CN108335506A - Net connection vehicle multi signal intersection green light phase speed dynamic guiding method and system - Google Patents
Net connection vehicle multi signal intersection green light phase speed dynamic guiding method and system Download PDFInfo
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- CN108335506A CN108335506A CN201810027549.8A CN201810027549A CN108335506A CN 108335506 A CN108335506 A CN 108335506A CN 201810027549 A CN201810027549 A CN 201810027549A CN 108335506 A CN108335506 A CN 108335506A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
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Abstract
The invention discloses a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding method and system, two continuous intersections can be passed through as goal directed vehicle to consume minimum fuel oil, and speed-optimization track is supplied to driver in real time with visual means, vehicle is avoided in the idle period of intersection and some unnecessary anxious acceleration and anxious deceleration-operation, cause additional fuel consumption and exhaust emissions, also improve road passage capability simultaneously, while meeting the trip requirements of people, that improves people goes out line efficiency.
Description
Technical field
The present invention relates to a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding method and system.
Background technology
Roadway sign intersection is the important component of urban road, and the traffic capacity directly affects urban road
It is sensible, if the traffic current density of intersection is excessive, the congestion of intersection can be caused, seriously affects the trip of people.Therefore,
The parking and delay for reducing signalized intersections, improve the road passage capability of intersection, are to improve arterial street transport services water
Flat main target.Driver is at soon arriving signal intersection, often due to blurred vision, the problems such as visual field is obstructed and nothing
Method accurately obtains the signal phase count down information of current demand signal intersection, to take unreasonable throttle and brake operation,
Increase idle period of the vehicle near intersection, cause road traffic congestion, on the other hand unreasonable driving behavior also can
Cause to generate additional fuel consumption and discharge.Therefore, speed optimization is carried out to the vehicle near signalized intersections and rationally drawn
It leads and is necessary.
For the research of signalized intersections speed guiding, initially mainly by adjusting the traffic signals shape of signalized intersections
State guides the vehicle for driving into intersection using the prompt of changeable message signs, vehicle is avoided to be reached during red light phase
Signalized intersections；Later, provided optimal speed suggestion to driver by dynamic speed guidance method, but these researchs or
Optimize fuel consumption and discharge indirectly by consideration speed and acceleration, or uses fuel consumption and disposal of pollutants model evaluation
Various feasible velocity amplitudes, but the speed guiding of single crossing is focused primarily upon, not yet consider the association of two signalized intersections
It is guided with dynamic vehicle speed.
Invention content
The problem of for above-mentioned existing method, the object of the present invention is to provide a kind of net connection vehicle multi signals to hand over
Prong green light phase speed dynamic guiding method, the bootstrap technique is by obtaining intersection information, and with fuel consumption and discharge
It is optimal to give the driver dynamic for driving into intersection to provide speed guiding for optimization aim.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding method, includes the following steps：
Dynamic economy is solved using linear multivariate function minimum value solved function and drives Optimized model, obtains vehicle not
Speed under in the same time carries out dynamic guiding according to speed of the vehicle under different moments to the speed of net connection vehicle；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signal cross
The time of mouth；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；A (t) indicates vehicle adding in moment t
Speed；ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height
Correction factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade etc. of moment t
Grade；G is acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsTable
Show the speed by second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate the red light of second signalized intersections
Countdown, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate letter
Green time in number period；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear
Degree；amaxIndicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsTable
Show vehicle to second signalized intersections distance；vmaxIndicate the maximum speed that road allows.
The present invention also provides a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding systems, including solve dynamic
State economy drives Optimized model module, and the module is for realizing following functions：
Dynamic economy is solved using linear multivariate function minimum value solved function and drives Optimized model, obtains vehicle not
Speed under in the same time carries out dynamic guiding according to speed of the vehicle under different moments to the speed of net connection vehicle；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signal cross
The time of mouth；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；A (t) indicates vehicle adding in moment t
Speed；ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height
Correction factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade etc. of moment t
Grade；G is acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsTable
Show the speed by second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate the red light of second signalized intersections
Countdown, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate letter
Green time in number period；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear
Degree；amaxIndicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsTable
Show vehicle to second signalized intersections distance；vmaxIndicate the maximum speed that road allows.
The invention has the advantages that：The present invention can be continuous by two as goal directed vehicle to consume minimum fuel oil
Intersection, and speed-optimization track is supplied to driver in real time with visual means, avoid vehicle intersection sky
Turn time and some unnecessary anxious acceleration and anxious deceleration-operation, causes additional fuel consumption and exhaust emissions, while
Road passage capability is improved, while meeting the trip requirements of people, that improves people goes out line efficiency.
Explanation and illustration in further detail is made to the solution of the present invention with reference to the accompanying drawings and detailed description.
Description of the drawings
Fig. 1 is the result figure that method using the present invention carries out speed guiding；Wherein, (a) indicates to carry out speed to vehicle
Guiding and to vehicle carry out speed guiding velocity contrast scheme, (b) indicate to vehicle carry out speed guiding and not to vehicle into
Driving speed guiding acceleration comparison diagram, (c) indicate to vehicle carry out speed guiding and not to vehicle carry out speed guiding away from
From comparison diagram.
Fig. 2 is to carry out speed guiding using the method for the present invention and do not carry out oil consumption comparison caused by speed guiding to vehicle
Figure.
Specific implementation mode
The net connection vehicle multi signal intersection green light phase speed dynamic guiding method of the present invention, is used for the first of vehicle front
A signalized intersections are the speed guiding in the case of green light, are included the following steps：
It is excellent that dynamic economy driving is solved using the linear multivariate function minimum value solved function in MATLAB software platforms
Change model, obtain speed of the vehicle under different moments, according to speed of the vehicle under different moments to net connection vehicle speed into
Mobile state guides；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signal cross
The time of mouth；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；A (t) indicates vehicle adding in moment t
Speed；ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height
Correction factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade etc. of moment t
Grade；G is acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsTable
Show the speed by second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate the red light of second signalized intersections
Countdown, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate letter
Green time in number period；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear
Degree；amaxIndicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsTable
Show vehicle to second signalized intersections distance；vmaxIndicate the maximum speed that road allows.
Another aspect of the present invention also provides a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding system
System, including solve dynamic economy and drive Optimized model module, the module is for realizing following functions：
It is excellent that dynamic economy driving is solved using the linear multivariate function minimum value solved function in MATLAB software platforms
Change model, obtain speed of the vehicle under different moments, according to speed of the vehicle under different moments to net connection vehicle speed into
Mobile state guides；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signal cross
The time of mouth；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；A (t) indicates vehicle adding in moment t
Speed；ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height
Correction factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade etc. of moment t
Grade；G is acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsTable
Show the speed by second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate the red light of second signalized intersections
Countdown, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate letter
Green time in number period；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear
Degree；amaxIndicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsTable
Show vehicle to second signalized intersections distance；vmaxIndicate the maximum speed that road allows.
Embodiment
Method using the present invention carries out speed guiding to the vehicle with 2011HondaAccord vehicles, in this implementation
In example, xf=200m, xs=615m, amin=-3m/s2, amax=5m/s2, ρ=1.2256kg/m3, α0=4.89E-04, α1=
4.29E-05 α2=1.00E-06, m=1487kg, ηd=0.75, Cd=0.30, Ch=0.95, Af=2.12m2, Cr=1.25,
c1=0.0438, c2=6.10, T=85s, TG=40s, TR=45s, tr1=20s, tr2=5s, v0=55km/h.It is based on
Matlab environment emulates the traffic environment given by embodiment, obtains as shown in Figure 1 as a result, wherein (a) expression pair
Vehicle carries out speed guiding and does not carry out vehicle the velocity contrast of speed guiding scheming, the dotted line in the figure indicate not to vehicle into
When scanning frequency degree guides, car speed changes with time situation, and the solid line in figure is indicated using the method in the present embodiment to vehicle
When carrying out speed guiding, car speed changes with time situation.Wherein (b) indicate to vehicle carry out speed guiding and it is not right
Vehicle carries out the acceleration comparison diagram of speed guiding, and when the dotted line in the figure indicates not carry out speed guiding to vehicle, vehicle adds
Speed changes with time situation, when the solid line in figure indicates to carry out speed guiding to vehicle using the method in the present embodiment,
Vehicle acceleration changes with time situation.Wherein (c) indicates to carry out speed guiding to vehicle and do not carry out speed to vehicle to draw
The distance versus figure led, when the dotted line in the figure indicates not carry out speed guiding to vehicle, the distance of vehicle changes with time
Situation, when the solid line in figure indicates to carry out speed guiding to vehicle using the method in the present embodiment, the distance of vehicle is at any time
Situation of change.Scheme the horizontal line in (c) at ordinate is 200 and indicate first signalized intersections, is at 615 in ordinate
Horizontal line indicates second signalized intersections；
By solid line in (a) in Fig. 1 it is found that the present invention method guiding vehicle at the uniform velocity by first intersection after,
For vehicle deceleration by second signalized intersections, the oil consumption that vehicle generates under this method is 0.0313L.If vehicle presses initial velocity
Continue to travel, be then parked in second intersection, and green light instruction is waited for reach, as shown in Fig. 1 (c) dotted lines, vehicle under this condition
Traveling same distance generate oil consumption be 0.0438L.It can be seen that the vehicle driving trace without guiding is due to high speed row
It sails and the unnecessary idle running at signalized intersections, causes additional fuel consumption.Optimization bootstrap technique section proposed by the present invention
The fuel oil for having saved up to 29% improves road passage capability as shown in Fig. 2, decreasing exhaust emissions simultaneously.
Claims (2)
1. a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding method, which is characterized in that include the following steps：
Dynamic economy is solved using linear multivariate function minimum value solved function and drives Optimized model, obtains vehicle when different
The speed inscribed carries out dynamic guiding according to speed of the vehicle under different moments to the speed of net connection vehicle；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signalized intersections
Time；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；Acceleration of a (t) the expression vehicles in moment t；
ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height correction
The factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade grade of moment t；g
For acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsExpression passes through
The speed of second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate that the red light of second signalized intersections falls to count
When, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate signal week
Interim green time；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear；amax
Indicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsIndicate vehicle
To the distance of second signalized intersections；vmaxIndicate the maximum speed that road allows.
2. a kind of net connection vehicle multi signal intersection green light phase speed dynamic guiding system, which is characterized in that including solving dynamic
Economy drives Optimized model module, and the module is for realizing following functions：
Dynamic economy is solved using linear multivariate function minimum value solved function and drives Optimized model, obtains vehicle when different
The speed inscribed carries out dynamic guiding according to speed of the vehicle under different moments to the speed of net connection vehicle；
Wherein, dynamic economy driving Optimized model is：
Wherein, tfIndicate that vehicle passes through the time of first signalized intersections, tsIndicate that vehicle passes through second signalized intersections
Time；
In above formula, FC (t) indicates oil consumption model：
Wherein, α0, α1And α2It is model constants；Instantaneous power of P (t) the expression vehicles in moment t：
Wherein, resistance of R (t) the expression vehicles in moment t；M is the quality of vehicle；Acceleration of a (t) the expression vehicles in moment t；
ηdFor the power drive system efficiency of vehicle；Instantaneous velocity of v (t) the expression vehicles in moment t；
Vehicle is indicated in the resistance R (t) of moment t using following formula：
Wherein, ρ indicates that temperature is the atmospheric density on sea level at 15 DEG C；CdIndicate vehicle drag coefficient；ChIndicate height correction
The factor；AfIndicate vehicle cross-sectional area；Cr, c1And c2Indicate rolling resistance constant；G (t) is the road grade grade of moment t；g
For acceleration of gravity；
Vehicle is indicated in the instantaneous velocity v (t) of moment t using following formula：
Wherein, s1And s2Indicate two parameters of linear solution, vfIndicate the speed by first signalized intersections, vsExpression passes through
The speed of second signalized intersections, v0Indicate the present speed of vehicle；
Vehicle is indicated in the acceleration a (t) of moment t using following formula：
Wherein, tf、ts、vfAnd vsMeet following formula：
tf∈[0,tr1]
amin≤s1·(vf-v0)≤amaxAnd amin≤s2·(vs-vf)≤amax
vf≤vmaxAnd vs≤vmax
Wherein, tr1Indicate the green light countdown of first signalized intersections, tg2Indicate that the red light of second signalized intersections falls to count
When, tr2Indicate that the green light countdown of second signalized intersections, T indicate the signal period of signalized intersections；TGIndicate signal week
Interim green time；TRIndicate the red time in the signal period；aminIndicate the minimum acceleration that driver can bear；amax
Indicate the peak acceleration a that driver can bearmax；xfIndicate vehicle to the distance of first signalized intersections, xsIndicate vehicle
To the distance of second signalized intersections；vmaxIndicate the maximum speed that road allows.
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| CN110085025A (en) * | 2019-03-22 | 2019-08-02 | 长安大学 | A kind of multi-modal speed of service optimization method of bus rapid transit |
| CN110533946A (en) * | 2019-09-18 | 2019-12-03 | 北京航空航天大学 | Single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations |
| CN111477021A (en) * | 2020-03-02 | 2020-07-31 | 清华-伯克利深圳学院筹备办公室 | Vehicle priority guidance method and priority guidance system |
| CN112437951A (en) * | 2018-08-17 | 2021-03-02 | 谷歌有限责任公司 | Reducing vehicle congestion at intersections |
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