CN110782682A - Method, device and equipment for quickly passing vehicles at standard crossroad - Google Patents
Method, device and equipment for quickly passing vehicles at standard crossroad Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a method, a device and equipment for quickly passing vehicles at a standard crossroad. Wherein the method comprises the following steps: initializing system settings and variables (va, tr, dm, lc, Lw), wherein va is a preset average speed of the vehicle passing through the intersection, tr is a reaction time of a driver of the vehicle, dm is an average vehicle distance of the vehicle, lc is an average length of a body of the vehicle, Lw is a waiting area length, respectively calculating maximum passing time Ti in four combined directions of four intersections in a single passing preset period, m (i is 1, 2, 3, 4, m is a preset first passing scheme, a preset second passing scheme), selecting a scheme with the minimum weighted sum of Ti and m, determining a control scheme for the traffic light based on the selected scheme, determining, based on the determined control scheme, the traffic lights are controlled, and the passing time permission of the intersection can be reasonably and optimally distributed in an over-circulation, so that the vehicle passing rate of the intersection is further improved, and the traffic condition of the intersection is further improved.
Description
Technical Field
The invention relates to the technical field of vehicle passing at an intersection, in particular to a method, a device and equipment for quickly passing vehicles at a standard intersection.
Background
At intersections with complex pedestrian and vehicle flows, traffic light control is generally provided to ensure traffic safety and order. The measures effectively improve the traffic condition and improve the passing rate of vehicles at the intersection. However, an increasingly serious problem exists in that, as the holding capacity of road vehicles increases dramatically, the rate of intersection passage reaches or approaches saturation; in more cases, the train set waiting to pass through is more difficult to pass through the intersection once under the current green light condition, and even causes congestion. One intersection has four possible situations of turning around, turning left, going straight and turning right, and each automobile has only one possibility. The rate of passage of vehicles at an intersection depends mainly on:
the number of lanes;
a green light duration;
the minimum vehicle speed at which the vehicle passes;
and (5) vehicle speed difference.
Under the condition that the number of lanes and the duration of the green light are fixed, the passing rate of the vehicle depends on the lowest speed of the vehicle passing through and the speed difference of the vehicle.
However, the inventors found that at least the following problems exist in the prior art:
the existing standard crossroad vehicle passing scheme is characterized in that a traffic light control is generally arranged for ensuring traffic safety and order, the traffic condition is effectively improved through the arranged traffic light control, the passing rate of crossroad vehicles is improved, however, the existing more and more serious problem is that the crossroad passing rate reaches or approaches to saturation along with the increase of the quantity of road vehicles, under more conditions, vehicle groups waiting to pass through are more and more difficult to pass through the crossroad once under the current green light condition, and congestion is even caused, the passing time permission of the crossroad can not be reasonably and optimally distributed in an over-circulation, so that the crossroad vehicle passing rate is further improved, and the traffic condition of the crossroad is further improved.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, and a device for fast passing of vehicles at a standard intersection, which can reasonably and optimally allocate the passing time right of the intersection in an over-cycle, so as to further improve the vehicle passing rate at the intersection and further improve the traffic conditions at the intersection.
According to one aspect of the present invention, there is provided a standard intersection vehicle quick pass method, comprising:
initializing system settings and variables (va, tr, dm, lc, Lw); wherein va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, and Lw is the length of the region to be driven;
detecting the number nk and l of vehicles to be driven in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, going straight and turning right); n is the number of vehicles which are planned to pass once, k is a natural number multiple of the number of vehicles which are planned to pass once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, and a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2;
16 theoretical passage time lengths Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) are calculated respectively
(dm + lc)/va ], wherein Ck and l are parallel passing coefficients of four intersection lanes of the standard intersection;
according to a preset first passing scheme and a preset second passing scheme, two possible crossing direction combinations for associating the first passing scheme and the second passing scheme are carried out, the maximum passing time Ti (i is 1, 2, 3, 4, m is the preset first passing scheme and the preset second passing scheme) of four combined directions of the four crossings in a single passing preset period is respectively calculated, and the scheme with the minimum weighted sum of Ti and m is selected;
determining a control scheme of the traffic light according to the selected scheme with the minimum Ti, m weighted sum;
and controlling the traffic lights according to the determined control scheme of the traffic lights.
When the first passing road coefficient P1 is the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset to T, and when the number of vehicles at four intersections of the standard intersection is the same, the same weight of 0.25 × T +0.25 × T is taken as T, that is, a cycle time is evenly allocated, for example, one cycle period is 60 seconds, and each intersection is 15 seconds: {15, 15, 15, 15 };
when the number of vehicles at four intersections of the standard intersection is different, the different weights of 0.175+0.225+0.275+0.325 ═ 1, 0.175 × T +0.225 × T +0.275 × T +0.325 × T ═ T are taken, and the time distribution from the most vehicle intersection to the least vehicle intersection is {19.5, 16.5, 13.5, 10.5} respectively;
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weights of 0.225+0.225+0.275+0.275 ═ 1 and 0.225 × T +0.275 × T ═ T are taken, and the time distribution of two more vehicle intersections and two less vehicle intersections is {16.5, 16.5, 13.5 and 13.5} respectively.
When the first passing road coefficient P1 is the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset as T, when the vehicles at three intersections of the standard intersection are the same and the vehicles at one intersection are different, when the number of the vehicles at the three intersections is large, the weights of 0.175+0.275+0.275+0.275 ═ 1, 0.175 × T +0.275 × T ═ T are taken, and the time distribution of three intersections with more vehicles and one intersection with fewer vehicles is {16.5, 16.5, 16.5, 10.5 };
when the number of vehicles at three intersections is small, the weights 0.325+0.225+0.225+0.225 ═ 1 and 0.325 × T +0.225 × T ═ T are taken, and the time allocations at one intersection with a large number of vehicles and three intersections with a small number of vehicles are {19.5, 13.5, 13.5, 13.5}, respectively.
Wherein the first passing road coefficient P1>When the second passing road coefficient P2 is reached, the period for the vehicles passing through the intersection to complete one cycle is preset as T, and when the number of vehicles at four intersections of the standard intersection is the same, { α }
i}＝{N
i×P
j}＝{N
i×P
j，N
i×P
j，N
i×P
jN
i×P
j}/{ (2 × first passing road coefficient P1+2 a substantial amount
1)N
i-a { first passing road coefficient P1, a first passing road coefficient P1, a second passing road coefficient P2, a second passing road coefficient P2}/(2 × first passing road coefficient P1+2 × second passing road coefficient P2), 0.275 × T +0.225 × T ═ T, (1.25/4.5 ═ 0.2777, rounded to 0.275; 1.0/4.5 ═ 0.222, rounded to 0.225), i.e. a cycle time is optimally allocated, e.g. a cycle period is 60 seconds, and two intersections per road are respectively given by priority: {16.5, 16.5, 13.5, 13.5}.
When the first passing road coefficient P1> the second passing road coefficient P2, the cycle of passing vehicles at the intersection is preset as T, and when the number of vehicles at four intersections of the standard intersection is different, the overall priority is judged:
(i) more vehicles at the priority crossing and less vehicles at the non-priority crossing N
1>N
2>N
3>N
4，N
1、N
2Vehicles at the priority crossing;
{α
i}＝{N
i×P
j}＝{(N
1xfirst passing road coefficient P1, N2 Xfirst passing road coefficient P1, N
3X second passage number P2, N
4X second passage way coefficient P2)/(N
1X first passing road coefficient P1+ N
2X first passing road coefficient P1+ N
3Second passage road coefficient P2+ N
4X second passRoad coefficient P2), assuming N
1、N
2、N
3And N
412, 9, 6, and 3, respectively, there are {12 × 1.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25+9 × 1.25+6 × 1+3 × 1) ═ 15, 11.25, 6, 3}/35.25 ═ 0.425, 0.319, 0.170, 0.085, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing N
4>N
3>N
2>N
1，N
1、N
2For vehicles at the priority intersection, {12 × 1, 9 × 1, 6 × 1.25, 3 × 1.25}/(12 × 1+9 × 1+6 × 1.25+3 × 1.25) ═ 12, 9, 7.5, 3.75}/32.25 ═ 0.425, 0.319, 0.170, 0.085}, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5}, respectively.
When the first passing road coefficient P1> the second passing road coefficient P2, the cycle of passing vehicles at the intersection is preset as T, and the number of the vehicles waiting for passing at the four intersections of the standard intersection is two or two, and the two are the same:
(ii) the number of vehicles in the waiting area of the priority crossing is more (9.9), the number of vehicles in the waiting area of the non-priority crossing is less (6, 6), {9 × 1.25, 9 × 1.25, 6 × 1, 6 × 1, }/(9 × 1.25+9 × 1.25+6 × 1+6 × 1) }, {11.25, 11.25, 6, 6}/34.5 ═ {0.326, 0.326, 0.174, 0.174}, and the time distribution from the more vehicle crossing to the less vehicle crossing is {19.56, 19.56, 10.43, 10.43} respectively;
(ii) the number of vehicles in the waiting area of the priority crossing is less (6, 6), the number of vehicles in the waiting area of the non-priority crossing is more (9, 9), {6 × 1.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25+6 × 1.25+9 × 1+9 × 1) } 7.5, 7.5, 9, 9}/33 ═ 0.227, 0.227, 0.273, 0.273}, and the time allocations of the two intersections with more vehicles and two intersections with less vehicle priority are {13.62, 13.62, 16.36, 16.36} → 16.36 (non-priority 9), 13.62 (priority 6) };
(iii) the vehicles in the waiting area of the priority crossing are increased (set 9) and decreased (set 6); the vehicles in the non-priority intersection waiting area are one more (set 9) and one less (set 6), {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25+6 × 1.25+9 × 1+6 × 1) } 11.25, 7.5, 9, 6}/33.75 { (0.333, 0.222, 0.267, 0.178}, and the time allocations for the prioritized vehicles, the non-prioritized vehicles, and the prioritized and non-prioritized intersections with less priority are {19.98, 13.32, 16, 10.7} → {19.98 (priority 9), 16 (non-priority 9), 13.32 (priority 6), 10.7 (non-priority 6) }.
When the first passing road coefficient P1> the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset to T, when the vehicles at three intersections of the standard intersection are the same and the vehicles at one intersection are different, the number of vehicles in the area to be driven at the priority intersection is large (12, 12), the number of vehicles in the area to be driven at the non-priority intersection is large (12) and small (set to 6), {12 × 1.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25+12 × 1.25+12 × 1+6 × 1) } 15, 15, 12, 6}/48 ═ 0.3125, 0.3125, 0.25, 0.125}, and the time allocations of two intersections with a large number of vehicles and two intersections with a large number of vehicles are {18.75, 15, 7.5.5.
Wherein, when the first passing road coefficient P1> the second passing road coefficient P2, a cycle period of vehicle passing through the intersection is preset as T, when three vehicles at three intersections of the standard intersection are the same and one vehicle at an intersection is different, one vehicle at a priority intersection waiting area is one more (set 12) and one less (set 6), and one vehicle at a non-priority intersection waiting area is one more (set 12), and one vehicle at a non-priority intersection is one less (set 12), and one vehicle at a non-priority intersection waiting area is more (set 12, 12), {12 × 1.25, 6 × 1.25, 12 × 1, 12 × 1}/(12 × 1.25+6 × 1.25+12 × 1+ 12) } {15, 7.5, 12, 12}/46.5 {0.322, 0.161, 0.258, 0.258}, and one vehicle at a priority intersection waiting area is one intersection, more vehicles at a non-priority intersection (set 12), and one vehicle at a priority intersection waiting area is one less (set 12) → 19.35, 9.66, 15.48, and 19.48 }, respectively, 15.48 (non-priority 12), 9.66 (priority 6).
According to another aspect of the present invention, there is provided a standard intersection vehicle quick pass device, comprising:
the device comprises an initialization module, a detection module, a calculation module, a selection module, a determination module and a control module;
the initialization module is used for initializing system settings and variables (va, tr, dm, lc, Lw); wherein va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, and Lw is the length of the region to be driven;
the detection module is used for detecting the number nk and l of vehicles to be driven in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, moving straight and turning right); n is the number of vehicles which are planned to pass once, k is a natural number multiple of the number of vehicles which are planned to pass once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, and a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2;
the calculation module is used for calculating 16 theoretical passing time durations Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ] respectively, wherein Ck and l are parallel passing coefficients of four crossing lanes of the standard crossing;
the selection module is configured to associate two possible intersection direction combinations of the first passing scheme and the second passing scheme according to a preset first passing scheme and a preset second passing scheme, calculate maximum passing time Ti, m (i is 1, 2, 3, 4, m is a preset first passing scheme and a preset second passing scheme) of four combined directions of the four intersections in a single passing preset period, and select a scheme with the minimum weighted sum of Ti and m;
the determining module is used for determining a control scheme of the traffic light according to the selected scheme with the minimum weighted sum of Ti and m;
and the control module is used for controlling the traffic lights according to the determined control scheme of the traffic lights.
According to yet another aspect of the present invention, there is provided a standard intersection vehicle quick pass device comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a standard intersection vehicle quick pass method as in any one of the above.
According to yet another aspect of the present invention, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the standard intersection vehicle quick pass method of any one of the above.
It can be seen that, with the above scheme, system settings and variables (va, tr, dm, lc, Lw) can be initialized, where va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, Lw is the length of the area to be driven, and the number nk of vehicles to be driven respectively to four directions at four intersections where a standard intersection can be detected (k 1, 2, 3, 4, l ═ u-turn, left turn, straight, right turn); wherein n is the number of vehicles to be passed once, k is a natural number multiple of the number of vehicles to be passed once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2, and 16 theoretical passing time periods Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ] can be respectively calculated, wherein Ck, l are parallel passing coefficients of four crossing lanes of a standard intersection, and two possible crossing direction combinations associating the first passing scheme and the second passing scheme can be performed according to the preset first passing scheme and the preset second passing scheme, maximum passing time Ti in four combined directions of the four intersections in a single passing preset cycle can be respectively calculated, the method comprises the steps of selecting a scheme with the minimum Ti and m weighted sum, determining a control scheme of the traffic lights according to the selected scheme with the minimum Ti and m weighted sum, and controlling the traffic lights according to the determined control scheme of the traffic lights, so that the passing time permission of the intersection can be reasonably and optimally distributed in an over-circulation, the vehicle passing rate of the intersection can be further improved, and the traffic condition of the intersection can be further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an exemplary illustration of an intersection traffic control plane in the standard intersection vehicle express pass method of the present invention;
FIG. 2 is a schematic flow chart diagram of one embodiment of a standard intersection vehicle quick pass method of the present invention;
FIG. 3 is a schematic diagram of the combined passing directions of a preset first passing scheme and a preset second passing scheme in one embodiment of the standard crossroad vehicle quick passing method of the present invention;
FIG. 4 is a schematic diagram of a standard intersection vehicle quick pass device according to one embodiment of the present invention;
FIG. 5 is a schematic diagram of a standard intersection vehicle quick pass device according to one embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be noted that the following examples are only illustrative of the present invention, and do not limit the scope of the present invention. Similarly, the following examples are only some but not all examples of the present invention, and all other examples obtained by those skilled in the art without any inventive work are within the scope of the present invention.
The invention provides a method for quickly passing vehicles at a standard intersection, which can realize reasonable and optimized distribution of the passing time permission of the intersection in an over-circulation so as to further improve the passing rate of the vehicles at the intersection and further improve the traffic condition of the intersection.
The standard crossroad vehicle fast passing method provided by the invention can reasonably and optimally distribute the passing time authority of the crossroad in a passing cycle according to the priority of the road and the condition of waiting vehicles.
For example, it can be assumed that one passing cycle of an intersection is T, the time consumption of four intersections is T1, T2, T3 and T4,
then has the following formula
However, in actual conditions, the number of vehicles waiting for driving at each intersection is different, and the vehicle types are also different. When the time allocated to a crossing is on average
Ti＝T/4 (2)
The situation that the vehicle passes through a certain intersection and the residual passing time is wasted inevitably occurs; or vehicles waiting for traveling at a certain intersection are accumulated, and the vehicles enter the next cycle or the next two cycles or even more if the waiting time is too long, so that the precious time is wasted.
The following solutions can be proposed to solve this problem:
(a) obtaining the number N of vehicles in a waiting area
iSorting according to quantity;
represented by the sequence:
{max{N
i}，max{N
i-1}，max{N
i-2}，max{N
i-3}} i＝1，2，3，4 (3)
(b) selecting appropriate different weights according to road priority
According to the international traffic convention and the current traffic regulations in China, the road priority corresponding to the common crossroad is
(i) The two roads are at the same level;
(ii) one road is higher than the other.
For both cases we use the road priority coefficient P
j(j ═ 1, 2) to distinguish:
(i)：P
1＝P
2；(4)
(ii)：P
1>P
2(5)
the expressions (4) and (5) can be written together as
P
1≥P
2(6)
By combining the two situations, the distribution of the selectable intersection passing time authority can be as follows:
T
p1＝(N
i×P
j)T
i(7-1)
α
1×T
1+α
2×T
2+α
4×T
3+α
4×T
4＝T (7-2)
formula (III) α
iFor the comprehensive weighting of the i-th crossing passing time authority, α
i＝N
i×P
j(ii) a Ti is the basic timing time of a certain path, and Ti is T.
The optimized actual passing time authority of the ith intersection is
Tp
i＝α
i×T (8)
In summary, the optimized time ordering may be:
{max{(N
i×P
j)T}，max{(N
i-1×P
j)T}，max{(N
i-2×P
j)T}，max{(N
i-3×P
j)T}}(i＝1，2，3，4；j＝1，2) (9)
this is one of the basic rationale for the standard crossroad vehicle quick-passing method of the present invention, where the time of one passing cycle is fully utilized and the priority of the right of way is taken into account.
The method for the standard crossroad vehicle to pass quickly provided by the invention can analyze and calculate the main factors of the passing rate of the vehicle, and can pass the flow of an imaginary plane or a plane group in the traveling direction of a certain vertical road surface of a road in unit time. This definition covers the case of non-intersection travel segments and intersection segments.
It can be assumed that the average speed of a vehicle passing through an intersection is va (km/h, kilometers per hour), the number of vehicles scheduled to pass once is n, the reaction time of a driver is tr (s, seconds), the average distance dm (m, meters) of the vehicles to be driven, the average length lc (m) of a vehicle body, and the length Lw (m) of a driving area.
It can be assumed that n vehicles occupy a traffic lane of length l.
l＝n×lc+(n-1)×dm (10)
When the car passes through the intersection at 30 km/h, the ideal number of passing vehicles is nc within 15 seconds, and the common lc of passenger cars (small cars) is less than or equal to 5.0m
The first time is: (the distance between the passing line of the vehicle front and the passing line is not less than dm)
T1＝tr+dm/va (11)
When the second vehicle is used:
T2＝tr+(dm+lc+dm)/va＝tr+dm/va+(lc+dm)/va
＝T1+(lc+dm)/va (12)
when the third vehicle is used:
T3＝tr+(dm+lc+dm)/va+(lc+dm)/va＝tr+dm/va+2(lc+dm)/va
＝T1+2(lc+dm)/va (13)
at the time of ith vehicle:
Ti＝tr+(dm+(i-1)(lc+dm))/va
＝T1+(i-1)(lc+dm)/va
＝tr+dm/va+(i-1)(lc+dm)/va (14)
as can be seen from equation (14), ideally, the time taken to pass through the ith vehicle is closely related to four factors:
tr is the reaction time from the signal release to the starting observed by the driver, and the reaction time of a normal person is 0.1-0.5 s; considering the training and experience accumulation of drivers and taking conservative values as bias, tr is 0.3 s.
dm-the distance between waiting vehicles after stopping and passing the line, including the distance from the front of the first vehicle to the line, and is generally less than or equal to 1.0 m.
va-vehicle speed through intersection, the higher the va, the shorter the time spent.
i-the second vehicle. In essence, it remains a distance problem, i.e., the distance of a vehicle from a parking and passing line.
In summary, it can be concluded that the problem to be solved is to make Ti as small as possible to allow more vehicles to pass, maximizing the passing rate. The reaction time tr is shortened, the distance dm to be driven is reduced and the driving speed va is increased according to the formula (14).
More importantly, the expression (14) is premised on the assumption that the drivers react at the same time and start to pass through the intersection at the same time. In the normal case of a late vehicle driver acting late with respect to the action of the previous vehicle driver, assuming that the late response time is Tt, equation (14) is rewritten as:
Ti＝tr+(dm+(i-1)(lc+dm))/va+(i-1)Tt＝T1+(i-1)(lc+dm)/va+(i-1)Tt＝tr+dm/va+(i-1)(lc+dm)/va+(i-1)Tt (15)
if the lag time is averaged, all in tr, equation (15) can be rewritten as:
ti ═ tr + (dm + (i-1) (lc + dm))/va + (i-1) tr ═ T1+ (i-1) (lc + dm)/va + (i-1) tr ═ tr + dm/va + (i-1) (lc + dm)/va + (i-1) tr, that is, Ti ═ tr + (dm (i-1))/va + (i-1) tr
Ti＝i×tr+dm/va+(i-1)(lc+dm)/va (16)
Equation (16) reflects the time taken for the ith vehicle to pass through the intersection relatively truly.
Then, the formula (16) is rewritten into
Ti＝Ti1+Ti2+Ti3 (16-1)
In the formula
Ti1＝i×tr (16-2)
Ti2＝dm/va (16-3)
Ti3＝(i-1)(lc+dm)/va (16-4)
As can be seen from the above formulas (16-1), (16-2), (16-3) and (16-4), the accumulated delayed response of the drivers occupies an appreciable proportion of time, and ideally, each driver in the waiting area reacts synchronously; the vehicle distance is one of the influencing factors, but the value for reducing the vehicle distance is limited; in consideration of safety factors, the vehicle distance is basically constant in an ideal state; vehicle speed, particularly the lowest vehicle speed, has a significant effect on throughput rate. In order to improve the crossing passing rate of the vehicle, the reaction delay of subsequent drivers is firstly reduced or even eliminated, and simultaneously the vehicle speed, especially the synchronous vehicle speed, is properly improved, the vehicle speed difference is reduced as much as possible, and the overall vehicle speed level is improved. This is the second basic reason for the standard crossroad vehicle quick passing method of the present invention.
Referring to fig. 1, fig. 1 is a schematic view illustrating an intersection traffic control plane in the standard method for rapid vehicle passing at an intersection according to the present invention. As shown in fig. 1, 20 is a zebra crossing region; 21 is a parking passing line; 22 is the parallel cue segment; 23 is an angle cue segment; 24-1 is a fourth section waiting area; 24-2 is the waiting area of the intersection I; 24-3 is intersection I; 25 is a fourth cue bit; 26 is the third cue bit; 27 is the second cue bit; 28 is the first cue bit; and 29 is a control signal lamp.
The standard crossroad vehicle fast passing method can assume that the length lw of a waiting area after stopping and passing a road is 70m, the average vehicle length lc is 5m, and the average vehicle distance dm is 0.5 m. The number of vehicles waiting for driving at the length lw of the driving waiting area is randomly distributed according to an arithmetic progression {12, 9, 6, 3}, namely n ═ n1, n2, n3, n4} (12, 9, 6, 3} (17) in the situation that the number of vehicles waiting for driving at each intersection of the standard crossroads can appear
Wherein n1 is 70m, average vehicle length lc is 5m, and average vehicle distance dm is 0.5m
Number of vehicles when waiting for traffic zone to be full:
n1 ═ lw/(lc + dm) ═ 70/(5+0.5) ═ 12.72 (vehicle) ═ 12 (vehicle)
Theoretically and actually the minimum number of vehicles in the waiting area is 0, but in consideration of the pedestrian passageway factor, the case that the minimum number of vehicles in the waiting area is 0 is combined into the case that the number of vehicles is 3, namely n4 is 3. The method takes n 2-9 and n 3-6 for discretization classification and is more practical. In summary, we have the random distribution of the number of vehicles in the waiting area of equation (17).
From equations (16), (16-1), (16-2), the optimization of the driver reaction time is aimed at
i×tr＝tr (18)
Namely, all drivers in the waiting area react synchronously. Therefore, i is 1.
As can be seen from the expressions (16), (16-3) and (16-4), the vehicle speed va directly affects the passing rate significantly. The high value of the vehicle speed va is more favorable, but the safety factor and the urban road speed limit standard in China are considered, the average vehicle speed va is controlled to be 30-40 km/h, and the vehicle speed va can quickly pass through the vehicle speed va to become the optimal target of the vehicle speed on the premise of ensuring safety.
The invention relates to a standard crossroad vehicle fast passing method, aiming at realizing the fast passing of crossroad vehicles, improving the passing rate and striving to reach an ideal state, and carrying out necessary regulation on the crossing behavior of a driver, comprising the following steps:
1. the driver keeps driving state, is full of attention to the traffic signal, makes mental preparation and sends the car to pass through the intersection at any time; nothing else is allowed to do that is not relevant to passing through the intersection.
2. Prompting preset time according to an indication signal for preparation for 15 seconds, preparing immediately after entering a waiting area without signal prompting, and manually shifting to 1 gear without flameout; the automatic transmission pedal is linked with the brake, and preparation for sending vehicles at any time to pass through the intersection is made on the operation level;
3. according to the signal and the condition of the front vehicle or the condition in front of the front vehicle, the vehicle can be quickly driven and the same speed and safe distance with the front vehicle can be kept.
4. The speed is controlled to be 30-40 km/h, and the vehicle can pass through the system quickly on the premise of ensuring safety;
5. in the process of passing through the intersection, the conditions around the vehicle (front, back, left, right, up and down) are noticed, and the right foot is lightly placed on the brake pedal to prepare for braking at any time, so that accidents are prevented, and the safe passing is ensured. This is the third basic reason for the standard crossroad vehicle quick passing method of the present invention.
Referring to fig. 2 and fig. 3, fig. 2 is a schematic flow chart of an embodiment of the standard intersection vehicle quick passing method of the present invention, and fig. 3 is a schematic passing combination direction diagram of a preset first passing scheme and a preset second passing scheme in an embodiment of the standard intersection vehicle quick passing method of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 2 if the results are substantially the same. As shown in fig. 2 and 3, the method includes the steps of:
s201: initializing system settings and variables (va, tr, dm, lc, Lw); where va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the driver of the vehicle, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the body of the vehicle, and Lw is the length of the region to be driven.
S202: detecting the number nk and l of vehicles to be driven in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, going straight and turning right); where n is the number of vehicles to be passed once, k is a natural number multiple of the number of vehicles to be passed once, where a road in a straight direction is set as the first passing road coefficient P1, and a road in a left-turn direction and/or a right-turn direction is set as the second passing road coefficient P2.
S203: 16 theoretical passage time periods Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ] are calculated, respectively, where Ck, l are the parallel passage coefficients of the four intersection lanes of the standard intersection.
S204: according to a preset first passing scheme and a preset second passing scheme, two possible crossing direction combinations which are related to the first passing scheme and the second passing scheme are carried out, the maximum passing time Ti, m (i is 1, 2, 3, 4, m is the preset first passing scheme and the preset second passing scheme) of four combined directions of the four crossings in a single passing preset period is respectively calculated, and the scheme with the minimum weighted sum of Ti and m is selected.
S205: and determining the control scheme of the traffic light according to the selected scheme with the minimum Ti, m weighted sum.
S206: and controlling the traffic lights according to the determined control scheme of the traffic lights.
When the first passing road coefficient P1 is the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset as T, and when the number of vehicles at four intersections of the standard intersection is the same, the same weight of 0.25 × T +0.25 × T is taken as T, that is, a cycle time is evenly allocated, for example, one cycle period is 60 seconds, and each intersection is 15 seconds: {15, 15, 15, 15 };
when the number of vehicles at four intersections of the standard intersection is different, the different weights of 0.175+0.225+0.275+0.325 ═ 1, 0.175 × T +0.225 × T +0.275 × T +0.325 × T ═ T are taken, and the time distribution from the most vehicle intersection to the least vehicle intersection is {19.5, 16.5, 13.5, 10.5} respectively;
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weights of 0.225+0.225+0.275+0.275 ═ 1 and 0.225 × T +0.275 × T ═ T are taken, and the time distribution of two more vehicle intersections and two less vehicle intersections is {16.5, 16.5, 13.5 and 13.5} respectively.
When the first passing road coefficient P1 is the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset as T, vehicles at three intersections of the standard intersection are the same, vehicles at one intersection are different, when the number of vehicles at three intersections is large, the weights of 0.175+0.275+0.275+0.275 are 1, 0.175 × T +0.275 × T are T, and time allocations of three intersections with more vehicles and one intersection with fewer vehicles are {16.5, 16.5, 16.5, 10.5 };
when the number of vehicles at three intersections is small, the weights 0.325+0.225+0.225+0.225 ═ 1 and 0.325 × T +0.225 × T ═ T are taken, and the time allocations at one intersection with a large number of vehicles and three intersections with a small number of vehicles are {19.5, 13.5, 13.5, 13.5}, respectively.
Wherein the first passing road coefficient P1>When the second passing road coefficient P2 is given, the cycle of vehicle passing through the intersection is preset to T, and when the number of vehicles at the four intersections of the standard intersection is the same, { α }
i}＝{N
i×P
j}＝{N
i×P
j，N
i×P
j，N
i×P
jN
i×P
j}/{ (2 × first passing road coefficient P1+2 a substantial amount
1)N
i-a { first passing road coefficient P1, a first passing road coefficient P1, a second passing road coefficient P2, a second passing road coefficient P2}/(2 × first passing road coefficient P1+2 × second passing road coefficient P2), 0.275 × T +0.225 × T ═ T, (1.25/4.5 ═ 0.2777, rounded to 0.275; 1.0/4.5 ═ 0.222, rounded to 0.225), i.e. a cycle time is optimally allocated, e.g. a cycle period is 60 seconds, and two intersections per road are respectively given by priority: {16.5,16.5，13.5，13.5}。
When the first passing road coefficient P1> the second passing road coefficient P2, the intersection vehicle passing completion cycle is preset to T, and when the number of vehicles at four intersections of the standard intersection is different, the overall priority can be judged:
(i) more vehicles at the priority crossing and less vehicles at the non-priority crossing N
1>N
2>N
3>N
4，N
1、N
2Vehicles at the priority crossing;
{α
i}＝{N
i×P
j}＝{(N
1xfirst passing road coefficient P1, N2 Xfirst passing road coefficient P1, N
3X second passage number P2, N
4X second passage way coefficient P2)/(N
1X first passing road coefficient P1+ N
2X first passing road coefficient P1+ N
3Second passage road coefficient P2+ N
4X second passage way coefficient P2) }, assuming N is
1、N
2、N
3And N
412, 9, 6, and 3, respectively, there are {12 × 1.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25+9 × 1.25+6 × 1+3 × 1) ═ 15, 11.25, 6, 3}/35.25 ═ 0.425, 0.319, 0.170, 0.085, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing N
4>N
3>N
2>N
1，N
1、N
2For vehicles at the priority intersection, {12 × 1, 9 × 1, 6 × 1.25, 3 × 1.25}/(12 × 1+9 × 1+6 × 1.25+3 × 1.25) ═ 12, 9, 7.5, 3.75}/32.25 ═ 0.425, 0.319, 0.170, 0.085}, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5}, respectively.
When the first passing road coefficient P1> the second passing road coefficient P2, the cycle of passing vehicles at the intersection is preset as T, and the number of the vehicles waiting for passing at the four intersections of the standard intersection is two or two, and the two are the same:
(iii) the number of vehicles in the waiting area of the priority crossing is more (9.9), the number of vehicles in the waiting area of the non-priority crossing is less (6, 6), {9 × 1.25, 9 × 1.25, 6 × 1, 6 × 1, }/(9 × 1.25+9 × 1.25+6 × 1+6 × 1) }, {11.25, 11.25, 6, 6}/34.5 ═ {0.326, 0.326, 0.174, 0.174}, and the time distribution from the more vehicle crossing to the less vehicle crossing is {19.56, 19.56, 10.43, 10.43} respectively;
(ii) the number of vehicles in the waiting area of the priority crossing is less (6, 6), the number of vehicles in the waiting area of the non-priority crossing is more (9, 9), {6 × 1.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25+6 × 1.25+9 × 1+9 × 1) } 7.5, 7.5, 9, 9}/33 ═ 0.227, 0.227, 0.273, 0.273}, and the time allocations of the two intersections with more vehicles and two intersections with less vehicle priority are {13.62, 13.62, 16.36, 16.36} → 16.36 (non-priority 9), 13.62 (priority 6) };
(iii) the vehicles in the waiting area of the priority crossing are increased (set 9) and decreased (set 6); the vehicles in the non-priority intersection waiting area are one more (set 9) and one less (set 6), {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25+6 × 1.25+9 × 1+6 × 1) } 11.25, 7.5, 9, 6}/33.75 { (0.333, 0.222, 0.267, 0.178}, and the time allocations for the prioritized vehicles, the non-prioritized vehicles, and the prioritized and non-prioritized intersections with less priority are {19.98, 13.32, 16, 10.7} → {19.98 (priority 9), 16 (non-priority 9), 13.32 (priority 6), 10.7 (non-priority 6) }.
When the first passing road coefficient P1> the second passing road coefficient P2, a cycle period for passing vehicles at the intersection is preset to T, and when the vehicles at three intersections of the standard intersection are the same and the vehicles at one intersection are different, the number of vehicles in the intersection waiting area is large (12, 12), the number of vehicles in the non-priority intersection waiting area is large (12) and small (set to 6), {12 × 1.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25+12 × 1.25+12 × 1+6 × 1) } 15, 15, 12, 6}/48 { (0.3125, 0.3125, 0.25, 0.125}, and the time allocations of two intersections with a large number of vehicles and two intersections with a small number of vehicles are {18.75, 18.75 }, 15, 7.5.5.5.
Wherein, when the first passing road coefficient P1> the second passing road coefficient P2, a cycle period of vehicle passing through the intersection is preset to T, when three vehicles at three intersections of the standard intersection are the same and one vehicle at an intersection is different, one vehicle at a priority intersection waiting area is one more (set 12) and one less (set 6), one vehicle at a non-priority intersection waiting area is one more (set 12), one vehicle at a non-priority intersection waiting area is one less (set 12), one vehicle at a non-priority intersection is more (set 12, 12), {12 × 1.25, 6 × 1.25, 12 × 1, 12 × 1)/(12 × 1.25+6 × 1.25+12 × 1+ 12) } {15, 7.5, 12, 12}/46.5 {0.322, 0.161, 0.258, 0.258}, one vehicle at a priority intersection waiting area is one intersection, one vehicle at a more intersection is not a priority intersection (set 12), and one vehicle at a priority intersection waiting area is one less (set 12) → 19.35, 9.66, 15.48, 19.48 },12), 15.48 (non-priority 12), 9.66 (priority 6).
The invention also provides a device for the standard crossroad vehicles to pass through quickly, which can realize the reasonable and optimized distribution of the passing time permission of the crossroad in one over-cycle, so as to further improve the vehicle passing rate of the crossroad and further improve the traffic condition of the crossroad.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a standard intersection vehicle quick passing device of the present invention. In this embodiment, the standard intersection vehicle quick pass device 40 includes an initialization module 41, a detection module 42, a calculation module 43, a selection module 44, a determination module 45, and a control module 46.
The initialization module 41 is used for initializing system settings and variables (va, tr, dm, lc, Lw); where va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the driver of the vehicle, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the body of the vehicle, and Lw is the length of the region to be driven.
The detection module 42 is configured to detect the number nk and l of vehicles waiting for driving in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, going straight, and turning right); where n is the number of vehicles to be passed once, k is a natural number multiple of the number of vehicles to be passed once, where a road in a straight direction is set as the first passing road coefficient P1, and a road in a left-turn direction and/or a right-turn direction is set as the second passing road coefficient P2.
The calculating module 43 is configured to calculate 16 theoretical passing time durations Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ], respectively, where Ck and l are parallel passing coefficients of four intersection lanes of the standard intersection.
The selecting module 44 is configured to perform two possible intersection direction combinations associating the first passing scheme and the second passing scheme according to a preset first passing scheme and a preset second passing scheme, calculate maximum passing times Ti, m (i is 1, 2, 3, 4, m is the preset first passing scheme and the preset second passing scheme) of four combined directions of the four intersections in a single passing preset period, and select a scheme with the minimum weighted sum of Ti and m.
The determining module 45 is configured to determine a control scheme of the traffic light according to the selected scheme with the smallest weighted sum of Ti, m.
The control module 46 is configured to control the traffic lights according to the determined control scheme of the traffic lights.
The present invention further provides a device for rapid passing of vehicles at a standard intersection, as shown in fig. 5, comprising: at least one processor 51; and a memory 52 communicatively coupled to the at least one processor 51; wherein the memory 52 stores instructions executable by the at least one processor 51 to cause the at least one processor 51 to perform the standard intersection vehicle quick pass method described above.
Wherein the memory 52 and the processor 51 are coupled in a bus, which may comprise any number of interconnected buses and bridges, which couple one or more of the various circuits of the processor 51 and the memory 52 together. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor 51 is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor 51.
The processor 51 is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory 52 may be used to store data used by the processor 51 in performing operations.
The present invention further provides a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
It can be seen that, with the above scheme, system settings and variables (va, tr, dm, lc, Lw) can be initialized, where va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, Lw is the length of the area to be driven, and the number nk of vehicles to be driven respectively to four directions at four intersections where a standard intersection can be detected (k 1, 2, 3, 4, l ═ u-turn, left turn, straight, right turn); wherein n is the number of vehicles to be passed once, k is a natural number multiple of the number of vehicles to be passed once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2, and 16 theoretical passing time periods Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ] can be respectively calculated, wherein Ck, l are parallel passing coefficients of four crossing lanes of a standard intersection, and two possible crossing direction combinations associating the first passing scheme and the second passing scheme can be performed according to the preset first passing scheme and the preset second passing scheme, maximum passing time Ti in four combined directions of the four intersections in a single passing preset cycle can be respectively calculated, the method comprises the steps of selecting a scheme with the minimum Ti and m weighted sum, determining a control scheme of the traffic lights according to the selected scheme with the minimum Ti and m weighted sum, and controlling the traffic lights according to the determined control scheme of the traffic lights, so that the passing time permission of the intersection can be reasonably and optimally distributed in an over-circulation, the vehicle passing rate of the intersection can be further improved, and the traffic condition of the intersection can be further improved.
In the several embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be substantially or partially implemented in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only a part of the embodiments of the present invention, and not intended to limit the scope of the present invention, and all equivalent devices or equivalent processes performed by the present invention through the contents of the specification and the drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for standard intersection vehicle quick-pass, comprising:
initializing system settings and variables (va, tr, dm, lc, Lw); wherein va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, and Lw is the length of the region to be driven;
detecting the number nk and l of vehicles to be driven in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, going straight and turning right); n is the number of vehicles which are planned to pass once, k is a natural number multiple of the number of vehicles which are planned to pass once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, and a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2;
respectively calculating 16 theoretical passing time lengths Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ], wherein Ck and l are parallel passing coefficients of four crossing lanes of the standard crossing;
according to a preset first passing scheme and a preset second passing scheme, two possible crossing direction combinations for associating the first passing scheme and the second passing scheme are carried out, the maximum passing time Ti (i is 1, 2, 3, 4, m is the preset first passing scheme and the preset second passing scheme) of four combined directions of the four crossings in a single passing preset period is respectively calculated, and the scheme with the minimum weighted sum of Ti and m is selected;
determining a control scheme of the traffic light according to the selected scheme with the minimum Ti, m weighted sum;
and controlling the traffic lights according to the determined control scheme of the traffic lights.
2. The method for standard intersection vehicle fast passing according to claim 1, wherein a cycle period for intersection vehicle passing is preset to T when the first passing road coefficient P1 is the second passing road coefficient P2, and when the number of vehicles at four intersections of the standard intersection is the same, the same weight of 0.25 × T +0.25 × T is taken, i.e. a cycle time is equally allocated, for example, one cycle period is 60 seconds, and each intersection is 15 seconds: {15, 15, 15, 15 };
when the number of vehicles at four intersections of the standard intersection is different, the different weights of 0.175+0.225+0.275+0.325 ═ 1, 0.175 × T +0.225 × T +0.275 × T +0.325 × T ═ T are taken, and the time distribution from the most vehicle intersection to the least vehicle intersection is {19.5, 16.5, 13.5, 10.5} respectively;
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weights of 0.225+0.225+0.275+0.275 ═ 1 and 0.225 × T +0.275 × T ═ T are taken, and the time distribution of two more vehicle intersections and two less vehicle intersections is {16.5, 16.5, 13.5 and 13.5} respectively.
3. The method for standard intersection vehicle fast passing according to claim 1, wherein when the first passing road coefficient P1 is the second passing road coefficient P2, a cycle of intersection vehicle passing is preset as T, when the vehicles at three intersections of the standard intersection are the same, the vehicles at one intersection are different, when the number of the vehicles at three intersections is larger, the weights of 0.175+0.275+0.275+0.275 is 1, 0.175 × T +0.275 × T are T, and the time allocations of three intersections of more vehicles and one intersection of less vehicles are {16.5, 16.5, 16.5, 10.5 };
when the number of vehicles at three intersections is small, the weights 0.325+0.225+0.225+0.225 ═ 1 and 0.325 × T +0.225 × T ═ T are taken, and the time allocations at one intersection with a large number of vehicles and three intersections with a small number of vehicles are {19.5, 13.5, 13.5, 13.5}, respectively.
4. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1>When the second passing road coefficient P2 is reached, the period for the vehicles passing through the intersection to complete one cycle is preset as T, and when the number of vehicles at four intersections of the standard intersection is the same, { α }
i}＝{N
i×P
j}＝{N
i×P
j，N
i×P
j，N
i×P
jN
i×P
j}/{ (2 × first passing road coefficient P1+2 a substantial amount
1)N
i-a { first passing road coefficient P1, a first passing road coefficient P1, a second passing road coefficient P2, a second passing road coefficient P2}/(2 × first passing road coefficient P1+2 × second passing road coefficient P2), 0.275 × T +0.225 × T ═ T, (1.25/4.5 ═ 0.2777, rounded to 0.275; 1.0/4.5 ═ 0.222, rounded to 0.225), i.e. a cycle time is optimally allocated, e.g. a cycle period is 60 seconds, and two intersections per road are respectively given by priority: {16.5, 16.5, 13.5, 13.5}.
5. The standard intersection vehicle express-passing method according to claim 1, wherein an intersection vehicle passing completion one cycle period is preset to T when the first passing road coefficient P1> the second passing road coefficient P2, and when the numbers of vehicles at four intersections of the standard intersection are all different, the overall priority is judged:
(i) more vehicles at the priority crossing and less vehicles at the non-priority crossing N
1>N
2>N
3>N
4，N
1、N
2Vehicles at the priority crossing;
{α
i}＝{N
i×P
j}＝{(N
1xfirst passing road coefficient P1, N2 Xfirst passing road coefficient P1, N
3X second passage number P2, N
4X second passage way coefficient P2)/(N
1X first passing road coefficient P1+ N
2X first passing road coefficient P1+ N
3Second passage road coefficient P2+ N
4X second passage way coefficient P2) }, assuming N is
1、N
2、N
3And N
412, 9, 6, and 3, respectively, there are {12 × 1.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25+9 × 1.25+6 × 1+3 × 1) ═ 15, 11.25, 6, 3}/35.25 ═ 0.425, 0.319, 0.170, 0.085, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing N
4>N
3>N
2>N
1，N
1、N
2For vehicles at the priority intersection, {12 × 1, 9 × 1, 6 × 1.25, 3 × 1.25}/(12 × 1+9 × 1+6 × 1.25+3 × 1.25) ═ 12, 9, 7.5, 3.75}/32.25 ═ 0.425, 0.319, 0.170, 0.085}, and the time allocations from the most vehicle intersection to the least vehicle intersection are {25, 19.10, 5}, respectively.
6. The standard intersection vehicle quick passing method according to claim 1, wherein an intersection vehicle passing completion one cycle period is preset to T when the first passing road coefficient P1> the second passing road coefficient P2, the number of vehicles waiting at four intersections of the standard intersection is two and two are the same:
(i) the number of vehicles in the waiting area of the priority crossing is more (9.9), the number of vehicles in the waiting area of the non-priority crossing is less (6, 6), {9 × 1.25, 9 × 1.25, 6 × 1, 6 × 1, }/(9 × 1.25+9 × 1.25+6 × 1+6 × 1) }, {11.25, 11.25, 6, 6}/34.5 ═ {0.326, 0.326, 0.174, 0.174}, and the time distribution from the more vehicle crossing to the less vehicle crossing is {19.56, 19.56, 10.43, 10.43} respectively;
(ii) the number of vehicles in the waiting area of the priority crossing is less (6, 6), the number of vehicles in the waiting area of the non-priority crossing is more (9, 9), {6 × 1.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25+6 × 1.25+9 × 1+9 × 1) } 7.5, 7.5, 9, 9}/33 ═ 0.227, 0.227, 0.273, 0.273}, and the time allocations of the two intersections with more vehicles and two intersections with less vehicle priority are {13.62, 13.62, 16.36, 16.36} → 16.36 (non-priority 9), 13.62 (priority 6) };
(iii) the vehicles in the waiting area of the priority crossing are increased (set 9) and decreased (set 6); the vehicles in the non-priority intersection waiting area are one more (set 9) and one less (set 6), {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25+6 × 1.25+9 × 1+6 × 1) } 11.25, 7.5, 9, 6}/33.75 { (0.333, 0.222, 0.267, 0.178}, and the time allocations for the prioritized vehicles, the non-prioritized vehicles, and the prioritized and non-prioritized intersections with less priority are {19.98, 13.32, 16, 10.7} → {19.98 (priority 9), 16 (non-priority 9), 13.32 (priority 6), 10.7 (non-priority 6) }.
7. The method for rapid passing of vehicles at a standard intersection according to claim 1, wherein a cycle period of vehicle passing at the intersection is preset to T when the first passing road coefficient P1> the second passing road coefficient P2, and when the vehicles at three intersections of the standard intersection are the same and the vehicles at one intersection are different, the vehicles at the intersection waiting for priority are more (12, 12), the vehicles at the intersection waiting for non-priority are more (12) and less (set 6), {12 × 1.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25+12 × 1.25+12 × 1+6 × 1) {15, 15, 12, 6}/48 ═ 0.3125, 0.3125, 0.25, 0.125}, and the time allocations of more vehicles at two intersections and less than two intersections are {18.75, 18.75, 15, 7.3125 }, respectively.
8. The method for rapid transit of a vehicle at a standard intersection according to claim 1, wherein a cycle period of vehicle transit at the intersection is preset to T when the first passing road coefficient P1> the second passing road coefficient P2, and when three vehicles at the intersection are the same and one vehicle at the intersection is different, one vehicle at the intersection is at the priority intersection (set 12) and one vehicle at the intersection is at the intersection (set 6), one vehicle at the non-priority intersection is at the intersection (set 12, 12), and {12 × 1.25, 6 × 1.25, 12 × 1, 12 × 1}/(12 × 1.25+6 × 1.25+12 × 1+12 × 1) } 15, 7.5, 12, 12}/46.5 { (0.322, 0.161, 0.258, 0.258}, and the time allocated to the one vehicle at the priority intersection, the non-priority intersection (set 12) and the one vehicle at the priority intersection is at the intersection (set 12), 9.66, 15.48, 15.48} → {19.35 (priority 12), 15.48 (non-priority 12), 9.66 (priority 6) }.
9. A standard intersection vehicle quick-pass device, comprising:
the device comprises an initialization module, a detection module, a calculation module, a selection module, a determination module and a control module;
the initialization module is used for initializing system settings and variables (va, tr, dm, lc, Lw); wherein va is the preset average speed of the vehicle passing through the intersection, tr is the reaction time of the vehicle driver, dm is the average vehicle distance of the vehicle to be driven, lc is the average length of the vehicle body, and Lw is the length of the region to be driven;
the detection module is used for detecting the number nk and l of vehicles to be driven in four directions respectively at four intersections of the standard intersection (k is 1, 2, 3, 4, l is turning around, turning left, moving straight and turning right); n is the number of vehicles which are planned to pass once, k is a natural number multiple of the number of vehicles which are planned to pass once, wherein a road in a straight-going direction is set as a first passing road coefficient P1, and a road in a left-turning direction and/or a right-turning direction is set as a second passing road coefficient P2;
the calculation module is used for calculating 16 theoretical passing time durations Tk, l ═ Ck, l × [ nk, l × tr + dm/va + (n-1) × (dm + lc)/va ] respectively, wherein Ck and l are parallel passing coefficients of four crossing lanes of the standard crossing;
the selection module is configured to associate two possible intersection direction combinations of the first passing scheme and the second passing scheme according to a preset first passing scheme and a preset second passing scheme, calculate maximum passing time Ti, m (i is 1, 2, 3, 4, m is a preset first passing scheme and a preset second passing scheme) of four combined directions of the four intersections in a single passing preset period, and select a scheme with the minimum weighted sum of Ti and m;
the determining module is used for determining a control scheme of the traffic light according to the selected scheme with the minimum weighted sum of Ti and m;
and the control module is used for controlling the traffic lights according to the determined control scheme of the traffic lights.
10. A standard intersection vehicle quick-pass device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the standard intersection vehicle quick pass method of any of claims 1-8.
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