CN110533946A - Single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations - Google Patents
Single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations Download PDFInfo
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- CN110533946A CN110533946A CN201910879475.5A CN201910879475A CN110533946A CN 110533946 A CN110533946 A CN 110533946A CN 201910879475 A CN201910879475 A CN 201910879475A CN 110533946 A CN110533946 A CN 110533946A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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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
- G08G1/096725—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 generates an automatic action on the vehicle control
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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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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Abstract
The present invention proposes a kind of method that single-point intersection speed optimizes under the mixed row environment based on edge calculations, comprising: Step 1: the division signals period；Step 2: the speed of the non-net connection vehicle of induction；Step 3: the intervention of net connection automatic driving vehicle speed.Common vehicle is considered by above technical scheme this patent and net connection automatic driving vehicle mixes the optimization under row environment and improves safety to provide uniformly coordinated scheduling scheme in the case where traveling in common in-vehicle and net connection vehicle, reduce the energy consumption of automobile.
Description
Technical field
The invention belongs to field of intelligent transportation technology, and in particular to the optimization of single-point intersection speed under mixed row environment, especially
It is single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations.
Background technique
With economical fast development and the raising of living standards of the people, the vehicle guaranteeding organic quantity that China increases substantially is to city
City's existing road service facility proposes challenge, and intersection is the node for realizing each road traffic delay conversion, and restricts road
The main bottleneck of network traffic ability, therefore intersection expansion is often surrounded to the optimization of car speed.
Bus or train route coordination technique is in the hot spot for gradually rising and becoming in recent years technical field of control over intelligent traffic research, and net connection is certainly
Dynamic driving vehicle can realize while automatic Pilot and the real time communication of roadside device, is integrative design intersection and vehicle
The optimization of speed provides new opportunity.
But in the short time, net connection automatic driving vehicle is difficult to realize cover comprehensively, though it is foreseeable that when quite long
Between in dimension, it will there is a situation where that net connection automatic driving vehicle and common vehicle mix row.Presently, there are intersection speed it is excellent
Change control algolithm often just for single environment, few consideration common vehicle is mixed excellent under row environment with net connection automatic driving vehicle
Change.In view of the above problems, the invention proposes a kind of mixed row environment to place an order using vehicle journeys time and oil consumption as objective function
Point intersection speed optimization method.
Summary of the invention
The technical problem to be solved by the present invention is providing a kind of net connection automatic driving vehicle and common vehicle is mixed under row environment
The optimal control method of speed reduces delay and oil consumption when vehicle passes through intersection.
In order to solve the above-mentioned technical problem, the technical solution of this patent offer includes:
A kind of single-point intersection speed optimization method under the mixed row environment based on edge calculations, which is characterized in that the side
Method includes:
Step 1: the division signals period
Five parts: (t will be divided the signal period according to intersection signal timing scheme1,t2) it is basic green time,；(t2,
t3) it is yellow time；(t3,t4) it is initial red time；(t4,t5) it is the uncontrollable time；(t5,t6) it is the red last time；Initially
Red light duration:
The red end time:
Wherein, a0For given acceleration, VminAnd VmaxRespectively section is minimum and Maximum speed limit, LiFor bus or train route i to parking
Linear distance.
Step 2: the speed of the non-net connection vehicle of induction
When non-net connection vehicle sail the detection that speed is completed up to test point after, according to the speed detected, away from intersection away from
From calculating its E.T.A；The part that the periodic signal according to belonging to arrival time divides, is corresponded to using VMS screen
The pacesetting of information.
Step 3: the intervention of net connection automatic driving vehicle speed
When net connection vehicle is sailed up to system boundary, edge calculations node obtains its speed, and according to speed and its specific position
Confidence breath calculates its estimated time for reaching stop line: if vehicle arrival time belongs to (t1,t2) section, then not to its speed into
Row is intervened；If vehicle arrival time belongs to (t2,t4) section, acceleration intervention is carried out to vehicle；If vehicle arrival time belongs to (t4,
t5) section, then vehicle is not intervened；If vehicle arrival time is to belong to (t5,t6) during, then vehicle slow down dry
In advance；
Wherein, it includes: that net connection automatic driving vehicle i reaches the speed of system boundary as V that the acceleration, which is intervened,i, green at this time
Lamp remaining time is gr, away from stop line Li, the acceleration of accelerator is a0；Kept for existing fast E.T.A t ∈ (t2,t4),
Intervention speed is Vx；Work as Vi+gra0≤Vmax, andWhen, net connection automatic driving vehicle accelerates whole process, end speed
Spend calculation method are as follows:After then first accelerating in the case of other at the uniform velocity, side speed calculation
Method are as follows:Vehicle is added with given
Speed a0Even acceleration is carried out, with end speed VxPass through intersection；
Wherein, it is V that the intervention algorithm that slows down, which includes: the speed of net connection automatic driving vehicle i arrival system boundary,i, this
When red light remaining time be Rr, away from stop line Li, the acceleration of moderating process is a0；Kept for existing fast E.T.A t ∈ (t2,
t4)；Work as Vi-Rra0≥Vmin, andWhen, net connection vehicle slows down whole process, end speed calculation method are as follows:Remaining situation will first slow down after at the uniform velocity, speed calculation method are as follows:Vehicle will be with given acceleration
Spend a0Even deceleration is carried out, with end speed VxPass through intersection.
The optimization under common vehicle and the mixed row environment of net connection automatic driving vehicle is considered by above technical scheme this patent, is
Uniformly coordinated scheduling scheme is provided in the case where traveling in common in-vehicle and net connection vehicle, safety is improved, reduces vapour
The energy consumption of vehicle.
Detailed description of the invention
Fig. 1 is system construction drawing.
Fig. 2 is the division mode schematic diagram of signal period,
Fig. 3 is that vehicle accelerates control effect schematic diagram,
Fig. 4 is that vehicle joins deceleration control effect schematic diagram.
Specific embodiment
Specific implementation of the patent mode is described in detail with reference to the accompanying drawing, it is pointed out that be embodied
Mode is only the citing to this patent optimal technical scheme, can not be interpreted as the limitation to the scope of this patent.
Single-point intersection vehicle under a kind of mixed row environment based on edge calculations is provided firstly according to present embodiment
Fast optimization system.
The system architecture specifically includes (1) net connection automatic driving vehicle mobile unit: mobile unit packet as shown in Figure 1:
It includes Vehicular automatic driving system, vehicle locating device, vehicle-state and uploads device.Main function is to realize driving automatically for vehicle
It sails, vehicle is run and the acquisition and upload of environmental parameter.(2) roadside device: 1. common vehicle information collection transmission device and speed
Degree inducing device: specifically including radar velocity measurement device, VMS display screen, acts on to acquire the velocity information of common vehicle, is transmitted to
Edge calculations node；The induced velocity that reception edge calculations node issues, which is shown on VMS screen, lures common vehicle progress speed
It leads.2. signal controls equipment: road traffic signal controller, network is accessed, can be communicated with edge calculations node.3. edge
Calculate node: being integrated in semaphore, can carry out real time communication with semaphore and net connection vehicle.
The system is after completing the acquisition to common vehicle information and the reception of net connection automatic driving vehicle information, to it
It is pre-processed, Exception Filter data, calculated further according to the traffic signal information obtained by signal control equipment and vehicle will be induced
Speed is issued to net connection vehicle and VMS induced screen.
Wherein,
Net connection automatic driving vehicle mobile unit: mobile unit includes Vehicular automatic driving system, vehicle locating device, vehicle
State uploads device.Main function is the automatic Pilot for realizing vehicle, vehicle operation and the acquisition and upload of environmental parameter.
In this embodiment, the system is modeled as follows:
Intersection model: the present invention is using isolated simple intersection as goal in research, and edge calculations node is in intersection
Vehicle in the range of heart radius is 300 meters is perceived and is intervened.Vehicle is without lane change row in the range of away from 300 meters of stop line
For simplifying all vehicle pass-through modes is straight trip.
Mixed line mode: the vehicle studied is standard car, considers that two class vehicles mix row: 1) non-net connection vehicle: can be
Its specific speed is measured by roadside device at test point, driver follows general driving rule；2) net connection automatic vehicle drives vehicle
: with pinpoint function, it can be achieved that automatic Pilot under networked environment, can communicate with roadside device mirror image, can carry out
Accurately speed intervention.The permeability of net connection automatic driving vehicle can adjust between 0-100%, further to be ground
Study carefully.
The necessary principle followed when vehicle driving: 1. basic traffic rules；2. keeping the time headway of safety with front truck.
Vehicle dynamic model: simplify vehicle movement be at the uniform velocity, even acceleration and deceleration.Setting section speed limit is Vmin≤Vi≤
Vmax；The maximum comfortable acceleration of vehicle is a0；Vehicle i is L away from 'STOP' line aheadi。
Objective function: vehicle can be made by intersection, to reduce as far as possible not parkingly by carrying out accelerating to intervene to vehicle
Delay；By carrying out deceleration intervention to vehicle, the rising because of oil consumption caused by stopping with vehicle idling state can avoid, therefore excellent
The objective function of change is hourage and the vehicle oil consumption of vehicle.
For the present invention using isolated simple intersection as goal in research, edge calculations node is 300 to intersection center radius
Vehicle in the range of rice is perceived and is intervened.Vehicle simplifies all without lane change behavior in the range of away from 300 meters of stop line
Vehicle pass-through mode is straight trip.It is standard car for vehicle, considers that non-net connection vehicle and net connection automatic vehicle drive vehicle
Mixed row, the position of non-net connection vehicle and speed data can be measured by trackside detection device, and the related data of net connection vehicle is then kept
0.5 upload period.It is generally V according to local actual conditions and regulation setting section speed limitmin≤Vi≤Vmax；Vehicle takes more
Comfortable acceleration is a0≤1.5m/s2。
The signal period is divided into according to the existing signal time distributing conception in intersection by five parts as shown in Figure 2: (t first1,
t2) it is basic green time, i.e., the Minimum Green Time passed through without vehicle；(t2,t3) it is yellow time, for the clear of intersection
Sky, generally 3s；(t3,t4) it is initial red time, in t5The vehicle reached before, can be by accelerating in (t1,t3)) in lead to
Cross intersection；(t4,t5) it is the uncontrollable time, when there are the setting of minimum and maximum speed, vehicle both can not be by accelerating
It is driven out in green time, can not also be reduced by intersection because idling, starting generate by slowing down not parking ground low speed
Oil consumption；(t5,t6) it is the red last time, vehicle can be reduced because of idling by intersection by slowing down not parking ground low speed, be opened
The raw oil consumption of movable property.
(t4,t5) calculated result are as follows:
(t5,t6) calculated result are as follows:
The induction of non-net connection vehicle speed
After non-net connection vehicle sails the detection for completing speed up to test point, pacesetting is carried out using VMS screen, is subtracted simultaneously
Influence of the induced velocity of few front truck to rear car.Vehicle detection point is located at: at 250 meters of stop line, VMS screen visible dots are located at:
At 150 meters of stop line, VMS screen is located at: at 50 meters of stop line.Vehicle arrive at test point when to detect its speed, away from friendship
Prong distance calculates its E.T.A.If vehicle arrival time is (t1,t2), VMS screen shows that prompt information is " to pay attention to peace
Entirely "；If vehicle arrival time is (t2,t4), then prompting speed is Vmax；It is t when E.T.A4Vehicle will arrive at can
When viewpoint, change prompt information is " taking care "；It is t when E.T.A5Vehicle when will arrive at visible dots, then mention
Show that speed is Vmin。
The intervention of net connection automatic driving vehicle speed
When net connection vehicle is sailed up to system boundary, edge calculations node obtains its speed, and according to speed and its specific position
Confidence breath calculates its time for arriving stop line: if vehicle arrival time is (t1,t2), then its speed is not intervened；If vehicle
Arrival time is (t2,t4), acceleration intervention is carried out to vehicle；If vehicle arrival time is (t4,t5), then vehicle is not done
In advance；If vehicle arrival time is (t5,t6), then deceleration intervention is carried out to vehicle.
1. accelerating to intervene algorithm: the speed that net connection automatic driving vehicle i reaches system boundary is Vi, at this time when green light residue
Between be gr, away from stop line Li, kept for existing fast E.T.A t ∈ (t2,t4), intervention speed is Vx。
Work as Vi+gra0≤Vmax, andWhen, net connection automatic driving vehicle accelerates whole process, end speed meter
Calculation method are as follows:
Other situations will first accelerate after at the uniform velocity, speed calculation method are as follows:
As shown in the horizontal dashed trace in the midpoint Fig. 3, vehicle will be with given acceleration a0Even acceleration is carried out, with end speed VxIt is logical
Intersection is crossed to avoid stopping, shortens hourage.
Intervene algorithm 2. slowing down: the speed that net connection automatic driving vehicle i reaches system boundary is Vi, at this time when red light residue
Between be Rr, away from stop line Li, kept for existing fast E.T.A t ∈ (t2,t4)。
Work as Vi-Rra0≥Vmin, andWhen, when net connection vehicle slows down whole process, end speed calculation method
Are as follows:
Remaining situation will first slow down after at the uniform velocity, speed calculation method are as follows:
As shown in the horizontal dashed trace of point in Fig. 4, vehicle will be with given acceleration a0Even deceleration is carried out, with end speed Vx
By intersection to the fuel consumption caused by avoiding because of idling and starting.
According to single-point under another aspect provides a kind of mixed row environment based on edge calculations of present embodiment
Intersection speed optimization method, which comprises
Step 1: the division signals period
Five parts: (t will be divided the signal period according to intersection signal timing scheme1,t2) it is basic green time,；(t2,
t3) it is yellow time；(t3,t4) it is initial red time；(t4,t5) it is the uncontrollable time；(t5,t6) it is the red last time；Initially
Red time:
The red end time:
Wherein, a0For given acceleration, VminAnd VmaxRespectively section is minimum and Maximum speed limit, LiFor bus or train route i to parking
Linear distance.
Step 2: the speed of the non-net connection vehicle of induction
When non-net connection vehicle sail the detection that speed is completed up to test point after, according to the speed detected, away from intersection away from
From calculating its E.T.A；The part that the periodic signal according to belonging to arrival time divides, is corresponded to using VMS screen
The pacesetting of information.
Step 3: the intervention of net connection automatic driving vehicle speed
When net connection vehicle is sailed up to system boundary, edge calculations node obtains its speed, and according to speed and its specific position
Confidence breath calculates its estimated time for reaching stop line: if vehicle arrival time belongs to (t1,t2) section, then not to its speed into
Row is intervened；If vehicle arrival time belongs to (t2,t4) section, acceleration intervention is carried out to vehicle；If vehicle arrival time belongs to (t4,
t5) section, then vehicle is not intervened；If vehicle arrival time is to belong to (t5,t6) during, then vehicle slow down dry
In advance；
Wherein, it includes: that net connection automatic driving vehicle i reaches the speed of system boundary as V that the acceleration, which is intervened,i, green at this time
Lamp remaining time is gr, away from stop line Li, the acceleration of accelerator is a0；Kept for existing fast E.T.A t ∈ (t2,t4),
Intervention speed is Vx；Work as Vi+gra0≤Vmax, andWhen, net connection automatic driving vehicle accelerates whole process, end speed
Spend calculation method are as follows:After then first accelerating in the case of other at the uniform velocity, side speed calculation
Method are as follows:Vehicle is added with given
Speed a0Even acceleration is carried out, with end speed VxPass through intersection；
Wherein, it is V that the intervention algorithm that slows down, which includes: the speed of net connection automatic driving vehicle i arrival system boundary,i, this
When red light remaining time be Rr, away from stop line Li, the acceleration of moderating process is a0；Kept for existing fast E.T.A t ∈ (t2,
t4)；Work as Vi-Rra0≥Vmin, andWhen, net connection vehicle slows down whole process, end speed calculation method are as follows:Remaining situation will first slow down after at the uniform velocity, speed calculation method are as follows:Vehicle will be with given acceleration
Spend a0Even deceleration is carried out, with end speed VxPass through intersection.
In the method, vehicle detection point is located at: at 250 meters of stop line, VMS screen visible dots are located at: distance parking
At 150 meters of line, VMS screen is located at: at 50 meters of stop line.When vehicle arrives at test point to detect its speed, away from intersection distance,
Calculate its E.T.A.If vehicle arrival time is (t1,t2), VMS screen shows that prompt information is " taking care "；If vehicle
Arrival time is (t2,t4), then prompting speed is Vmax；It is t when E.T.A4Vehicle when will arrive at visible dots,
Changing prompt information is " taking care "；It is t when E.T.A5Vehicle when will arrive at visible dots, then prompt speed
For Vmin。
Claims (3)
1. single-point intersection speed optimization system under a kind of mixed row environment based on edge calculations；It is characterized in that, the system
Include:
Net connection automatic driving vehicle mobile unit, the mobile unit realize the automatic Pilot of vehicle, vehicle operation and environment ginseng
Several acquisitions and upload；
Roadside device, the roadside device include: common vehicle information collection transmission device and pacesetting equipment, including radar
Speed measuring device, VMS display screen, acquire the velocity information of common vehicle, are transmitted to edge calculations node；Receive edge calculations node
The induced velocity issued, which is shown on VMS screen, carries out speed induction to common vehicle；Signal controls equipment, including road traffic letter
Number control machine accesses network, is communicated with edge calculations node；Edge calculations node module, the edge calculations node mould
Block is integrated in traffic signal controlling machine, keeps real time communication with semaphore and net connection vehicle；
Wherein, the edge calculations node module includes:
Division signals periodic unit
Five parts: (t will be divided the signal period according to intersection signal timing scheme1,t2) it is basic green time,；(t2,t3) be
Yellow time；(t3,t4) it is initial red time；(t4,t5) it is the uncontrollable time；(t5,t6) it is the red last time；When initial red light
It is long:
Red end duration:
Wherein, a0For given acceleration, VminAnd VmaxRespectively section is minimum and Maximum speed limit, LiFor bus or train route i to stop line away from
From.
Induce the speed unit of non-net connection vehicle
After non-net connection vehicle sails the detection for completing speed up to test point, according to the speed detected, away from intersection distance, meter
Calculate its E.T.A；The part that the periodic signal according to belonging to arrival time divides carries out corresponding informance using VMS screen
Pacesetting.
The intervention unit of net connection automatic driving vehicle speed
When net connection vehicle is sailed up to system boundary, edge calculations node obtains its speed, and is believed according to speed and its specific location
Breath calculates its estimated time for reaching stop line: if vehicle arrival time belongs to (t1,t2) section, then its speed is not done
In advance；If vehicle arrival time belongs to (t2,t4) section, acceleration intervention is carried out to vehicle；If vehicle arrival time belongs to (t4,t5)
Section does not intervene vehicle then；If vehicle arrival time is to belong to (t5,t6) during, then deceleration intervention is carried out to vehicle；
Wherein, it includes: that net connection automatic driving vehicle i reaches the speed of system boundary as V that the acceleration, which is intervened,i, green light is remaining at this time
Time is gr, away from stop line Li, the acceleration of accelerator is a0；Kept for existing fast E.T.A t ∈ (t2,t4), intervene speed
Degree is Vx；Work as Vi+gra0≤Vmax, andWhen, net connection automatic driving vehicle accelerates whole process, end speed meter
Calculation method are as follows: After then first accelerating in the case of other at the uniform velocity, side speed calculation
Method are as follows: Vehicle is to give
Fixed acceleration a0Even acceleration is carried out, with end speed VxPass through intersection；
Wherein, it is V that the intervention algorithm that slows down, which includes: the speed of net connection automatic driving vehicle i arrival system boundary,i, red light at this time
Remaining time is Rr, away from stop line Li, the acceleration of moderating process is a0；Kept for existing fast E.T.A t ∈ (t2,t4)；When
Vi-Rra0≥Vmin, andWhen, net connection vehicle slows down whole process, end speed calculation method are as follows:Remaining situation will first slow down after at the uniform velocity, speed calculation method are as follows: Vehicle will be with given
Acceleration a0Even deceleration is carried out, with end speed VxPass through intersection.
2. single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations, which is characterized in that the method
Include:
Step 1: the division signals period
Five parts: (t will be divided the signal period according to intersection signal timing scheme1,t2) it is basic green time,；(t2,t3) be
Yellow time；(t3,t4) it is initial red time；(t4,t5) it is the uncontrollable time；(t5,t6) it is the red last time；When initial red light
It is long:
Red end duration:
Wherein, a0For given acceleration, VminAnd VmaxRespectively section is minimum and Maximum speed limit, LiFor bus or train route i to stop line away from
From.
Step 2: the speed of the non-net connection vehicle of induction
After non-net connection vehicle sails the detection for completing speed up to test point, according to the speed detected, away from intersection distance, meter
Calculate its E.T.A；The part that the periodic signal according to belonging to arrival time divides carries out corresponding informance using VMS screen
Pacesetting.
Step 3: the intervention of net connection automatic driving vehicle speed
When net connection vehicle is sailed up to system boundary, edge calculations node obtains its speed, and is believed according to speed and its specific location
Breath calculates its estimated time for reaching stop line: if vehicle arrival time belongs to (t1,t2) section, then its speed is not done
In advance；If vehicle arrival time belongs to (t2,t4) section, acceleration intervention is carried out to vehicle；If vehicle arrival time belongs to (t4,t5)
Section does not intervene vehicle then；If vehicle arrival time is to belong to (t5,t6) during, then deceleration intervention is carried out to vehicle；
Wherein, it includes: that net connection automatic driving vehicle i reaches the speed of system boundary as V that the acceleration, which is intervened,i, green light is remaining at this time
Time is gr, away from stop line Li, the acceleration of accelerator is a0；Kept for existing fast E.T.A t ∈ (t2,t4), intervene speed
Degree is Vx；Work as Vi+gra0≤Vmax, andWhen, net connection automatic driving vehicle accelerates whole process, end speed meter
Calculation method are as follows: After then first accelerating in the case of other at the uniform velocity, side speed calculation
Method are as follows: Vehicle is to give
Fixed acceleration a0Even acceleration is carried out, with end speed VxPass through intersection；
Wherein, it is V that the intervention algorithm that slows down, which includes: the speed of net connection automatic driving vehicle i arrival system boundary,i, red light at this time
Remaining time is Rr, away from stop line Li, the acceleration of moderating process is a0；Kept for existing fast E.T.A t ∈ (t2,t4)；When
Vi-Rra0≥Vmin, andWhen, net connection vehicle slows down whole process, end speed calculation method are as follows:Remaining situation will first slow down after at the uniform velocity, speed calculation method are as follows: Vehicle will be with given
Acceleration a0Even deceleration is carried out, with end speed VxPass through intersection.
3. single-point intersection speed optimization method under a kind of mixed row environment based on edge calculations according to claim 1,
It is characterized in that,
Vehicle detection point is located at: at 250 meters of stop line, VMS screen visible dots are located at: at 150 meters of stop line, VMS screen position
In: at away from 50 meters of stop line.When vehicle arrives at test point to detect its speed, away from intersection distance, it is estimated when reaching to calculate it
Between.If vehicle arrival time is (t1,t2), VMS screen shows that prompt information is " taking care "；If vehicle arrival time is (t2,
t4), then prompting speed is Vmax；It is t when E.T.A4Vehicle when will arrive at visible dots, change prompt information is " note
Meaning safety "；It is t when E.T.A5Vehicle when will arrive at visible dots, then prompting speed is Vmin。
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| CN112466116A (en) * | 2019-12-27 | 2021-03-09 | 北京航空航天大学 | Intersection group distributed control method based on edge calculation |
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