 has guide area 760, and a stop line of entry lane 76 coincides with entry boundary line 761 of guide area 760, and exit boundary line 762 of entry lane 73 coincides with exit boundary line of guide area 760. The guidance area 760 is provided with a guidance lamp array 767, the guidance lamp array 767 includes lateral ground signal lamp groups 763, 764, 765, and 766 arranged in sequence in the traveling direction of the entrance lane 76, the lateral ground signal lamp group 763 is provided at the entrance boundary line 761, and the lateral ground signal lamp group 766 is provided at the exit boundary line 762.

The entry lane 77 has a guidance area 770, and a stop line of the entry lane 77 coincides with an entrance boundary line 771 of the guidance area 770, and an exit boundary line 772 of the entry lane 73 coincides with an exit boundary line of the guidance area 770. The guidance area 770 is provided with a guidance light array 777, the guidance light array 777 includes lateral ground signal light groups 773, 774, 775, and 776 arranged in sequence in the traveling direction of the entrance lane 77, the lateral ground signal light group 773 is disposed at the entrance boundary line 771 position, and the lateral ground signal light group 776 is disposed at the exit boundary line 772 position.

The entry lane 78 has a guidance area 780, and a stop line of the entry lane 78 coincides with an entry boundary line 781 of the guidance area 780, and an exit boundary line 782 of the entry lane 73 coincides with an exit boundary line of the guidance area 780. The guide area 780 is provided with a guide lamp array 787, and the guide lamp array 787 includes transverse ground signal lamp groups 783, 784, 785, and 786 arranged in sequence in the driving direction of the entrance lane 78, wherein the transverse ground signal lamp group 783 is disposed at the position of the entrance boundary line 781, and the transverse ground signal lamp group 786 is disposed at the position of the exit boundary line 782.

In the simulated test environment H2, the guide areas 710, 720, 730, 740, 750, 760, 770, and 780 each have a length of 20 meters. The distance between any adjacent 2 transverse ground signal lamp groups in the 4 transverse ground signal lamp groups included in the guide lamp array 717 is 6.67 meters, and the layout of the transverse ground signal lamp groups in the guide lamp arrays 727, 737, 747, 757, 767 and 787 is similar to the guide lamp array 717, and detailed description is omitted here.

The signal control environment in the simulation test environment H2 is shown in fig. 5-C, the road right phase of each entrance lane is set as shown in fig. 5-C by way of example, the phase period of each entrance lane is 100 seconds, the duration of a single road right phase of each entrance lane is 31 seconds, and the duration of a single non-road right phase is 69 seconds. The single weight phase (31 seconds total) consists of a grant phase (duration 25 seconds), a police phase (duration 3 seconds) and a clear phase (duration 3 seconds). The right-of-way phases of adjacent cleared entry lanes overlap in time by 6 seconds. Specifically, the phases of the entrance lanes 71 and 75 are changed synchronously, the road right phases of the entrance lanes 71 and 75 are 0-31 seconds, and the non-road right phases are 31-100 seconds. The phase of the entrance lanes 73 and 77 is changed synchronously, the road-right phase of the entrance lanes 73 and 77 is 25-56 seconds, and the non-road-right phase is 0-25 seconds and 56-100 seconds. The phases of the entrance lanes 72 and 74 are changed synchronously, the road-right phases of the entrance lanes 72 and 74 are 50-81 seconds, and the non-road-right phases are 0-50 seconds and 81-100 seconds. The phases of the entrance lanes 76 and 78 are changed synchronously, the non-road-right phases of the entrance lanes 76 and 78 are 6-75 seconds, and the road-right phases of the entrance lanes 76 and 78 are 0-6 seconds and 75-100 seconds.

The continuous time period of the enabling/warning/disabling light signal sending state of each transverse ground signal lamp group in the guiding lamp array is as shown in fig. 6-B for example. For example, the transverse ground signal lamp set 713 is switched to the enable optical signal sending state in the 0 th second, switched to the alarm optical signal sending state from the enable optical signal sending state in the 25 th second, and switched to the disable optical signal sending state from the alarm optical signal sending state in the 28 th second. The transverse ground signal lamp group 714 is switched to the enable optical signal emitting state at the 2 nd second, switched to the alarm optical signal emitting state from the enable optical signal emitting state at the 25 th second, and switched to the disable optical signal emitting state from the alarm optical signal emitting state at the 29 th second. The transverse ground signal lamp group 715 is switched to the permission light signal emission state in the 4 th second, switched from the permission light signal emission state to the alarm light signal emission state in the 27 th second, and switched from the alarm light signal emission state to the prohibition light signal emission state in the 30 th second. The transverse ground signal lamp group 716 is switched to the enable optical signal sending state in the 6 th second, switched to the alarm optical signal sending state from the enable optical signal sending state in the 28 th second, and switched to the disable optical signal sending state from the alarm optical signal sending state in the 31 th second. And so on for other cases. It can be seen that this time period of 25-31 seconds belongs to the overlapping time period of the right-of-way phases of the entrance lanes 71 and 75. The time interval of 50-56 seconds belongs to the overlapping time interval of the road right phases of the entrance lanes 71 and 75. The 75-81 second time period belongs to the overlapping time period of the road right phases of the entrance lanes 71 and 75. The 0 th to 6 th seconds are the overlapping time of the road right phases of the entrance lanes 71 and 75. The performance improvement comparison data obtained by performing the simulation test in the simulation test environment H2 is shown in fig. 6-a, for example, and the data in the table shown in fig. 6-a shows that the vehicle throughput and the vehicle speed are greatly improved compared with the conventional technology, and the intersection delay is greatly reduced compared with the conventional technology, so that the intersection performance improvement in the simulation test environment H2 is very obvious.

A test environment H3 was simulated. In terms of the intersection layout environment, the simulation test environment H3 differs from the simulation test environment H2 in that the pitch between the adjacent lateral ground signal lamp groups in each speed guidance lamp array in the simulation test environment H3 is gradually increased in the traveling direction. Specifically, the distance between the 1 st and the 2 nd transverse ground signal lamp groups in the speed guidance lamp array is 5.6 meters, the distance between the 2 nd and the 3 rd transverse ground signal lamp groups is 6.6 meters, and the distance between the 3 rd and the 4 th transverse ground signal lamp groups is 7.8 meters.

In terms of the signal control environment, the simulation test environment H3 differs from the simulation test environment H2 in that the duration of a single right-of-way phase for each entrance lane in the simulation test environment H3 is 30 seconds, and the duration of a single non-right-of-way phase is 70 seconds. The single weight phase (30 seconds total) consists of an allow phase (duration 24 seconds), a police phase (duration 3 seconds) and a clear phase (duration 3 seconds). The right-of-way phases of adjacent cleared entry lanes overlap in time by 5 seconds. Specifically, the phases of the entrance lanes 71 and 75 are changed synchronously, the road-right phases of the entrance lanes 71 and 75 are 0-30 seconds, and the non-road-right phases are 30-100 seconds. The phases of the entrance lanes 73 and 77 are changed synchronously, the road-right phases of the entrance lanes 73 and 77 are 25-55 seconds, and the non-road-right phases are 0-25 seconds and 55-100 seconds. The phases of the entrance lanes 72 and 74 are changed synchronously, the road weight phases of the entrance lanes 72 and 74 are 50-80 seconds, and the non-road weight phases are 0-50 seconds and 80-100 seconds. The phases of the entrance lanes 76 and 78 are changed synchronously, the non-road-right phases of the entrance lanes 76 and 78 are 5-75 seconds, and the road-right phases of the entrance lanes 76 and 78 are 0-5 seconds and 75-100 seconds.

A test environment H4 was simulated. In terms of the intersection layout environment, the simulated test environment H4 differs from the simulated test environment H2 in that the length of the guidance area of each entrance lane in the simulated test environment H4 is 25 meters, and the distances between the adjacent lateral ground signal lamp groups in the speed guidance lamp arrays disposed in each guidance area are all equal. Specifically, the distance between the 1 st and the 2 nd transverse ground signal lamp groups in the speed guidance lamp array is about 8.33 meters, the distance between the 2 nd and the 3 rd transverse ground signal lamp groups is about 8.33 meters, and the distance between the 3 rd and the 4 th transverse ground signal lamp groups is about 8.33 meters.

The simulation test environment H4 and the simulation test environment H2 have the same signal control environment, that is: the respective phase periods of the entrance lanes are all 100 seconds, the duration of the single right-of-way phase of each entrance lane is 31 seconds, and the duration of the single non-right-of-way phase is 69 seconds. Wherein a single weight phase (31 seconds in total) consists of a grant phase (duration 25 seconds), a police phase (duration 3 seconds) and a clear phase (duration 3 seconds). The right-of-way phases of adjacent cleared entry lanes overlap in time by 6 seconds. Specifically, the phases of the entrance lanes 71 and 75 are changed synchronously, the road right phases of the entrance lanes 71 and 75 are 0-31 seconds, and the non-road right phases are 31-100 seconds. The phases of the entrance lanes 73 and 77 are changed synchronously, the road-right phases of the entrance lanes 73 and 77 are 25-56 seconds, and the non-road-right phases are 0-25 seconds and 56-100 seconds. The phases of the entrance lanes 72 and 74 are changed synchronously, the road-right phases of the entrance lanes 72 and 74 are 50-81 seconds, and the non-road-right phases are 0-50 seconds and 81-100 seconds. Similarly, the phases of the entrance lanes 76 and 78 change synchronously, the non-road-right phases of the entrance lanes 76 and 78 are 6-75 seconds, and the road-right phases of the entrance lanes 76 and 78 are 0-6 seconds and 75-100 seconds.

A test environment H5 was simulated. In terms of the intersection layout environment, the simulated test environment H5 differs from the simulated test environment H2 in that the length of the guidance area of each entrance lane in the simulated test environment H4 is 15 meters, and the distances between the adjacent lateral ground signal lamp groups in the speed guidance lamp arrays disposed in each guidance area are all equal. Specifically, the distance between the 1 st and 2 nd transverse ground signal lamp groups in the speed guidance lamp array is about 5 meters, the distance between the 2 nd and 3 rd transverse ground signal lamp groups is about 5 meters, and the distance between the 3 rd and 4 th transverse ground signal lamp groups is about 5 meters.

The simulated test environment H5 is the same as the signal control environment of simulated test environment H2.

In terms of crossing layout environment, the simulation test environment H6 differs from the simulation test environment H2 in that the length of a guidance area of each entrance lane in the simulation test environment H6 is 15 meters, the speed guidance light arrays arranged in each guidance area each include 3 transverse ground signal light groups, and the distances between adjacent transverse ground signal light groups in the speed guidance light arrays are equal. Specifically, the distance between the 1 st and 2 nd transverse ground signal lamp groups in the speed guidance lamp array is about 7.5 meters, and the distance between the 2 nd and 3 rd transverse ground signal lamp groups is about 7.5 meters.

In terms of the signal control environment, the simulation test environment H6 differs from the simulation test environment H2 in that the duration of a single right-of-way phase for each entrance lane in the simulation test environment H6 is 29 seconds, and the duration of a single non-right-of-way phase is 71 seconds. The single weight phase (29 seconds total) consists of an allow phase (duration 23 seconds), a police phase (duration 3 seconds) and a clear phase (duration 3 seconds). The right-of-way phases of adjacent cleared entry lanes overlap in time by 4 seconds. Specifically, the phases of the entrance lanes 71 and 75 are changed synchronously, the road-right phases of the entrance lanes 71 and 75 are 0-29 seconds, and the non-road-right phases are 29-100 seconds. The phases of the entrance lanes 73 and 77 are changed synchronously, the road-right phases of the entrance lanes 73 and 77 are 25-54 seconds, and the non-road-right phases are 0-25 seconds and 54-100 seconds. The phases of the entrance lanes 72 and 74 are changed synchronously, the road-right phases of the entrance lanes 72 and 74 are 50-79 seconds, and the non-road-right phases are 0-50 seconds and 79-100 seconds. The phases of the entrance lanes 76 and 78 are changed synchronously, the non-right-of-way phases of the entrance lanes 76 and 78 are 4-75 seconds, and the right-of-way phases of the entrance lanes 76 and 78 are 0-4 seconds and 75-100 seconds.

A test environment H7 was simulated. In terms of the intersection layout environment, the difference between the simulation test environment H7 and the simulation test environment H2 is that the length of the guidance area of each entrance lane in the simulation test environment H7 is 10 meters, the speed guidance light arrays arranged in each guidance area each include 3 transverse ground signal light groups, and the distances between adjacent transverse ground signal light groups in the speed guidance light arrays are all equal. Specifically, the distance between the 1 st and 2 nd transverse ground signal lamp groups in the speed guidance lamp array is about 5 meters, and the distance between the 2 nd and 3 rd transverse ground signal lamp groups is about 5 meters.

In terms of signal control environment, simulated test environment H7 is the same as simulated test environment H6.

The simulation test data under the simulation test environments H1-H7 can be shown as a table exemplified in FIG. 6-A, and compared with the average vehicle speed and the throughput per hour under the saturated traffic density, the scheme of the application has a great improvement in the aspects of the vehicle throughput, the average vehicle speed and the like compared with the traditional zipper type passing mode.

The simulation test environments H1-H7 are exemplified by the overlapping duration (i.e. pre-acceleration duration) of the road-weight phases of two entrance lanes being 4 seconds, 5 seconds or 6 seconds, but the overlapping duration may also be other durations, for example, 1 second, 2 seconds, 3 seconds, 3.5 seconds, 8 seconds, 9 seconds, 10 seconds or other durations smaller than the duration of the corresponding road-weight phase, and so on in the corresponding embodiments. In the simulation test environments H1-H7, the way right phase includes an allowed phase, a clear phase, and the way right phase may be in other forms as illustrated in fig. 3, for example, the way right phase may include the allowed phase and the clear phase, but not include the clear phase. Corresponding embodiments with other constituent road phases can be analogized.

In summary, the scheme of the embodiment of the application is implemented, and the overlapping mechanism and the guide area of the conflict right-of-way phase of the intersection area are introduced, so that the speed of the vehicle passing through the intersection area is greatly improved. As can be seen from the time, distance, and speed, the faster the speed is in the same time period, the more vehicles pass through, and the higher the traffic efficiency is. Compared with the traditional zipper type passing scheme, the technical scheme of the embodiment of the application is favorable for reducing fuel consumption and exhaust emission. For example, if each vehicle passes through 5 level intersections every day, and if each level intersection waits 12 seconds less red light, fuel consumption is calculated to be 1 liter of gasoline per hour on average at idle, then with 100 million vehicles in a certain market, one hundred million yuan of fuel can be saved each year. For example, 100 × 100 days (5 × 0.2 min × 1 l/60 min) ═ 600 × l. Assuming that each liter of oil is calculated at around 7 yuan, 600 ten thousand liters of oil can be saved every year by 7 yuan 4200 ten thousand yuan. Therefore, the traffic efficiency is improved, the social resources are saved, and the pollutant emission is reduced.

The embodiments of the present application also provide a storage medium storing instructions or codes, which can be used to execute part or all of the steps of any one of the methods provided by the embodiments of the present application.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of units is merely a logical division, and in actual implementation, there may be another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a U disk, a removable hard disk, a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or other various media capable of storing program codes.

Claims

1. The signal lamp control method of the plane intersection is characterized in that the plane intersection comprises a road junction area, W inlet roads and B outlet roads, wherein W and B are integers larger than 1, the outlet of each inlet road in the W inlet roads is connected with the inlet of the road junction area, the inlet of each outlet road in the B outlet roads is connected with the outlet of the road junction area, and each inlet road in the W inlet roads comprises at least 1 inlet lane; the entrance lane Ci and the entrance lane Cj belong to different entrance lanes in the W entrance lanes, and the entrance lane Ci and the entrance lane Cj are intersection zone conflict lanes; wherein the entrance lane Ci has a guide area LE-Ci;

the entrance boundary line of the guide zone LE-Ci is superposed with the stop line of the entrance lane Ci in a spatial position, or the entrance boundary line of the guide zone LE-Ci is between the stop line of the entrance lane Ci and the exit boundary line; the exit boundary line of the guide zone LE-Ci coincides with the exit boundary line of the entry lane Ci in spatial position, or the exit boundary line of the guide zone LE-Ci is between the entrance boundary line of the guide zone LE-Ci and the exit boundary line of the entry lane Ci;

the guide area LE-Ci is provided with a speed guide lamp array Ar-Ci, and the speed guide lamp array Ar-Ci comprises NCi transverse ground signal lamp groups, wherein NCi is a positive integer greater than 1, and each transverse ground signal lamp group in the NCi transverse ground signal lamp groups comprises at least 1 ground signal lamp; the NCi transverse ground signal lamp groups comprise transverse ground signal lamp groups Ci-p and transverse ground signal lamp groups Ci-q, the transverse ground signal lamp groups Ci-p are arranged at the position of an outgoing boundary line of the guide area LE-Ci, the transverse ground signal lamp groups Ci-q are arranged at the position of an incoming boundary line of the guide area, and the distance between the transverse ground signal lamp groups Ci-p and the transverse ground signal lamp groups Ci-q is larger than or equal to the shortest effective guide distance L_LE-minSaid L is_LE-minGreater than or equal to 2 meters;

the signal lamp control method comprises the following steps:

when it is from the reference time T_{ck_Cj}Has an overlap duration T_{cd_Ci}And then, controlling the NCi transverse ground signal lamp groups to be asynchronously switched to an allowed light signal sending state, wherein the time interval delta T between the Ci-p transverse ground signal lamp group and the Ci-q transverse ground signal lamp group to be switched to the allowed light signal sending state_{g-Ci-p_Ci-q}Is greater than or equal to the overlap duration T_{cd_Ci}And said Δ T_{g-Ci-p_Ci-q}Less than 3 seconds + T_{cd_Ci}Or the said Δ T_{g-Ci-p_Ci-q}Less than 1.2T_{cd_Ci}；

The NCi transverse ground signal lamp groups comprise transverse ground signal lamp groups Ci-i and transverse ground signal lamp groups Ci-j, and the distance between the transverse ground signal lamp groups Ci-j and the stop line of the entrance lane Ci is larger than the distance between the transverse ground signal lamp groups Ci-i and the stop line of the entrance lane Ci; the distance between the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-j in the NCi transverse ground signal lamp groups is larger than or equal to the L_LE-minWherein, the time when the transverse ground signal lamp group Ci-i is switched to the state allowing the optical signal to be sent is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the state allowing the optical signal to be sent; wherein, V_{g-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{g-Ci-i_Ci-j}The quotient obtained thereby, said L_{Ci-i_Ci-j}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i is defined; the Δ T_{g-Ci-i_Ci-j}The interval duration for switching the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i to the state of allowing the optical signal to be sent out is V_{g-Ci-i_Ci-j}The highest speed limit or the lowest speed limit or the highest safe speed of the entrance lane Ci is less than or equal to;

2. The method of claim 1,

the method further comprises the following steps: the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to synchronously switch from the state of sending the permission light signal to the state of sending the prohibition light signal; or the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic light signals are transmitted, the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched from the state of transmitting the permission light signals to the state of transmitting the prohibition light signals, and the moment when the Ci-i transverse ground traffic signal lamp groups are switched from the state of transmitting the permission light signals to the state of transmitting the prohibition light signals is earlier than the moment when the Ci-j transverse ground traffic signal lamp groups are switched from the state of transmitting the permission light signals to the state of transmitting the prohibition light signals; or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be synchronously switched to a forbidden light signal sending state; or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qAnd when the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched to the forbidden light signal sending state, wherein the moment when the transverse ground signal lamp group Ci-i is switched to the forbidden light signal sending state is earlier than the moment when the transverse ground signal lamp group Ci-j is switched to the forbidden light signal sending state.

Or,

the method further comprises the following steps: the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic light signals are in the clear traffic light signal sending state, the NCi transverse ground traffic signal lamp sets are controlled to synchronously switch from the clear traffic light signal sending state to the warning traffic light signal sending state; or, the transverse ground signal lamp group Ci-q continues for a time length T in the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched from the state of allowing the traffic light signal to be sent to the state of sending the warning light signal, and the moment when the Ci-i transverse ground traffic signal lamp groups are switched from the state of allowing the traffic light signal to be sent to the state of sending the warning light signal is earlier than that of the transverse ground traffic signal lamp groupsThe moment when Ci-j is switched from the state of allowing the optical signal to be sent to the state of alarming the optical signal to be sent; or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qWhen the traffic signal is in the warning light signal sending state, the NCi transverse ground traffic signal lamp groups are controlled to be synchronously switched to the warning light signal sending state; or the time length T is passed when the transverse ground signal lamp group Ci-q is switched to the state of allowing the optical signal to be sent out_g-Ci-qAnd then, controlling the NCi transverse ground traffic signal lamp groups to asynchronously switch to the warning light signal sending state, wherein the time when the transverse ground signal lamp group Ci-i is switched to the warning light signal sending state is earlier than the time when the transverse ground signal lamp group Ci-j is switched to the warning light signal sending state.

3. The method of claim 2, further comprising:

the transverse ground signal lamp group Ci-q continues for a time length T in the state of sending out the warning light signal_y-Ci-qWhen the traffic light signal group is in the warning light signal sending state, the NCi horizontal ground traffic signal lamp groups are controlled to be synchronously switched to the non-permission light signal sending state; or the transverse ground signal lamp group Ci-q continues for a time length T in the state of sending out the warning light signal_y-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be asynchronously switched from the state of sending the warning light signal to the state of sending the forbidden light signal, and the moment when the transverse ground signal lamp groups Ci-i are switched from the state of sending the warning light signal to the state of sending the forbidden light signal is earlier than the moment when the transverse ground signal lamp groups Ci-j are switched from the state of sending the warning light signal to the state of sending the forbidden light signal; or the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal for a time length T_y-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp groups are controlled to be synchronously switched to a forbidden light signal sending state; or the transverse ground signal lamp group Ci-q is switched to the state of sending the warning light signal for a time length T_y-Ci-qWhen the traffic signal is received, the NCi transverse ground traffic signal lamp sets are controlled to be switched to an asynchronous forbidden light signal sending state, and the transverse ground signalsThe moment when the lamp group Ci-i is switched to the state of sending out the forbidden optical signal is earlier than the moment when the transverse ground signal lamp group Ci-j is switched to the state of sending out the forbidden optical signal.

4. The method according to claim 2 or 3,

V_{r-Ci-i_Ci-j}is equal to said L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, the Δ T_{r-Ci-i_Ci-j}The interval duration for switching the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-i to the state of sending out the forbidden light signal is obtained, wherein the V is_{r-Ci-i_Ci-j}Equal to the lowest speed limit of the entry lane Ci or the V_{r-Ci-i_Ci-j}Greater than said V_{g-Ci-i_Ci-j}。

5. The method according to claim 2, 3 or 4, characterized in that said NCi transverse ground signal light groups comprise said transverse ground signal light group Ci-i, said transverse ground signal light group Ci-j and a transverse ground signal light group Ci-k, wherein the spacing between said transverse ground signal light group Ci-j and the stop line of said entrance lane Ci is smaller than the spacing between said transverse ground signal light group Ci-k and the stop line of said entrance lane Ci;

wherein, V_{r-Ci-i_Ci-j}Is equal to V_{r-Ci-j_Ci-k}Said V is_{r-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{r-Ci-j_Ci-k}The resulting quotient; said L_{Ci-j_Ci-k}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k is the delta T_{r-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state of sending out the forbidden light signal, L_{Ci-j_Ci-k}Greater than or equal to the shortest effective guide distance; the V is_{r-Ci-i_Ci-j}Is equal to L_{Ci-i_Ci-j}Divided by Δ T_{r-Ci-i_Ci-j}The quotient obtained, the Δ T_{r-Ci-i_Ci-j}Switching to the forbidden light for the transverse ground signal lamp group Ci-i and the transverse ground signal lamp group Ci-jThe duration of the signal-out state interval.

6. The method according to any one of claims 1 to 5, wherein said NCi transverse ground signal light groups comprise said transverse ground signal light group Ci-i, said transverse ground signal light group Ci-j and a transverse ground signal light group Ci-k, wherein a spacing between said transverse ground signal light group Ci-j and a stop line of said entrance lane Ci is smaller than a spacing between said transverse ground signal light group Ci-k and a stop line of said entrance lane Ci;

wherein, V_{g-Ci-i_Ci-j}Less than or equal to V_{g-Ci-j_Ci-k}Said V is_{g-Ci-j_Ci-k}Is equal to L_{Ci-j_Ci-k}Divided by Δ T_{g-Ci-j_Ci-k}The resulting quotient; said L_{Ci-j_Ci-k}The distance between the transverse ground signal lamp group Ci-j and the transverse ground signal lamp group Ci-k is defined; the Δ T_{g-Ci-j_Ci-k}The interval duration for switching the transverse ground signal lamp group Ci-k and the transverse ground signal lamp group Ci-j to the state of allowing the optical signal to be sent out is L_{Ci-j_Ci-k}Greater than or equal to L_LE-min。

7. A signal light control apparatus of a level crossing, characterized in that the level crossing comprises an intersection area, W entrance lanes and B exit lanes, wherein W and B are integers greater than 1, wherein an exit of each of the W entrance lanes is connected to an entrance of the intersection area, an entrance of each of the B exit lanes is connected to an exit of the intersection area, and each of the W entrance lanes comprises at least 1 entrance lane; the entrance lane Ci and the entrance lane Cj belong to different entrance lanes in the W entrance lanes, and the entrance lane Ci and the entrance lane Cj are intersection zone conflict lanes; wherein the entrance lane Ci has a guide area LE-Ci;

the signal light control apparatus comprises a memory and a processor coupled, wherein the processor is configured to execute the signal light control method of any one of claims 1 to 6.

8. A signal lamp system of a plane intersection is characterized in that,

the plane intersection comprises a crossing area, W entrance roads and B exit roads, wherein W and B are integers larger than 1, the exit of each entrance road in the W entrance roads is connected with the entrance of the crossing area, the entrance of each exit road in the B exit roads is connected with the exit of the crossing area, and each entrance road in the W entrance roads comprises at least 1 entrance lane; the entrance lane Ci and the entrance lane Cj belong to different entrance lanes in the W entrance lanes, and the entrance lane Ci and the entrance lane Cj are intersection zone conflict lanes; wherein the entrance lane Ci has a guide area LE-Ci;

the signal lamp system comprises signal lamp control equipment and a speed guide lamp array Ar-Ci,

wherein the signal lamp control apparatus for performing the signal lamp control method according to any one of claims 1 to 6 is connected to the speed guidance lamp array Ar-Ci.

9. A signal lamp system of a plane intersection, characterized in that the plane intersection comprises an intersection area, W entrance lanes and B exit lanes, wherein W and B are integers greater than 1, wherein an exit of each entrance lane among the W entrance lanes is connected to an entrance of the intersection area, an entrance of each exit lane among the B exit lanes is connected to an exit of the intersection area, and each entrance lane among the W entrance lanes comprises at least 1 entrance lane; the entrance lane Ci and the entrance lane Cj belong to different entrance lanes in the W entrance lanes, and the entrance lane Ci and the entrance lane Cj are intersection zone conflict lanes; wherein the entrance lane Ci has a guide area LE-Ci;

the signal lamp system comprises a signal machine and a controller;

wherein the annunciator is connected to a controller, the controller is connected to the speed guidance lamp array Ar-Ci, and the controller is configured to execute the signal lamp control method according to any one of claims 1 to 6.

10. A signal lamp system of a plane intersection is characterized in that,

the signal lamp system comprises a signal machine, a main controller, a first sub-controller and a second sub-controller;

the signal machine is connected with a main controller, the main controller is respectively connected with the first sub-controller and the second sub-controller, the first sub-controller is connected with the speed guidance lamp array Ar-Ci, and the first sub-controller is used for executing the signal lamp control method according to any one of claims 1 to 6.