CN110033627A - A kind of Control Speed Limitation on Freeway method based on time stability - Google Patents
A kind of Control Speed Limitation on Freeway method based on time stability Download PDFInfo
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Abstract
The Control Speed Limitation on Freeway method based on time stability that the invention discloses a kind of, this method by highway trackside advices plate, section detector, control centre three's Collaborative Control, Control for Speed Limitation is carried out using time stability constraint condition, to improve the safety of highway dynamic Control for Speed Limitation, road traffic accident rate is reduced.The present invention including the following steps: detection acquisition traffic information determines the alternative speed limit value of each position, selects optimal spatial speed limit function based on time stability, determine final speed limit value.The method of the present invention design is simple, is easy to calculate；It is constrained by time stability, the defect of existing highway dynamic Control for Speed Limitation can be overcome, reduced the time unstability of Control for Speed Limitation, effectively improve the traffic safety of highway.
Description
Technical field
The invention belongs to intelligent traffic administration system and control technology field more particularly to a kind of high speeds based on time stability
Road speed limit control method.
Background technique
In recent years, with the rapid development of our country's economy, the living standard of the people increasingly improves, vehicle guaranteeding organic quantity also day
Benefit increases.It is shown according to Ministry of Public Security's related data, ended for the end of the year 2018, China's vehicle guaranteeding organic quantity reaches 3.25 hundred million, and still
So keep the situation of rapid growth.The motor vehicle of sharp increase brings a series of societies such as serious traffic congestion, exhaust emissions and asks
Topic, while also resulting in very big security implication.According to national statistics office data, national traffic accident in 2016 occurs number and reaches
212846, traffic accident number of injured people amounts to 226430 people, and toll on traffic amounts to 63093 people.In numerous friendships
In interpreter's event, the highway feature fast due to running velocity occupies very big accident ratio.How to highway
Effective speed limit is carried out so as to improve traffic safety, it appears most important.
The method that existing research passes through dynamic Control for Speed Limitation, to realize the dynamic tune to vehicle on expressway speed
It is whole, to reduce accident risk, improve traffic safety.However, there are apparent defects for existing control method.Existing dynamic speed limit
In control process, it is excessive to only considered upstream and downstream section speed limit value otherness, in the process of running suddenly so as to cause vehicle
The behavior of deceleration, but lack to Control for Speed Limitation time stability the considerations of.Control for Speed Limitation is a multicycle process, adjacent two
A time cycle is excessive with the variation of a road section Control for Speed Limitation, equally also results in the velocity jump in vehicle operation, thus
Serious security risk is caused, has research of the Control for Speed Limitation shortage in terms of time stability.
Summary of the invention
The application aims to solve at least one of the technical problems existing in the prior art.For this purpose, an object of the present invention
It is to provide a kind of Control Speed Limitation on Freeway method based on time stability, passes through control centre-trackside advices plate-section
Close linking between this three of detector overcomes existing controlling party by time stability Constraint fusion in Control for Speed Limitation process
Method there are the problem of.
In order to solve the above technical problems, the application adopts the following technical scheme that
A kind of Control Speed Limitation on Freeway method based on time stability, includes the following steps:
S1: highway is segmented, and it is i=1,2 ..., I that each section, which is sequentially numbered, and trackside advices plate is arranged in each section
With section detector, detector acquires traffic data information, and is sent to control centre；
S2: Control for Speed Limitation total duration is divided into T period, t is period serial number, t=1,2 ..., T, the t=1 week
Phase, control centre calculate the speed limit value V at the i of sectioni(1), and it is published on trackside advices plate；
S3: in t=2,3 ..., T period, control centre calculates the speed limit value V at the section i=1 of first, downstream1
(t), and it is published on trackside advices plate；
S4: in t=2,3 ..., T period calculates jth kind to other sections i in addition to the section of first, downstream
Space speed limit function calculates resulting alternative speed limit value Mi,j(t):
Wherein, fjFor jth kind space speed limit function, j=1,2 ..., J, J=5, M in speed limit function seti-1,jIt (t) is the
Alternative speed limit value at the t period downstream position i-1 adjacent with section i；
Five kinds of space speed limit functions are respectively as follows:
f1[x]=x+10；
f2[x]=x+15；
Wherein, x is space speed limit function input value, and a is road-section average deceleration parameters, LiFor the length of section i；
S5: in t=2,3 ..., T period is selected according to the alternative speed limit value in step S4 based on time stability
Optimal spatial speed limit function ft:
Wherein: ViIt (t-1) is the final speed limit value in the t-1 period of section i, Δ V is time stability constrained parameters,
Value carries out analysis acquisition according to highway casualty data over the years；
Above-mentioned optimization problem is solved, obtaining the corresponding optimal spatial speed limit function of optimal solution j* is ft, i.e. ft=fj*；
S6: in t=2,3 ..., T period calculates t-th of period according to the optimal spatial speed limit function in step S5
The final speed limit value V of other sections i in addition to the section of first, downstreami(t), and it is published on trackside advices plate；
Vi(t)=ft[Vi-1(t)], i=2,3 ..., I
Wherein Vi-1It (t) is the final speed limit value at t-th of period downstream position i-1 adjacent with section i；
S7: judging whether to meet t=T, if t=T, terminates speed limit；Otherwise, t=t+1 is transferred to step S3.
Further, in step S2, the t=1 period, at first, the downstream section i=1 that control centre calculates
Speed limit value V1(1) it is equal to the section detector and acquires the resulting road average-speed value, other section speed limit values is Vi(1)=
f1[Vi-1(1)], i=2,3 ..., I, f1For the first space speed limit function.
Further, in step S3, in t=2,3 ..., T period, first, the downstream section i that control centre calculates
Speed limit value V at=11(t) it is equal to the section detector and acquires the resulting road average-speed value.
Further, in step S5, time stability constrained parameters Δ V value is 5km/h.
Further, a value range is (1202-1152)/(2Li)≤a≤(1202-602)/(2Li)
Further, each road section length is 1km-5km.
Compared with prior art, the device have the advantages that being:
The method of the present invention design is simple, is easy to calculate, for present in existing highway dynamic Control for Speed Limitation research
Time instability problem passes through control centre-trackside advices plate-by time stability Constraint fusion in Control for Speed Limitation process
Close linking between this three of section detector can be good at realizing Control for Speed Limitation, be constrained by time stability, can
The defect for overcoming existing highway dynamic Control for Speed Limitation reduces the time unstability of Control for Speed Limitation, and it is public to effectively improve high speed
The traffic safety on road.
Control Speed Limitation on Freeway method based on time stability is to the traffic safety situation for improving China's highway
It is worth with very important engineering application.
Running velocity can be effectively reduced in the present invention, while improving traffic safety, solve the Control for Speed Limitation time
Unstable problem, therefore there is very strong application prospect.
Detailed description of the invention
Fig. 1 is overall control flow figure of the invention；
Fig. 2 is Control Speed Limitation on Freeway schematic diagram；
Wherein: 1- control centre, 2- trackside advices plate, the section 3- detector.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, the Control Speed Limitation on Freeway method proposed by the present invention based on time stability, by section detector
3 acquisition traffic datas are simultaneously transmitted to control centre 1, and control centre 1 calculates alternative speed limit value, are selected based on time stability optimal
Space speed limit function, determines final speed limit value, and is published on trackside advices plate 2, specific steps are as follows:
S1: highway is segmented, and each section number is i=1,2 ..., I, and trackside advices plate and road is arranged in each section
Section detector, detector acquire traffic data information, are sent to control centre, section gap is generally 1km, 2km or 5km；
S2: Control for Speed Limitation total duration is divided into T period, t is period serial number, t=1,2 ..., T.The t=1 week
Phase, control centre calculate the speed limit value V at the i of sectioni(1), and it is published on trackside advices plate；
S3: in t=2,3 ..., T period, control centre calculates the speed limit value V at the section i=1 of first, downstream1
(t), and it is published on trackside advices plate, a cycle is generally 30s or 1min；
S4: in t=2,3 ..., T period calculates jth kind to other sections i in addition to the section of first, downstream
Space speed limit function calculates resulting alternative speed limit value Mi,j(t):
Wherein fjFor jth kind space speed limit function, j=1,2 ..., J, J=5, M in speed limit function seti-1,jIt (t) is t
Alternative speed limit value at the downstream position i-1 adjacent with section i of a period；
Five kinds of space speed limit functions are respectively as follows:
f1[x]=x+10,
f2[x]=x+15,
Wherein, x is space speed limit function input value (alternative speed limit value), and a is road-section average deceleration parameters, LiFor section i
Length.
S5: in t=2,3 ..., T period is selected according to the alternative speed limit value in step S4 based on time stability
Optimal spatial speed limit function ft:
Wherein: ViIt (t-1) is the final speed limit value in the t-1 period of section i, Δ V is time stability constrained parameters；
Above-mentioned optimization problem is solved, obtaining the corresponding optimal spatial speed limit function of optimal solution j* is ft, i.e. ft=fj*；
S6: in t=2,3 ..., T period calculates t-th of period according to the optimal spatial speed limit function in step S5
The final speed limit value V of other sections i in addition to the section of first, downstreami(t), and it is published on drive test advices plate,
Vi(t)=ft[Vi-1(t)], i=2,3 ..., I
Wherein Vi-1It (t) is the final speed limit value at t-th of period downstream position i-1 adjacent with section i；
S6: judging whether to meet t=T, if t=T, terminates speed limit；Otherwise, t=t+1 is transferred to step S3.
Speed limit value V in step S2, the t=1 period, at first, the downstream section i=1 of control centre's calculating1
(1) it is equal to the section detector and acquires the resulting road average-speed value, other section speed limit values is Vi(1)=f1[Vi-1
(1)], i=2,3 ..., I, f1For the first space speed limit function.
In step S3, in t=2,3 ..., T period, the limit at the section i=1 of first, downstream that control centre calculates
Fast value V1(t) it is equal to the section detector and acquires the resulting road average-speed value.
In step S5, the value of time stability constrained parameters Δ V is analyzed according to highway casualty data over the years
It obtains.
Below with reference to specific embodiment, the present invention is further illustrated.
Embodiment
Fig. 2 show the highway of a unidirectional three lanes (two-way six-lane), figure label meaning are as follows: in 1- control
The heart, 2- trackside advices plate, the section 3- detector.The highway is controlled using the present invention.
Step 1, highway is segmented, totally 3 sections, each section number is i=1,2 ..., I, I=3, in each section
Trackside advices plate and section detector are set, and detector acquires traffic data information, is sent to control centre, road section length LiAll
For 1km.
Step 2, Control for Speed Limitation total duration is divided into T period, t is period serial number, t=1,2 ..., T, T=3.In t
=1 period, control centre calculate the speed limit value V at downstream road section ii(1), and it is published on trackside advices plate；Control centre's meter
Speed limit value V at first, the downstream section i=1 of calculation1(1) it is equal to the section detector and acquires the resulting road average-speed
Value, it is assumed that be 40km/h；Other section speed limit values are Vi(1)=f1[Vi-1(1)], i=2,3, f1For the first space speed limit letter
Number f1[x]=x+10, then:
V2(1)=f1[V1(1)]=40+10=50km/h
V3(1)=f1[V2(1)]=50+10=60km/h
Step 3, the 2nd period, control centre calculates the speed limit value V at the section i=1 of first, downstream1(2), concurrently
It is distributed in trackside advices plate；V1(2) it is equal to the section detector and acquires the resulting road average-speed value, it is assumed that is 30km/h.
Step 4, jth kind space speed limit is calculated to other sections i in addition to the section of first, downstream the 2nd period
Function calculates resulting alternative speed limit value Mi,j(t), it is assumed that j=1,2 ..., J, J=5,
Consider that the average speed in two neighboring section decelerates to 115km/h, 60km/h (highway from 120km/h respectively
Minimum operation speed), a value range is (1202-1152)/(2Li)≤a≤(1202-602)/(2Li), work as LiWhen equal to 1km,
The value for calculating available a is 587.5-5400km/h2.In the present embodiment, a takes 1000km/h2, LiFor the length of section i
1km。
M2,1(2)=f1[V1(2)]=30+10=40km/h
M3,1(2)=f1[M2,1(2)]=40+10=50km/h
M2,2(2)=f2[V1(2)]=30+15=45km/h
M3,2(2)=f2[M2,2(2)]=45+15=60km/h
Step 5, according to the alternative speed limit value in step 4, optimal spatial speed limit function f is selected based on time stabilityt, Δ
V is that time stability constrained parameters value is 5km/h:
a2,1(2)=1, | M2,1(2)-V2(1) |=| 40-50 | > 5
a3,1(2)=1, | M3,1(2)-V3(1) |=| 50-60 | > 5
a2,2(2)=0, | M2,2(2)-V2(1) |=| 45-50 |≤5
a3,2(2)=0, | M3,2(2)-V3(1) |=| 60-60 |≤5
a2,3(2)=0, | M2,3(2)-V2(1) |=| 53.85-50 |≤5
a3,3(2)=1, | M3,3(2)-V3(1) |=| 70-60 | > 5
a2,4(2)=1, | M2,4(2)-V2(1) |=| 58.85-50 | > 5
a3,4(2)=1, | M3,4(2)-V3(1) |=| 78.91-60 | > 5
a2,5(2)=1, | M2,5(2)-V2(1) |=| 88.85-50 | > 5
a3,5(2)=1, | M3,5(2)-V3(1) |=| 134.47-60 | > 5
When j=1,
When j=2,
When j=3,
When j=4,
When j=5,Therefore, optimal solution j*=2 is acquired, i.e.,
ft=f2。
Step 6, according to the optimal spatial speed limit function f in step 52, calculate the 2nd period except first, downstream section with
The final speed limit value V of outer other sections ii(2), and it is published on drive test advices plate；
V2(2)=f2[V1(2)]=45km/h
V3(2)=f2[V2(2)]=60km/h
Step 7, judge whether to meet t=T, 2 ≠ 3, then t=t+1=3, is transferred to step 3)；
Into period t=3, repeats step 3 to step 7 and carry out speed limit calculating, when meeting t=T, terminate speed limit.
Above-described embodiment is only to clearly demonstrate examples made by the present invention, rather than the restriction to embodiment.For
For those of ordinary skill in the art, other various forms of variations or change can also be made on the basis of the above description
It is dynamic.Here without can not be also exhaustive to all embodiments.And the obvious variation or change thus amplified out
It is dynamic to be still in the protection scope of this invention.
Claims (5)
1. a kind of Control Speed Limitation on Freeway method based on time stability, which comprises the steps of:
S1: highway is segmented, and it is i=1,2 ..., I that each section, which is sequentially numbered, and trackside advices plate and road is arranged in each section
Section detector, detector acquires traffic data information, and is sent to control centre；
S2: Control for Speed Limitation total duration is divided into T period, t is period serial number, and t=1,2 ..., T are controlled the t=1 period
Speed limit value V at center calculation section i processedi(1), and it is published on trackside advices plate；
S3: in t=2,3 ..., T period, control centre calculates the speed limit value V at the section i=1 of first, downstream1(t), and
It is published on trackside advices plate；
S4: in t=2,3 ..., T period calculates jth kind space to other sections i in addition to the section of first, downstream
Speed limit function calculates resulting alternative speed limit value Mi,j(t):
Wherein, fjFor jth kind space speed limit function, j=1,2 ..., J, J=5, M in speed limit function seti-1,j(t) it is t-th
Alternative speed limit value at the period downstream position i-1 adjacent with section i；
Five kinds of space speed limit functions are respectively as follows:
f1[x]=x+10；
f2[x]=x+15；
Wherein, x is space speed limit function input value, and a is road-section average deceleration parameters, and value range is (1202-1152)/
(2Li)≤a≤(1202-602)/(2Li), LiFor the length of section i；
S5: in t=2,3 ..., T period is selected optimal according to the alternative speed limit value in step S4 based on time stability
Space speed limit function ft:
Wherein: ViIt (t-1) is the final speed limit value in the t-1 period of section i, Δ V is time stability constrained parameters, value
Analysis acquisition is carried out according to highway casualty data over the years；
Above-mentioned optimization problem is solved, obtaining the corresponding optimal spatial speed limit function of optimal solution j* is ft, i.e. ft=fj*；
S6: in t=2,3 ..., T period, according to the optimal spatial speed limit function in step S5, t-th of period of calculating is removed down
Swim the final speed limit value V of other sections i other than first sectioni(t), and it is published on trackside advices plate；
Vi(t)=ft[Vi-1(t)], i=2,3 ..., I
Wherein Vi-1It (t) is the final speed limit value at t-th of period downstream position i-1 adjacent with section i；
S7: judging whether to meet t=T, if t=T, terminates speed limit；Otherwise, t=t+1 is transferred to step S3.
2. control method according to claim 1, it is characterised in that: in step S2, the t=1 period, control centre
Speed limit value V at first, the downstream section i=1 of calculating1(1) it is equal to the section detector and acquires resulting road-section average speed
Angle value, other section speed limit values are Vi(1)=f1[Vi-1(1)], i=2,3 ..., I, f1For the first space speed limit function.
3. control method according to claim 1, it is characterised in that: in step S3, in t=2,3 ..., T period,
The speed limit value V at the section i=1 of first, downstream that control centre calculates1(t) it is equal to the section detector and acquires the resulting road
Section average speed value.
4. control method according to claim 1, it is characterised in that: in step S5, time stability constrained parameters Δ V is taken
Value is 5km/h.
5. control method according to claim 1, it is characterised in that: each road section length value range is 1km-5km.
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| CN113096402A (en) * | 2021-04-12 | 2021-07-09 | 中南大学 | Dynamic speed limit control method, system, terminal and readable storage medium based on intelligent networked vehicle |
| CN114202932A (en) * | 2021-10-20 | 2022-03-18 | 江苏高速公路信息工程有限公司 | Intelligent expressway monitoring system and method |
| CN114299742A (en) * | 2022-01-20 | 2022-04-08 | 福建工程学院 | Dynamic recognition and updating recommendation method for speed limit information of expressway |
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