CN110176138A - A kind of active traffic induction method of crossing grade - Google Patents
A kind of active traffic induction method of crossing grade Download PDFInfo
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- CN110176138A CN110176138A CN201811110173.3A CN201811110173A CN110176138A CN 110176138 A CN110176138 A CN 110176138A CN 201811110173 A CN201811110173 A CN 201811110173A CN 110176138 A CN110176138 A CN 110176138A
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- G—PHYSICS
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Abstract
The invention discloses a kind of active traffic induction methods of crossing grade, active traffic guidance analysis of strategies including crossing grade, judge vehicle reach the traffic behavior in period, judge speed for the standard of reasonable speed, according to the traffic behavior and signal condition in vehicle arrival period, implement corresponding crossing grade active traffic guidance algorithm；Pass through the active traffic guidance analysis of strategies of crossing grade, it is determined that induction range is induced regions and queuing range；Then 4 standards are provided with to judge whether speed is suitable speed；Then when vehicle enters induced regions, judge that vehicle reaches the traffic behavior in period, i.e. unsaturation, quasi saturation, hypersaturated state；The signal condition that the period is finally reached according to different traffic behaviors and vehicle implements corresponding crossing grade active traffic guidance algorithm, reduces stop frequency and waiting time when vehicle enters crossing to realize.
Description
Technical Field
The invention relates to the field of induction methods, in particular to an intersection-level active traffic induction method.
Background
Under the traditional traffic environment, the decision of the driver on the speed adjustment comes from subjective judgment of the distance between the two vehicle heads, the speed of the vehicle ahead and the traffic condition of the adjacent road. Particularly, when a traveling vehicle reaches the intersection range, it is difficult for a driver to determine the current remaining valid green light time or valid red light time, and the length of the waiting fleet. Therefore, the driver cannot pass through the intersection with a desired effect by reasonably adjusting the vehicle speed. The lack of information available to the driver is an important factor in the development of intersection delays.
If active traffic guidance can be carried out at the intersection, namely, the running speed of the vehicle is guided, and the running speed of the vehicle is reasonably adjusted, the vehicle can be enabled to be in a non-stop state or the stop time is shortened when passing through the intersection, so that the intersection delay is reduced, the traffic jam and the environmental pollution are reduced, and the running efficiency is improved.
Disclosure of Invention
In view of the above, in order to solve the problems in the prior art, the invention provides an intersection-level active traffic guidance method, which aims to solve the problems that when a vehicle passes through an intersection, the intersection delay is reduced, traffic jam and environmental pollution are reduced, and the driving efficiency is improved because the vehicle is not stopped or the stopping time is shortened.
In order to achieve the above object, the technical solution of the present invention is as follows.
An intersection-level active traffic guidance method, comprising the steps of:
step 1, analyzing an intersection-level active traffic guidance strategy;
step 2, judging the traffic state of the vehicle arrival period;
step 3, judging the vehicle speed to be a standard of reasonable speed;
and 4, implementing a corresponding intersection-level active traffic guidance algorithm according to the traffic state and the signal state of the vehicle arrival period.
Further, the step 1 comprises the following steps:
step 11, precondition divisionAnalysis, RdDenotes the length of the induction region, RqThe length of the queuing range is represented, when the vehicle enters an induction area and the queuing range, the vehicle is communicated with the drive test equipment in real time, the driving information of the vehicle is provided for the drive test equipment, the induction area is a range for carrying out induction adjustment on the vehicle speed, namely the length from the stop line to the upstream is RdA range of (d); length R of said queuing rangeqThe average value of the maximum value of the vehicle queuing length in the time period, namely the length from the stop line to the upstream is RqAnd satisfies Rq＜Rd；
And 12, analyzing an ideal state, wherein when the vehicle reaches the intersection, the vehicle passing state at the intersection is a green light smooth state, namely the saturation degree of the intersection is an unsaturated state or a quasi-saturated state, the vehicle can pass through the intersection without stopping, and the ideal condition occurs after the queuing length reaches the maximum value and before the red light duration time of the intersection indicator light in the next period starts.
Further, the step 2 comprises the following steps:
step 21, solving the saturation of the intersection through a formula, wherein the saturation of the intersection is the maximum value of the saturation of each phase of the intersection, and the formula is as follows:
wherein x is the saturation of the intersection, Q is the flow of the phase key traffic, and Q is the traffic capacity;
step 22, judging the saturation state of the intersection, wherein the saturation of the intersection is divided into an unsaturated state, a quasi-saturated state and an over-saturated state, and when x is smaller than 1, the intersection is in the unsaturated state; when x is equal to 1, the state is in a quasi-saturation state; when x is more than 1, the state is supersaturated;
and 23, when the saturation of the intersection is in an oversaturation state, the accumulated vehicles and the real-time vehicles in the accumulated time cannot be emptied in the release time, the remaining vehicles are accumulated into the accumulated vehicles in the next period after the release time is over, the release time of the next period is occupied, the release time is the duration of the green light of the intersection indicator light, and the accumulated time refers to the duration of the red light of the intersection indicator light.
Further, the step 3 comprises the following steps:
step 31, judging the vehicle speedWhether or not the vehicle speed limit V specified for the link is exceededlimWhen the road section does not stipulate the limit of the vehicle speed, order Vlim＝80km/h；
Step 32, judging whether the acceleration is in a reasonable range [ -a ]MAX,aMAX]Between, to different motorcycle types, the reasonable scope of acceleration is different: small-sized vehicle aMAX＝5m/s2(ii) a Medium-sized vehicle aMAX＝4m/s2(ii) a Large-sized vehicle aMAX＝3m/s2；
Step 33, determining the vehicle speedWhether the vehicle speed can be accepted by a driver or not, wherein the vehicle speed change cannot exceed 60% of the original vehicle speed;
step 34, judging whether the driving condition allows the speed adjustment or not, if the distance between vehicles in front of the vehicles can not meet the requirement of the speed, detecting whether the speed updating can be realized by changing the lane or not, if the distance between vehicles can not meet the requirement of the speed, the speed of the vehicle is not allowedAn unreasonable induced vehicle speed is considered.
Further, the step 4 comprises the following steps:
step 41, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is effective green time, the state of the arrival period is an ideal state and a non-ideal state, and corresponding induction algorithms need to be established respectively; otherwise, go to step 42;
step 42, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is an effective red light time, the vehicle i uses the initial speed v0When the vehicle runs to the boundary of the queuing range, the signal state is still in effective red light time, and a corresponding intersection-level active traffic guidance method needs to be established; otherwise, go to step 43;
and 43, if the traffic state of the arrival period is in an oversaturated state, all vehicles arriving at the intersection need to stop to pass through the intersection, and for the vehicles in the remaining queues, the waiting time also comprises the effective red light time of the next period, namely the oversaturated delay state, and a corresponding intersection-level active traffic guidance method needs to be established.
Further, the effective green light time refers to the green light release time corresponding to the ideal utilization time converted from the available transit time of the signal phase in one signal period; the effective red light time refers to the red light release time corresponding to the ideal stop time converted from the red light time of the signal phase in one signal period.
Further, the step 41 includes:
the ideal state is that the vehicle i is at an initial speed v0When the vehicle runs to the tail of the queue range, the queue length reaches the maximum value, and the vehicle can pass through the stop line in the remaining effective green light time, the corresponding inducement strategy is as follows: at an initial induction rateIs v is0From the induction range boundary RdTo the position of the maximum value of the queue length of the arrival periodThe induced velocity in this interval is the original velocity v0(ii) a FromTo the stop line, still at speed v0To run or to runIs accelerated gradually toThen the vehicle runs at a constant speed; each induction speed corresponds to an induction strategy;
in the ideal case, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0Time to travel to the queuing range boundary;indicating that the nth signal period is in a normal state;indicating that when vehicle i travels to the position of maximum queue length, queue length has reached a maximum and begins to dissipate;indicating that the time at which vehicle i reaches the stop line is less than the start time of the active red light for the next cycle, where tlIndicating the time for the vehicle to travel from the position of maximum queue length to the stop line, ifThenIf it isThen tlBy accelerationAnd speed after accelerationDetermination of, theIndicating the target vehicle speed to which the vehicle i needs to be accelerated or decelerated after reaching the maximum queuing area position in the nth cycle,for the corresponding acceleration, it is calculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no one that meets the requirementsAndthenAndthe value of (d) is NULL;
in the formula (2)② is the induction speed meeting the condition, ③ is the limit condition of acceleration distance, ④⑤⑥ is the reasonable judgment standard of induction speed, ⑦ is the judgment standard of induction speedTaking the minimum value of all solutions of a'; in this phase, the acceleration a' is greater than or equal to 0;
if it isAndif the value of (D) is not NULL, then
Otherwise, the condition which does not accord with the ideal state is processed according to the non-ideal state;
Road(v0)>0 denotes a velocity v0Can meet the requirement of traffic condition, Road (v)0) Less than or equal to 0 represents that the current traffic state does not accord with the vehicle speed v0The conditions of (a); road (v)0) Is defined as:
d+(i)(t) represents the distance between vehicle i and the preceding adjacent vehicle at time t; d+(i)(T0)≥v0Indicating vehicle i at speed v0Conditions required for running on the own lane;indicating that the vehicle i meets the lane change condition;denotes the distance between the vehicle i at time t and the adjacent vehicles in the adjacent lanes, x may beIs + or-, + represents front, -represents back;in order to provide the motivational conditions for the lane change,is a safe condition for lane change;
when the vehicle i is not allowed to change lanes randomly due to approaching the intersection, making the adjacent lanes not meeting the lane change condition
Further, the step 41 includes:
the non-ideal state is that the vehicle i is at a speed v0When the vehicle runs to the tail of the queue range, the queue length does not reach the maximum value, the corresponding induction strategy is an ideal state that the arrival time of the vehicle accords with the arrival period, and the corresponding induction strategy is as follows: at an initial induction speedIs composed ofFrom the inducement range boundary to the position of the maximum value of the queue length of the arrival period, toFor acceleration, gradually accelerated or decelerated toThen the vehicle runs at a constant speed; from the position of the maximum value of the queue length to the stop line toFor acceleration, gradually accelerated toThen the vehicle runs at a constant speed; according to the time when the queue length reaches the maximum valueLength from maximum valueCalculating the induction speed of the maximum queuing length when the vehicle i runs to the tail of the queue; if the induction speed exists, the vehicle is recommended to be adjusted to the induction speed, and the intersection is passed without stopping;
in a non-ideal state, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0When the vehicle runs to the position of the maximum queuing length, the queuing length does not reach the maximum value;indicates a target vehicle speed to which acceleration or deceleration is required after the vehicle i enters the induction zone,is the corresponding acceleration;indicating that vehicle i has reached the position of maximum queue lengthThen, the target vehicle speed needs to be accelerated,is the corresponding acceleration;
the above-mentionedAndthe value of (d) is calculated by the following formula:
wherein v ist' is a temporary speed variable, a ' is a temporary acceleration variable, and t ' is a temporary acceleration time variable; if there is no one that meets the requirementsAndthenAndthe value of (d) is NULL;
in the formula (5), ② is the condition of ideal state, namely, the vehicle i reaches the position of the maximum queuing length after the queuing length reaches the maximum value in the nth arrival period, ③④⑤⑥ is the reasonable induction vehicle speed limiting condition, ⑦ shows thatTaking the solution with the minimum absolute value in all the solutions of a';
if it isAndthe value of (a) is not NULL,the value of (d) is calculated by the following formula:
wherein v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no one that meets the requirementsAndthenAndthe value of (d) is NULL;
in equation (6), ② is removed and the rest is substantially the same as in equation (2). in ②,for the vehicle to run toThe time of (a) is,for vehicles fromThe time taken to travel to the stop line;taking the minimum value of a' meeting the condition,is the corresponding speed.
Has the same meaning as the function Road () of the ideal state, i.e.Indicating speedThe requirements of traffic conditions can be met;is defined as:
further, the step 42 includes:
if the vehicle i is at the original speed v0When the vehicle travels to the boundary of the queuing range and the signal state is the valid red light time, the inducing scheme comprises the following steps:
according to the first scheme, if the traffic state of the arrival period is in a non-oversaturation state, the arrival time of the traffic state is made to accord with the ideal state of the arrival period;
according to the scheme II, if the previous cycle of the traffic state of the arrival cycle is in a non-oversaturation state, the arrival time of the arrival cycle is made to accord with the ideal state of the previous cycle;
when the vehicle i runs to the tail of the queue range, the optimal speed of the queue length reaching the maximum value and the optimal speed of the vehicle from the position of the maximum value of the queue length to a stop line are calculated in the algorithm; if the two optimal speeds exist, the vehicle is recommended to be adjusted to the optimal speed, and the intersection is passed without stopping; the specific algorithm is as follows:
if the traffic state of the nth arrival period is not in the oversaturation state, andandif the data are not null, executing the first scheme; if the n-1 th cycle is not in a supersaturated state, andandif the data are not null, executing a second scheme; if both schemes are feasible, then chooseAndthe scheme corresponding to the acceleration with the minimum absolute value;
andthe calculation method of (a) is the same as the formulas (5) and (6);
andthe calculation method of (2) is similar to the equations (5) and (6), and the following points are different:
in equation (5), equation ② becomes:
equation ③ becomes:
in equation (6), equation ② becomes:
equation ③ becomes:
further, the step 43 includes:
when the traffic state of the arrival period of the vehicle i is an oversaturated state, whether the previous period and the next period are oversaturated periods needs to be detected; if the adjacent periods have normal state periods, adjusting the period of the vehicle i reaching the intersection to an ideal state of the corresponding period; if the two adjacent periods are in a normal state, selecting a scheme with the minimum change of the induction speed relative to the original speed by the induction algorithm;
if the traffic states of 3 continuous arrival periods are all in an oversaturated state, or no ideal state induction speed of the adjacent period exists, the induction purpose is to avoid the vehicle i from entering a residual queue of the period, the vehicle is prevented from passing through a saturated delay state, and the corresponding induction strategy is as follows: at an initial induction rateIs composed ofThe corresponding induction strategy is: from the boundary of the induction range to the distance stop lineThe inducing strategy of the position is as followsFor acceleration, gradually accelerated or decelerated toThen, the vehicle runs at a constant speed until the vehicle runs to the tail of the queuing queue;
the induction algorithm is as follows:
whereinIndicating a target vehicle speed to which the vehicle i needs to be accelerated or decelerated in order not to enter the remaining queue after entering the induction area,is the corresponding acceleration; defining the wave velocity of the queued wave of the nth arrival period as
The induction rateCalculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no one that meets the requirementsThenAndthe value of (d) is NULL;
in the formula (10), the first and second groups,indicating that the vehicle has traveled to a stop lineThe time of the position is less than or equal to the nth arrival periodFrom the stop line toIs the portion of the queue length that is not remaining;is the propagation of a queuing wave from the stop line toThe time of the location; if the vehicle is in line for the length of the queueA pre-arrival queuing, an over-saturation stall condition can be avoided.
Compared with the prior art, the crossing-level active traffic guidance method has the beneficial effects that: the method has the advantages that active traffic guidance is carried out at the intersection, namely, the vehicle running speed is guided, and the vehicle is guided to reasonably adjust the running speed, so that the number of the vehicles stopping at the intersection and the average waiting time of the vehicles at the intersection are effectively reduced when the vehicles pass through the intersection, the intersection delay is reduced, the traffic jam and the environmental pollution are reduced, and the running efficiency is improved.
Drawings
Fig. 1 is a flow chart of an intersection-level active traffic guidance method of the present invention.
Fig. 2 is a flow chart of an induction algorithm of the intersection-level active traffic induction method of the present invention.
Fig. 3 is a schematic diagram of an intersection structure of the intersection-level active traffic guidance method of the present invention.
Fig. 4 is a diagram of a vehicle traffic condition (not saturated) at an intersection.
Fig. 5 is a diagram of the traffic state (quasi-saturated) of a vehicle entering an intersection.
Fig. 6 is a graph of vehicle traffic conditions (over-saturation) at an intersection.
Fig. 7 is an intersection simulation effect diagram of an intersection-level active traffic guidance method of the present invention.
Fig. 8 is a road parking quantity diagram of an intersection-level active traffic guidance method of the present invention.
Fig. 9 is a vehicle average waiting time diagram of an intersection-level active traffic guidance method of the present invention.
Detailed Description
The following description will further explain embodiments of the present invention by referring to the figures and the specific embodiments. It is noted that processes or symbols not specifically described below (e.g., symbols commonly used in individual programming algorithms) are understood or implemented by those skilled in the art with reference to the prior art. The described embodiments are only a part of the embodiments of the present invention, not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.
As shown in fig. 1, it is a flow chart of an intersection-level active traffic guidance method of the present invention, comprising the following steps:
step 1, analyzing an intersection-level active traffic guidance strategy;
step 2, judging the traffic state of the vehicle arrival period;
step 3, judging the vehicle speed to be a standard of reasonable speed;
and 4, implementing a corresponding intersection-level active traffic guidance algorithm according to the traffic state and the signal state of the vehicle arrival period.
Preferably, the step 1 comprises the following steps:
step 11, precondition analysis, real-time communication with the drive test equipment after the vehicle enters the guidance area and the queuing range, and provision of the driving information of the vehicle to the drive test equipment, as shown in fig. 3, which is a schematic diagram of an intersection structure diagram of the intersection-level active traffic guidance method of the invention, wherein the guidance area R is a road intersection structure diagramdExtent of inductive regulation of vehicle speed, i.e. R from stop line to upstreamdAt a point, the length R of the queuing rangeqFor the average of the maximum value of the vehicle queue length for that period, i.e. R upstream from the stop lineqAt a point, and Rq＜Rd；
And 12, analyzing an ideal state, wherein when the vehicle reaches the intersection, the vehicle passing state at the intersection is a green light smooth state, namely the saturation degree of the intersection is an unsaturated state or a quasi-saturated state, the vehicle can pass through the intersection without stopping, and the ideal condition occurs after the queuing length reaches the maximum value and before the red light duration time of the intersection indicator light in the next period starts.
As shown in fig. 2, the step 2 of the guidance algorithm flowchart of the intersection-level active traffic guidance method of the present invention includes the following steps:
step 21, solving the saturation of the intersection through a formula, wherein the saturation of the intersection is the maximum value of the saturation of each phase of the intersection, and the formula is as follows:
wherein x is the saturation of the intersection, Q is the flow of the phase key traffic, and Q is the traffic capacity;
step 22, judging the state of the saturation of the intersection, as shown in fig. 4, 5 and 6, which is a state diagram of the traffic state of vehicles entering the intersection, wherein the saturation of the intersection is divided into an unsaturated state (fig. 4), a quasi-saturated state (fig. 5) and an oversaturated state (fig. 6), and when x is smaller than 1, the saturation is in the unsaturated state; when x is equal to 1, the state is in a quasi-saturation state; when x is more than 1, the state is supersaturated;
and 23, when the saturation of the intersection is in an oversaturation state, the accumulated vehicles and the real-time vehicles in the accumulated time cannot be emptied in the release time, the remaining vehicles are accumulated into the accumulated vehicles in the next period after the release time is over, the release time of the next period is occupied, the release time is the duration of the green light of the intersection indicator light, and the accumulated time refers to the duration of the red light of the intersection indicator light.
Preferably, referring to fig. 2, the step 3 includes the following steps:
step 31, judging the vehicle speedWhether or not the vehicle speed limit V specified for the link is exceededlimWhen the road section does not stipulate the limit of the vehicle speed, order Vlim＝80km/h；
Step 32, judging whether the acceleration is in a reasonable range [ -a ]MAX,aMAX]Between, to different motorcycle types, the reasonable scope of acceleration is different: small-sized vehicle aMAX＝5m/s2(ii) a Medium-sized vehicle aMAX＝4m/s2(ii) a Large-sized vehicle aMAX＝3m/s2；
Step 33, determining the vehicle speedWhether the vehicle speed can be accepted by a driver or not, wherein the vehicle speed change cannot exceed 60% of the original vehicle speed;
step 34, judging whether the driving condition allows the speed adjustment or not, if the distance between vehicles in front of the vehicles can not meet the requirement of the speed, detecting whether the speed updating can be realized by changing the lane or not, if the distance between vehicles can not meet the requirement of the speed, the speed of the vehicle is not allowedAn unreasonable induced vehicle speed is considered.
Preferably, referring to fig. 2, the step 4 includes the following steps:
step 41, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is effective green time, the state of the arrival period is an ideal state and a non-ideal state, and corresponding induction algorithms need to be established respectively; otherwise, go to step 42;
step 42, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is an effective red light time, the vehicle i uses the initial speed v0When the vehicle is driven to the boundary of the queuing range, the signal state is stillIn order to effectively indicate the red light time, a corresponding crossing-level active traffic guidance method needs to be established; otherwise, go to step 43;
and 43, if the traffic state of the arrival period is in an oversaturated state, all vehicles arriving at the intersection need to stop to pass through the intersection, and for the vehicles in the remaining queues, the waiting time also comprises the effective red light time of the next period, namely the oversaturated delay state, and a corresponding intersection-level active traffic guidance method needs to be established.
Preferably, the valid green light time refers to a transit time available for the signal phase in one signal period, which is converted into a green light release time corresponding to ideal utilization; the effective red light time refers to the red light time corresponding to the ideal stop time converted from the red light time of the signal phase in one signal period.
Preferably, the step 41 includes:
the ideal state is that the vehicle i is at an initial speed v0When the vehicle runs to the tail of the queue range, the queue length reaches the maximum value, and the vehicle can pass through the stop line in the remaining effective green light time, the corresponding inducement strategy is as follows: at an initial induction rateIs v is0From the induction range boundary RdTo the position of the maximum value of the queue length of the arrival periodThe induced velocity in this interval is the original velocity v0(ii) a FromTo the stop line, still at speed v0To run or to runIs accelerated gradually toThen the vehicle runs at a constant speed; each induction speed corresponds to an induction strategy;
in the ideal case, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0Time to travel to the queuing range boundary;indicating that the nth signal period is in a normal state;indicating that when vehicle i travels to the position of maximum queue length, queue length has reached a maximum and begins to dissipate;indicating that the time at which vehicle i reaches the stop line is less than the start time of the active red light for the next cycle, where tlIndicating the time for the vehicle to travel from the position of maximum queue length to the stop line, ifThenIf it isThen tlBy accelerationAnd speed after accelerationDetermination of, theIndicating the target vehicle speed to which the vehicle i needs to be accelerated or decelerated after reaching the maximum queuing area position in the nth cycle,for the corresponding acceleration, it is calculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no one that meets the requirementsAndthenAndthe value of (d) is NULL;
in the formula (2), ② represents induction speed meeting the condition, ③ represents a limit condition of acceleration distance, ④⑤⑥ represents a reasonable judgment standard of induction vehicle speed, and ⑦ representsTaking the minimum value of all solutions of a'; in this phase, the acceleration a' is greater than or equal to 0;
if it isAndif the value of (D) is not NULL, then
Otherwise, the condition which does not accord with the ideal state is processed according to the non-ideal state;
Road(v0)>0 denotes a velocity v0Can meet the requirement of traffic condition, Road (v)0) Less than or equal to 0 represents that the current traffic state does not accord with the vehicle speed v0The conditions of (a); the Road (v)0) Is defined as:
d+(i)(t) represents the distance between the vehicle i and the preceding adjacent vehicle at time t. d+(i)(T0)≥v0Indicating vehicle i at speed v0The conditions required for traveling on the own lane.Indicating that the vehicle i meets the lane change condition;representing the distance between the vehicle i and the adjacent vehicles in front and behind on the adjacent lane at time t, x may be + or-, + representing front and-representing rear.In order to provide the motivational conditions for the lane change,is a safe condition for lane change;
when the vehicle iWhen the lane change is not allowed due to the approach of the intersection, the adjacent lanes which do not meet the lane change condition are enabled
Preferably, the step 41 includes:
the non-ideal state is that the vehicle i is at a speed v0When the vehicle runs to the tail of the queue range, the queue length does not reach the maximum value, the corresponding induction strategy is an ideal state that the arrival time of the vehicle accords with the arrival period, and the corresponding induction strategy is as follows: at an initial induction speedIs composed ofFrom the inducement range boundary to the position of the maximum value of the queue length of the arrival period, toFor acceleration, gradually accelerated or decelerated toThen the vehicle runs at a constant speed; from the position of the maximum value of the queue length to the stop line toFor acceleration, gradually accelerated toThen the vehicle runs at a constant speed; according to the time when the queue length reaches the maximum valueLength from maximum valueCalculating the guidance that the queuing length reaches the maximum value when the vehicle i runs to the tail of the queueSpeed; if the induction speed exists, the vehicle is recommended to be adjusted to the induction speed, and the intersection is passed without stopping;
in a non-ideal state, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0When the vehicle runs to the position of the maximum queuing length, the queuing length does not reach the maximum value;indicates a target vehicle speed to which acceleration or deceleration is required after the vehicle i enters the induction zone,is the corresponding acceleration;indicating that vehicle i has reached the position of maximum queue lengthThen, the target vehicle speed needs to be accelerated,is the corresponding acceleration;
the above-mentionedAndthe value of (d) is calculated by the following formula:
wherein v ist' is a temporary speed variable, a ' is a temporary acceleration variable, and t ' is a temporary acceleration time variable; if there is no one that meets the requirementsAndthenAndthe value of (d) is NULL;
in the formula (5), ② is the condition of ideal state, namely, the vehicle i reaches the position of the maximum queuing length after the queuing length reaches the maximum value in the nth arrival period, ③④⑤⑥ is the reasonable induction vehicle speed limiting condition, ⑦ shows thatTaking the solution with the minimum absolute value in all the solutions of a';
if it isAndthe value of (a) is not NULL,the value of (d) is calculated by the following formula:
wherein v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable. If there is not one that meets the requirementsAndthenAndthe value of (d) is NULL;
in equation (6), ② is removed and the rest is substantially the same as in equation (2). in ②,for the vehicle to run toThe time of (a) is,for vehicles fromThe time it takes to travel to the stop line.Taking the minimum value of a' meeting the condition,is the corresponding speed.
Has the same meaning as the function Road () of the ideal state, i.e.Indicating speedCan meet the requirements of traffic conditions.Is defined as:
preferably, the step 42 includes:
if the vehicle i is at the original speed v0When the vehicle travels to the boundary of the queuing range and the signal state is the valid red light time, the inducing scheme comprises the following steps:
according to the first scheme, if the traffic state of the arrival period is in a non-oversaturation state, the arrival time of the arrival period is in accordance with the ideal state of the arrival period;
according to the scheme II, if the previous cycle of the traffic state of the arrival cycle is in a non-oversaturation state, the arrival time of the arrival cycle is made to accord with the ideal state of the previous cycle;
the algorithm needs to calculate the optimal speed when the vehicle i runs to the tail of the queue range, the queuing length reaches the maximum value, and the optimal speed when the vehicle i runs to the stop line from the position of the maximum queuing length. If the two optimal speeds exist, the vehicle is recommended to be adjusted to the optimal speed, and the purpose of passing through the intersection without stopping is achieved; the specific algorithm is as follows:
if the traffic state of the nth arrival period is not in the oversaturation state, andandif the data are not null, executing the first scheme; if the n-1 th cycle is not in a supersaturated state, andandif the data are not null, executing a second scheme; if both schemes are feasible, then chooseAndthe scheme corresponding to the acceleration with the minimum absolute value;
andthe calculation method of (a) is the same as the formulas (5) and (6);
andthe calculation method of (2) is similar to the equations (5) and (6), and the following points are different:
in equation (5), equation ② becomes:
equation ③ becomes:
in equation (6), equation ② becomes:
equation ③ becomes:
preferably, the step 43 includes:
when the traffic state of the arrival period of the vehicle i is an oversaturated state, whether the previous period and the next period are oversaturated periods needs to be detected; if the adjacent periods have normal state periods, adjusting the period of the vehicle i reaching the intersection to an ideal state of the corresponding period; if the two adjacent periods are in a normal state, selecting a scheme with the minimum change of the induction speed relative to the original speed by the induction algorithm;
if the traffic states of 3 continuous arrival periods are all in an oversaturated state, or no ideal state induction speed of the adjacent period exists, the induction purpose is to avoid the vehicle i from entering a residual queue of the period, the vehicle is prevented from passing through a saturated delay state, and the corresponding induction strategy is as follows: at an initial induction rateIs composed ofThe corresponding induction strategy is: from the boundary of the induction range to the distance stop lineInduction of positionThe strategy is as followsFor acceleration, gradually accelerated or decelerated toThen, the vehicle runs at a constant speed until the vehicle runs to the tail of the queuing queue;
the induction algorithm is as follows:
whereinIndicating a target vehicle speed to which the vehicle i needs to be accelerated or decelerated in order not to enter the remaining queue after entering the induction area,is the corresponding acceleration; defining the wave velocity of the queued wave of the nth arrival period as
The induction rateCalculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no one that meets the requirementsThenAndthe value of (d) is NULL;
in the formula (10), the first and second groups,indicating that the vehicle has traveled to a stop lineThe time of the position is less than or equal to the nth arrival periodFrom the stop line toIs the portion of the queue length that is not remaining;is the propagation of a queuing wave from the stop line toThe time of the location; if the vehicle queue length reachesBy arriving ahead in the queue, an oversaturated stall condition can be avoided.
As shown in fig. 7, which is an intersection simulation effect diagram of the intersection-level active traffic guidance method of the present invention, a road 1 is an intersection using the intersection-level active traffic guidance method of the present invention, and a road 2 is an intersection under normal conditions; as is apparent from fig. 8 and 9, the intersection road 1 using the intersection-level active traffic guidance method of the present invention makes the number of vehicles not stopping or stopping stable when passing through the intersection; the parking time is significantly shortened.
In summary, the crossing-level active traffic guidance method of the present invention is a crossing-level active traffic guidance method, and aims to solve the problem that when a vehicle passes through a crossing, the vehicle does not stop or the stopping time is shortened, thereby reducing the delay at the crossing, reducing traffic congestion and environmental pollution, and improving the driving efficiency.
Claims (10)
1. An intersection-level active traffic guidance method, comprising the steps of:
step 1, analyzing an intersection-level active traffic guidance strategy;
step 2, judging the traffic state of the vehicle arrival period;
step 3, judging the vehicle speed to be a standard of reasonable speed;
and 4, implementing a corresponding intersection-level active traffic guidance algorithm according to the traffic state and the signal state of the vehicle arrival period.
2. The method of claim 1, wherein the step 1 comprises the steps of:
step 11, analysis of preconditions, RdDenotes the length of the induction region, RqThe length of the queuing range is represented, when the vehicle enters an induction area and the queuing range, the vehicle is communicated with the drive test equipment in real time, the driving information of the vehicle is provided for the drive test equipment, the induction area is a range for carrying out induction adjustment on the vehicle speed, namely the length from the stop line to the upstream is RdA range of (d); length R of said queuing rangeqThe average value of the maximum value of the vehicle queuing length in the time period, namely the length from the stop line to the upstream is RqAnd satisfies Rq＜Rd；
And step 12, analyzing an ideal state, wherein when the vehicle reaches the intersection, the vehicle passing state at the intersection is a green light smooth state, namely the saturation degree of the intersection is an unsaturated state or a quasi-saturated state, the vehicle can pass through the intersection without stopping, and the ideal situation occurs after the queuing length reaches the maximum value and before the red light duration time of the intersection indicator light in the next period starts.
3. The method of claim 1, wherein the step 2 comprises the steps of:
step 21, solving the saturation of the intersection through a formula, wherein the saturation of the intersection is the maximum value of the saturation of each phase of the intersection, and the formula is as follows:
wherein x is the saturation of the intersection, Q is the flow of the phase key traffic, and Q is the traffic capacity;
step 22, judging the saturation state of the intersection, wherein the saturation of the intersection is divided into an unsaturated state, a quasi-saturated state and a supersaturated state, and when x is less than 1, the intersection is in the unsaturated state; when x is equal to 1, the state is in a quasi-saturation state; when x is more than 1, the state is supersaturated;
and 23, when the saturation of the intersection is in an oversaturation state, the accumulated vehicles and the real-time vehicles in the accumulated time cannot be emptied in the release time, the remaining vehicles are accumulated into the accumulated vehicles in the next period after the release time is over, the release time of the next period is occupied, the release time is the duration of the green light of the intersection indicator light, and the accumulated time refers to the duration of the red light of the intersection indicator light.
4. The method of claim 1, wherein the step 3 comprises the steps of:
step 31, judging the vehicle speedWhether or not the vehicle speed limit V specified for the link is exceededlimWhen the road section does not stipulate the speed limit, let Vlim＝80km/h；
Step 32, judging whether the acceleration is in a reasonable range [ -a ]MAX,aMAX]Between, to different motorcycle types, the reasonable scope of acceleration is different: small-sized vehicle aMAX＝5m/s2(ii) a Medium-sized vehicle aMAX＝4m/s2(ii) a Large-sized vehicle aMAX＝3m/s2；
Step 33, determining the vehicle speedWhether the vehicle speed can be accepted by a driver or not, wherein the vehicle speed change cannot exceed 60% of the original vehicle speed;
step 34, judging whether the driving condition allows the speed adjustment or not, the distance between vehicles in front of the vehicles needs to allow the vehicles to accelerate, if the distance between the vehicles cannot meet the requirement of the speed, detecting whether the speed updating can be realized by changing the lane or not, and if the two conditions are not allowed, the speed of the vehiclesAn unreasonable induced vehicle speed is considered.
5. The method of claim 1, wherein the step 4 comprises the steps of:
step 41, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is effective green time, the state of the arrival period is an ideal state and a non-ideal state, and corresponding induction algorithms need to be established respectively; otherwise, go to step 42;
step 42, if the traffic state of the arrival period is an unsaturated state and the signal state of the arrival time is an effective red light time, the vehicle i uses the initial speed v0When the vehicle runs to the boundary of the queuing range, the signal state is still in effective red light time, and a corresponding intersection-level active traffic guidance method needs to be established; otherwise, go to step 43;
and 43, if the traffic state of the arrival period is in an oversaturated state, all vehicles arriving at the intersection need to stop to pass through the intersection, and for the vehicles in the remaining queues, the waiting time also comprises the effective red light time of the next period, namely the oversaturated delay state, and a corresponding intersection-level active traffic guidance method needs to be established.
6. The method of claim 5, wherein the valid green time is a green light passing time converted from a passing time available for the signal phase in a signal period to a green light passing time corresponding to the signal phase being ideally utilized; the effective red light time refers to the red light release time corresponding to the ideal stop time converted from the red light time of the signal phase in one signal period.
7. The method of claim 5, wherein the step 41 comprises:
the ideal state is that the vehicle i is at an initial speed v0Go to queueAt the end of the line, the line length has reached a maximum and the vehicle can pass the stop line for the remaining valid green time, then the corresponding inducement strategy is: at an initial induction rateIs v is0From the induction range boundary RdTo the position of the maximum value of the queue length of the arrival periodThe induced velocity in this interval is the original velocity v0(ii) a FromTo the stop line, still at speed v0To run or to runIs accelerated gradually toThen the vehicle runs at a constant speed; each induction speed corresponds to an induction strategy;
in the ideal case, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0Time to travel to the queuing range boundary;indicating that the nth signal period is in a normal state;indicating that when vehicle i travels to the position of maximum queue length, queue length has reached a maximum and begins to dissipate;indicating that the time at which vehicle i reaches the stop line is less than the start time of the active red light for the next cycle, where tlIndicating the time for the vehicle to travel from the position of maximum queue length to the stop line, ifThenIf it isThen tlBy accelerationAnd speed after accelerationDetermination of, theIndicating the target vehicle speed to which the vehicle i needs to be accelerated or decelerated after reaching the maximum queuing area position in the nth period,for the corresponding acceleration, it is calculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is no characterIn accordance with the requirementsAndthenAndthe value of (d) is NULL;
in the formula (2), ② is used for calculating the induction speed meeting the conditions, ③ is used for limiting the acceleration distance, ④⑤⑥ is used as the reasonable judgment standard of the induction vehicle speed, and ⑦ represents thatTaking the minimum value of all solutions of a'; in this phase, the acceleration a' is greater than or equal to 0;
if it isAndif the value of (D) is not NULL, then
Otherwise, the condition which does not accord with the ideal state is processed according to the non-ideal state;
Road(v0)>0 denotes a velocity v0Can meet the requirement of traffic condition, Road (v)0) The current traffic state is not accordant with the vehicle speed v and is less than or equal to 00Condition of (d), Road (v)0) Is defined as:
d+(i)(t) represents the distance between vehicle i and the preceding adjacent vehicle at time t; d+(i)(T0)≥v0Indicating vehicle i at speed v0Conditions required for running on the own lane;Andindicating that the vehicle i meets the lane change condition;represents the distance between the vehicle i and the adjacent vehicles in the front and back of the adjacent lane at the time t, and x can be + or-, + represents the front and-represents the back;in order to provide the motivational conditions for the lane change,is a safe condition for lane change;
when the vehicle i is not allowed to change lanes randomly due to approaching the intersection, making the adjacent lanes not meeting the lane change condition
8. The method of claim 5, wherein the step 41 comprises:
the non-ideal state is that the vehicle i is at a speed v0When the vehicle runs to the tail of the queue range, the queue length does not reach the maximum value, the corresponding induction strategy is an ideal state that the arrival time of the vehicle accords with the arrival period, and the corresponding induction strategy is as follows: at an initial induction rateIs composed ofFrom the inducement range boundary to the position of the maximum value of the queue length of the arrival period, toFor acceleration, gradually accelerated or decelerated toThen the vehicle runs at a constant speed; from the position of the maximum value of the queue length to the stop line toFor acceleration, gradually accelerated toThen the vehicle runs at a constant speed; according to the time when the queue length reaches the maximum valueLength from maximum valueCalculating the induction speed of the maximum queuing length when the vehicle i runs to the tail of the queue; if the induction speed exists, the vehicle is recommended to be adjusted to the induction speed, and the intersection is passed without stopping;
in a non-ideal state, the algorithm steps are as follows:
wherein,when the vehicle i is at a speed v0When the vehicle is driven to the position with the maximum queuing length, the queuing length does not reach the maximum value;indicates a target vehicle speed to which acceleration or deceleration is required after the vehicle i enters the induction zone,is the corresponding acceleration;indicating that vehicle i has reached the position of maximum queue lengthAnd then, the target vehicle speed to which acceleration is required,is the corresponding acceleration;
the above-mentionedAndthe value of (d) is calculated by the following formula:
wherein v ist' is a temporary speed variable, a ' is a temporary acceleration variable, and t ' is a temporary acceleration time variable; if there is not one that meets the requirementsAndthenAndthe value of (d) is NULL;
in the formula (5), ② is the condition of ideal state, namely, the vehicle i reaches the position of the maximum queuing length after the queuing length reaches the maximum value in the nth arrival period, ③④⑤⑥ is the reasonable induction vehicle speed limiting condition, ⑦ shows thatTaking the solution with the minimum absolute value in all the solutions of a';
if it isAndthe value of (a) is not NULL,the value of (d) is calculated by the following formula:
wherein v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is not one that meets the requirementsAndthenAndthe value of (d) is NULL;
in equation (6), ② is removed and the rest is substantially the same as in equation (2). in ②,for the vehicle to run toThe time of (a) is,for vehiclesThe time taken to travel to the stop line;taking the minimum value of a' meeting the condition,is the corresponding speed;
has the same meaning as the function Road () of the ideal state, i.e.Indicating speedThe requirements of traffic conditions can be met;is defined as:
9. the method of claim 5, wherein step 42 comprises:
if the vehicle i is at the original speed v0When the vehicle travels to the boundary of the queuing range and the signal state is the valid red light time, the inducing scheme comprises the following steps:
according to the first scheme, if the traffic state of the arrival period is in a non-oversaturation state, the arrival time of the arrival period is in accordance with the ideal state of the arrival period;
according to the scheme II, if the previous cycle of the traffic state of the arrival cycle is in a non-oversaturation state, the arrival time of the arrival cycle is in accordance with the ideal state of the previous cycle;
when the vehicle i runs to the tail of the queue range, the optimal speed of the queue length reaching the maximum value and the optimal speed of the vehicle from the position of the maximum value of the queue length to a stop line are calculated in the algorithm; if the two optimal speeds exist, the vehicle is recommended to be adjusted to the optimal speed, and the purpose of passing through the intersection without stopping is achieved; the specific algorithm is as follows:
if the traffic state of the nth arrival period is not in the oversaturation state, andandif the data are not null, executing the first scheme; if the n-1 th cycle is not in a supersaturated state, andandif the data are not null, executing a second scheme; if both schemes are feasible, then chooseAndthe scheme corresponding to the acceleration with the minimum absolute value;
andthe calculation method of (a) is the same as the formulas (5) and (6);
andthe calculation method of (2) is similar to the equations (5) and (6), and the following points are different:
in equation (5), equation ② becomes:
equation ③ becomes:
in equation (6), equation ② becomes:
equation ③ becomes:
10. the method of claim 5, wherein step 43 comprises:
when the traffic state of the arrival period of the vehicle i is an oversaturated state, whether the previous period and the next period are oversaturated periods needs to be detected; if the adjacent periods have normal state periods, adjusting the period of the vehicle i reaching the intersection to an ideal state of the corresponding period; if the two adjacent periods are in a normal state, selecting a scheme with the minimum change of the induction speed relative to the original speed by the induction algorithm;
if the traffic states of 3 continuous arrival periods are all in an oversaturated state, or no ideal state induction speed of the adjacent period exists, the purpose of induction is to prevent the vehicle i from entering a residual queue of the period, so that the vehicle is prevented from experiencing an oversaturated delay state, and the corresponding induction strategy is as follows: at an initial induction rateIs composed ofThe corresponding induction strategy is: from the boundary of the induction range to the distance stop lineThe inducing strategy of the position is as followsFor acceleration, gradually accelerated or decelerated toThen, the vehicle runs at a constant speed until the vehicle runs to the tail of the queuing queue;
the induction algorithm is as follows:
whereinIndicating a target vehicle speed to which the vehicle i needs to be accelerated or decelerated in order not to enter the remaining queue after entering the induction area,is the corresponding acceleration; defining the wave velocity of the queued wave of the nth arrival period as
The induction rateCalculated by the following formula:
wherein, v'tIs a temporary speed variable, a 'is a temporary acceleration variable, and t' is a temporary acceleration time variable; if there is not one that meets the requirementsThenAndthe value of (d) is NULL;
in the formula (10), the first and second groups,indicating that the vehicle has traveled to a stop lineThe time of the position is less than or equal to the nth arrival periodFrom the stop line toIs the portion of the queue length that is not remaining;is the propagation of a queuing wave from the stop line toThe time of the location; if the vehicle queue length reachesBy arriving ahead in the queue, an oversaturated stall condition can be avoided.
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