CN110782682B - 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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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, wherein the variables include va，tr，dm，lc，lw；vaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area; respectively calculating the maximum passing time T of four combined directions of the four intersections in a single passing preset periodi,mWherein i =1, 2, 3, 4; m = a preset first pass scheme, a preset second pass scheme, selecting Ti,mThe scheme with the smallest weighted sum; according to the selected scheme, a control scheme of the traffic lights is determined, the traffic lights are controlled according to the determined control scheme, and the passing time permission of the intersection can be reasonably and optimally distributed in a passing cycle, 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, wherein the variables include va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area;
detecting the number n of vehicles to be driven in four directions respectively at four intersections of a standard intersectionk,lWherein k =1, 2, 3, 4, l = u-turn, left turn, straight going, right turn; wherein, the road in the straight-ahead direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located 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]In which C isk,lParallel passing coefficients for four crossing lanes of a 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, and the maximum passing time T of four combined directions of the four crossings in a single passing preset period is respectively calculatedi,mWherein i =1, 2, 3, 4, m = a preset first pass scheme, a preset second pass scheme, and T is selectedi,mThe scheme with the smallest weighted sum;
according to the selected Ti,mDetermining a control scheme of the traffic light according to the scheme with the minimum weighted sum;
and controlling the traffic lights according to the determined control scheme of the traffic lights.
Wherein, in the firstPassing road coefficient P1= second passing road coefficient P2When the number of vehicles passing through the four intersections of the standard intersection is the same, the same weight of 0.25 × T +0.25 × T +0.25 × T +0.25 × T = T is taken, namely, a period time is averagely distributed, the period of one cycle 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, different weights of 0.175+0.225+0.275+0.325=1 and 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 and 10.5 };
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weight is taken to be 0.225+0.225+0.275+0.275=1, 0.225 × T +0.275 × T = T, T is set to be 60 seconds, and the time distribution of two more vehicle intersections and two less vehicle intersections is {16.5, 16.5, 13.5, 13.5}, respectively.
Wherein the first passing road coefficient P1= second passing road coefficient P2When the number of vehicles at the three intersections is larger, the weighting is 0.175+0.275+0.275+0.275=1, 0.175 × T +0.275 × T +0.275 × T +0.275 × T = T, and the time distribution of the three intersections with more vehicles and the intersections with less vehicles is {16.5, 16.5, 16.5 and 10.5} respectively;
when the number of vehicles at the three intersections is small, the weight is 0.325+0.225+0.225 =1, 0.325 × T +0.225 × T = T, and the time allocations of one intersection with more vehicles and three intersections with fewer vehicles are {19.5, 13.5, 13.5, 13.5}, respectively.
Wherein the first passing road coefficient P1>Second pass road coefficient P2When the number of vehicles passing through four intersections of the standard intersection is the same, the weight is taken to be 0.275+0.275+0.225+0.225=1, 0.275 × T +0.275×T+0.225×T+0.225×T=T，{αi}={{Ni×Pj，Ni×Pj，Ni×Pj，Ni×Pj}/{ (2 × first passing road coefficient P1+2 × second pass path coefficient P2) ×Ni}}={ { first passing road coefficient P1First pass road coefficient P1Second pass road coefficient P2Second pass road coefficient P2}/(2 × first passing road coefficient P1+2 × second pass path coefficient P2) }={1.25，1.25，1，1/(2×1.25+2×1)}={1.25，1.25，1，1/4.5}，
Wherein 1.25/4.5=0.2777, rounded to 0.275; 1.0/4.5=0.222, rounded to 0.225, i.e. optimally allocating a cycle time, a cycle period is 60 seconds, and two intersections of each road are respectively as follows according to the priority: {16.5, 16.5, 13.5, 13.5}.
Wherein the first passing road coefficient P1>Second pass road coefficient P2When the number of vehicles at four intersections of the standard intersection is different, judging the overall priority sequence:
(i) more vehicles at the priority crossing and less vehicles at the non-priority crossing, N1>N2>N3>N4，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-priority intersection is determined;
{αi}={(N1× first passing road coefficient P1，N2× first passing road coefficient P1，N3× second passing road coefficient P2，N4× second passing road coefficient P2)/(N1× first passing road coefficient P1+N2× first passing road coefficient P1+N3× second passing road coefficient P2+N4× second passing road coefficient P2)}，N1、N2、N3And N4Respectively, are 12 and are respectively provided with a plurality of groups,9, 6 and 3, there are {12 × 1.25.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25.25 +9 × 1.25.25 +6 × 1+3 × 1) = {15, 11.25, 6, 3}/35.25= {0.425, 0.319, 0.170, 0.085}, and the time allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5}, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing, N4>N3>N2>N1，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-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 allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5} respectively.
Wherein the first passing road coefficient P1>Second pass road coefficient P2When the vehicle passes through the intersection, the cycle period is preset as T, the T is set as 60 seconds, and two phases of the vehicles waiting for driving at the four intersections of the standard intersection are the same:
(i) more vehicles in waiting area of priority crossing, namely N1=N2=9, there are fewer vehicles in waiting area at non-priority crossing, i.e. N3=N4=6, {9 × 1.25.25, 9 × 1.25, 6 × 1, 6 × 1}/(9 × 1.25.25 +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 allocation from more vehicle intersections to less vehicle intersections is {19.56, 19.56, 10.43, 10.43}, respectively;
(ii) fewer vehicles in the waiting area of the priority crossing, namely N1=N2=6, there are more vehicles in waiting area at non-priority crossing, namely N3=N4=9, {6 × 1.25.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25.25 +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 for the two intersections with more vehicles and the two intersections with less vehicles are {16.36, 16.36, 13.62, 13.62}, respectively;
(iii) the number of vehicles in the waiting area of the priority crossing is one more than one, namely N1Is set to 9, N2Is set to 6; non-priority intersection waiting for trafficOne more and one less zone vehicle, i.e. N3Is set to 9, N4Set to 6, {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25.25 +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 intersections of a plurality of vehicles with priority, a plurality of vehicles with non-priority, and a plurality of vehicles with non-priority are {19.98, 16, 13.32, 10.7}, respectively.
Wherein the first passing road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard crossroad, a cycle period is preset as T, the T is set as 60 seconds, when the vehicles at the three crossroads of the standard crossroad are the same and the vehicles at one crossroad are different, the number of the vehicles in the waiting area of the priority crossroad is more, namely N1=N2=12, one more vehicle or one less vehicle is in waiting area of non-priority crossing, namely N3Is set to 12, N4Set to 6, {12 × 1.25.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25.25 +12 × 1.25+12 × 1+6 × 1) = {15, 15, 12, 6}/48= {0.3125, 0.3125, 0.25, 0.125}, and the time allocations for the two intersections with more vehicle priority and the two intersections with less vehicle priority are {18.75, 18.75, 15, 7.5}, respectively.
Wherein the first passing road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard crossroad, a cycle period is preset as T, the T is set as 60 seconds, when the vehicles at the three crossroads of the standard crossroad are the same and the vehicles at one crossroad are different, the vehicles in the waiting area of the priority crossroad are increased by one or less, namely N1Is set to 12, N2Setting as 6, more vehicles are in waiting area of two non-priority intersections, namely N3=N4=12, {12 × 1.25.25, 6 × 1.25, 12 × 1, 12 × 1}/(12 × 1.25.25 +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 allocation of one vehicle intersection, more vehicles at a non-priority intersection and less vehicles at a priority intersection to be driven are {19.35, 15.48, 15.48, 9.66}, respectively.
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, wherein the variables comprise va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area;
the detection module is used for detecting the number n of vehicles to be driven in four directions respectively at four intersections of the standard crossroadsk,lWherein k =1, 2, 3, 4, l = u-turn, left turn, straight going, right turn; n is the number of vehicles which are planned to pass once, k is the natural number multiple of the number of vehicles which are planned to pass once, wherein the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2；
The calculation module is used for respectively calculating 16 theoretical passing time lengths Tk,l= Ck,l×[nk,l×tr+ dm/va+(n-1)×(dm+lc)/ va]In which C iskL is the parallel passing coefficient of four crossing lanes of the standard crossing;
the selection module is used for associating two possible crossing 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, and respectively calculating the maximum passing time T of four combined directions of the four crossings in a single passing preset periodi，mWherein i =1, 2, 3, 4, m = a preset first pass scheme, a preset second pass scheme, and T is selectedi，mThe scheme with the smallest weighted sum;
the determination module is used for determining T according to the selectioni，mDetermining a control scheme of the traffic light according to the scheme with the minimum weighted sum;
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 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 the above scheme, system settings and variables (v) can be initializeda，tr，dm，lc，lw) Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area and the number n of waiting vehicles respectively going to four directions at four intersections of the standard intersectionk,l(k =1, 2, 3, 4, l = u-turn, left turn, straight, right turn); wherein 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, and the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2And 16 theoretical passage time lengths T can be calculated respectivelyk,l= Ck,l×[nk,l×tr+ dm/va+(n-1)×(dm+lc)/ va]In which C isk,lAs a standard crossroadThe parallel passing coefficients of the four crossing lanes can be combined according to a preset first passing scheme and a preset second passing scheme, two possible crossing direction combinations related to the first passing scheme and the second passing scheme are carried out, and the maximum passing time T of four combined directions of the four crossings in a single passing preset period is respectively calculatedi,m(i =1, 2, 3, 4, m = a preset first pass scenario, a preset second pass scenario), selecting Ti,mThe scheme with the smallest weighted sum, and T which can be selected according to thisi,mThe scheme with the minimum weighted sum determines the control scheme of the traffic lights, and the traffic lights can be controlled 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 one over-circulation, the vehicle passing rate of the intersection is further improved, and the traffic condition of the intersection is 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, and the time consumption of four intersections is T1 and T2、T3And 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 of vehicles in the waiting areaN 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 coefficientP 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
P1≥P2（6）
By combining the two situations, the distribution of the selectable intersection passing time authority can be as follows:
T p1=αi×T i（7-1）
α1×T1+α2×T2+α4×T3+α4×T4=T （7-2）
formula (III) αiThe comprehensive weight number of the time authority for the ith crossing to pass through,
Tifor basic timing of a certain intersection, T can be takeniAnd = T. The optimized actual passing time authority of the ith intersection is
Tp i= αi×T （8）
In summary, the optimized time ordering may be:
{max{(N i×Pj)T}，max{(N i-1×Pj)T}，max{(N i-2×Pj)T}，max{(N i-3×Pj)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 the vehicle through the intersection is va(km/h ), the number of vehicles planned to pass once is n, and the driver reaction time is tr(s, sec.) average distance d of vehicle to be drivenm(m, m) average length of vehicle body lc(m) length of area to be traveled lw(m)。
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 cars is nc within 15 seconds, and a passenger car (small car) is generalc≤5.0m
The first time is: (d is not less than d and is not more than d based on the passing parking line of the front part of the vehiclem)
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:
trthe driver observes the reaction time from the signal release to the starting, and the reaction time of a normal person is 0.1-0.5 s; taking into account the training and experience accumulation of the driver and taking conservative values according to the deviation, t can be takenr=0.3s。
dm-waiting for the passage of the distance between the vehicles after stopping and passing the line, including the distance from the front of the first vehicle to the line of passing, generally dm≤1.0m。
va-vehicle speed, v, through the intersectionaThe higher the time, the shorter the time.
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 TiAs small as possible to allow more vehicles to pass, maximizing the pass rate. The pressing formula (14) is requiredShortening the reaction time trAnd the distance d between the vehicles to be driven is reducedmAnd increase the running speed va。
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. It is often the case that the following vehicle driver reacts late with respect to the action of the preceding vehicle driver, assuming a lag time TtThen 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 times are averaged, all according to trEquation (15) may 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) tri.e. by
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 method for quickly passing the vehicles at the standard crossroad can assume the length l of a waiting area after stopping and passing the roadw=70m, average vehicle length lc=5m, average vehicle distance dm=0.5 m. Length l of waiting area of traveling cranewThe number of the vehicles waiting for driving is randomly distributed according to the arithmetic progression {12, 9, 6, 3}, namely the number of the vehicles waiting for driving at each intersection of the standard crossroads is possibly
n={n1，n2，n3，n4}={12，9，6，3} （17）
In the formula, the length l of the waiting area is takenw=70m, average vehicle length lc=5m, average vehicle distance dm=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, we incorporate the case that the minimum number of vehicles in the waiting area is 0 into the case that the number of vehicles is 3, i.e., n4= 3. Taking n2=9 and n3=6 for discretization classification, the comparison is more realistic. 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, take i = 1.
As can be seen from the expressions (16), (16-3) and (16-4), the vehicle speed vaWhen the composition is directly used in two items, the composition has significant influence on the passing rate. Vehicle speed vaThe high value is more favorable, but the safety factor and the urban road speed limit standard of China are considered, and the average speed v is controlledaAt 30-40 km/h, fast passing becomes the optimum target for vehicle speed while 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. From fig. 3, it can be unambiguously derived:
(a) a single passing intersection (a south intersection shown in the figure) in the standard crossroads can go to four passing directions of turning around, turning left, going straight and turning right, namely a first passing scheme combination 1 is obtained;
(b) a single passing intersection (a west intersection shown in the figure) in the standard crossroads can go to four passing directions of turning around, turning left, going straight and turning right, namely a first passing scheme combination 2 is obtained;
(c) a single passing intersection (a north intersection shown in the figure) in the standard crossroads can go to four passing directions of turning around, turning left, going straight and turning right, namely a first passing scheme combination 3 is obtained;
(d) a single passing intersection (the east intersection shown in the figure) in the standard crossroads can go to four passing directions of turning around, turning left, going straight and turning right, namely a first passing scheme combination 4 is obtained;
(e) the opposite passing intersections (the south intersections and the north intersections shown in the figure) on the same road in the standard crossroads can go to two passing directions of going straight and turning right, namely a second passing scheme combination 1 is obtained;
(f) the opposite passing intersections (the south intersections and the north intersections shown in the figure) on the same road in the standard crossroads can turn around and turn left, and a second passing scheme combination 2 is obtained;
(g) the opposite passing intersections (the west intersection and the east intersection shown in the figure) on the same road in the standard crossroads can go to two passing directions of going straight and turning right, namely a second passing scheme combination 3 is obtained;
(h) the opposite passing intersections (the west intersection and the east intersection shown in the figure) on the same road in the standard crossroads can go to two passing directions of turning around and turning left, namely a second passing scheme combination 4 is obtained.
In the present embodiment, the first passing scenario includes a first passing scenario combination 1, a first passing scenario combination 2, a first passing scenario combination 3, and a first passing scenario combination 4; the second pass scenario includes a second pass scenario combination 1, a second pass scenario combination 2, a second pass scenario combination 3, and a second pass scenario combination 4.
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, wherein the variables include va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the pending area.
S202: detecting the number n of vehicles to be driven in four directions respectively at four intersections of a standard intersectionk，l(k =1, 2, 3, 4, l = u-turn, left turn, straight, right turn); n is the number of vehicles which are planned to pass once, k is the natural number multiple of the number of vehicles which are planned to pass once, wherein the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2。
S203: respectively calculating 16 theoretical passing time lengths Tk,l= Ck,l×[nk,l×tr+ dm/va+(n-1)×(dm+lc)/va]In which C isk,lAs a standard crossroadAnd parallel passing coefficients of four crossing lanes.
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, and the maximum passing time T of four combined directions of the four crossings in a single passing preset period is respectively calculatedi,mWherein i =1, 2, 3, 4, m = a preset first pass scheme, a preset second pass scheme, and T is selectedi,mThe scheme with the smallest weighted sum.
S205: according to the selected Ti,mAnd determining the scheme with the minimum weighted sum to determine the control scheme of the traffic light.
S206: and controlling the traffic lights according to the determined control scheme of the traffic lights.
Wherein, the first passing road coefficient P1= second passing road coefficient P2When the vehicles pass through the standard intersection, a cycle period is preset as T, when the number of the vehicles at four intersections of the standard intersection is the same, the same weight is taken as 0.25 × T +0.25 × T +0.25 × T +0.25 × T = T, namely, a cycle time is averagely distributed, the cycle period is set to be 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, different weights of 0.175+0.225+0.275+0.325=1 and 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 and 10.5 };
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weights are taken to be 0.225+0.225+0.275+0.275=1, 0.225 × T +0.275 × T = T, and the time distribution of two intersections of more vehicles and two intersections of fewer vehicles is {16.5, 16.5, 13.5, 13.5}, respectively.
Wherein, the first passing road coefficient P1= second passing road coefficient P2When the vehicle passes through the standard intersection, a cycle period is preset as T, the T is set as 60 seconds, the vehicles at the three intersections of the standard intersection are the same, and the vehicles at one intersection are differentWhen the number of vehicles at the three intersections is larger, the weight is 0.175+0.275+0.275+0.275=1, 0.175 × T +0.275 × T +0.275 × T +0.275 × T = T, and the time distribution of the three intersections with more vehicles and the intersections with fewer vehicles is {16.5, 16.5, 16.5, 10.5} respectively;
when the number of vehicles at the three intersections is small, the weight is 0.325+0.225+0.225 =1, 0.325 × T +0.225 × T = T, and the time allocations of one intersection with more vehicles and three intersections with fewer vehicles are {19.5, 13.5, 13.5, 13.5}, respectively.
Wherein, the first passing road coefficient P1>Second pass road coefficient P2At the time, the number of vehicles passing through the intersection for one cycle is preset to T, and when the number of vehicles at the four intersections of the standard intersection is the same, { αi}={{Ni×Pj，Ni×Pj，Ni×Pj，Ni×Pj}/{ (2 × first passing road coefficient P1+2 × second pass path coefficient P2) ×Ni}}={ { first passing road coefficient P1First pass road coefficient P1Second pass road coefficient P2Second pass road coefficient P2}/(2 × first passing road coefficient P1+2 × second pass path coefficient P2) }={1.25，1.25，1，1}/(2×1.25+2×1) ={1.25，1.25，1，1}/4.5，
Wherein 1.25/4.5=0.2777, rounded to 0.275; 1.0/4.5=0.222, rounded to 0.225), i.e. optimally allocating a cycle time, a cycle period is 60 seconds, and two intersections of each road are respectively as follows according to the priority: {16.5, 16.5, 13.5, 13.5}.
Wherein, the first passing road coefficient P1>Second pass road coefficient P2When the number of vehicles passing through the 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 N1>N2>N3>N4，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-priority intersection is determined;
{αi}={(N1× first passing road coefficient P1N2 × first pass road coefficient P1，N3× second passing road coefficient P2，N4× second passing road coefficient P2)/(N1× first passing road coefficient P1+N2× first passing road coefficient P1+N3× second passing road coefficient P2+N4× second passing road coefficient P2)}，N1、N2、N3And N412, 9, 6, and 3, respectively, there are {12 × 1.25.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25.25 +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 allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5}, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing N4>N3>N2>N1，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-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 allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5} respectively.
Wherein, the first passing road coefficient P1>Second pass road coefficient P2When the vehicle passes through the intersection, a cycle period is preset as T, the T is set as 60 seconds, two phases of the vehicles waiting for driving at the four intersections of the standard intersection are the same:
(i) more vehicles in waiting area of priority crossing, namely N1=N2=9, there are fewer vehicles in waiting area at non-priority crossing, i.e. N3=N4=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}，The time distribution from more vehicle intersections to less vehicle intersections is {19.56, 19.56, 10.43, 10.43 };
(ii) fewer vehicles in the waiting area of the priority crossing, namely N1=N2=6, there are more vehicles in waiting area at non-priority crossing, namely N3=N4=9, {6 × 1.25.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25.25 +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 for the two intersections with more vehicles and the two intersections with less vehicles are {16.36, 16.36, 13.62, 13.62}, respectively;
(iii) the number of vehicles in the waiting area of the priority crossing is one more than one, namely N1Is set to 9, N2Is set to 6; the number of vehicles in the waiting area of the non-priority intersection is one more than one, namely N3Is set to 9, N4Set to 6, {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25.25 +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 intersections of a plurality of vehicles with priority, a plurality of vehicles with non-priority, and a plurality of vehicles with non-priority are {19.98, 16, 13.32, 10.7}, respectively.
Wherein, the first passing road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard intersection, a cycle period is preset as T, the T is set as 60 seconds, when the vehicles at the three intersections of the standard intersection are the same and the vehicles at one intersection are different, the number of the vehicles in the waiting area of the priority intersection is more, namely N1=N2=12, one more vehicle or one less vehicle is in waiting area of non-priority crossing, namely N3Is set to 12, N4Set to 6, {12 × 1.25.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25.25 +12 × 1.25+12 × 1+6 × 1) = {15, 15, 12, 6}/48= {0.3125, 0.3125, 0.25, 0.125}, and the time allocations for the two intersections with more vehicle priority and the two intersections with less vehicle priority are {18.75, 18.75, 15, 7.5}, respectively.
Wherein, the first passing road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard intersection, a cycle period is preset as T, the T is set as 60 seconds, the vehicles at the three intersections of the standard intersection are the same, and the vehicles at one intersection are not in phaseMeanwhile, the vehicles in the waiting area of the priority crossing are increased by one or less, namely N1Is set to 12, N2Setting as 6, more vehicles are in waiting area of two non-priority intersections, namely N3=N4=12, {12 × 1.25.25, 6 × 1.25, 12 × 1, 12 × 1}/(12 × 1.25.25 +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 allocation of one vehicle intersection, more vehicles at a non-priority intersection and less vehicles at a priority intersection to be driven are {19.35, 15.48, 15.48, 9.66}, respectively.
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, wherein the variables include va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the pending area.
The detection module 42 is used for detecting the number n of vehicles to be driven in four directions respectively at four intersections of the standard intersectionk，lWherein k =1, 2, 3, 4, l = u-turn, left turn, straight going, right turn; n is the number of vehicles which are planned to pass once, k is the natural number multiple of the number of vehicles which are planned to pass once, wherein the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2。
The calculating module 43 is used for calculating 16 theoretical passing time lengths T respectivelyk，l= Ck，l×[nk，l×tr+ dm/va+(n-1)×(dm+lc)/ va]In which C isk，lIs the parallel passing coefficient of four crossing lanes of a standard crossing.
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, and calculate maximum passing time T of four combined directions of the four intersections in a single passing preset period respectivelyi，m(i =1, 2, 3, 4, m = a preset first pass scenario, a preset second pass scenario), selecting Ti，mThe scheme with the smallest weighted sum.
The determination module 45 is used for selecting T according to the selectioni，mAnd determining the scheme with the minimum weighted sum to determine the control scheme of the traffic light.
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 the above scheme, system settings and variables (v) can be initializeda，tr，dm，lc，lw) Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area and the number n of waiting vehicles respectively going to four directions at four intersections of the standard intersectionk,l(k =1, 2, 3, 4, l = u-turn, left turn, straight, right turn); n is the number of vehicles which are planned to pass once, k is the natural number multiple of the number of vehicles which are planned to pass once, wherein the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2And 16 theoretical passage time lengths T can be calculated respectivelyk,l= Ck,l×[nk,l×tr+ dm/va+(n-1)×(dm+lc)/ vaIn which C isk,lThe parallel passing coefficients of four crossing lanes of the standard crossing and two possible crossing direction combinations for associating the first passing scheme and the second passing scheme can be carried out according to a preset first passing scheme and a preset second passing scheme,respectively calculating the maximum passing time T of the four combined directions of the four intersections in a single passing preset periodi,m(i =1, 2, 3, 4, m = a preset first pass scenario, a preset second pass scenario), selecting Ti,mThe scheme with the smallest weighted sum, and T which can be selected according to thisi,mThe scheme with the minimum weighted sum determines the control scheme of the traffic lights, and the traffic lights can be controlled 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 one over-circulation, the vehicle passing rate of the intersection is further improved, and the traffic condition of the intersection is 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
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, wherein the variables include va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area;
detecting the number n of vehicles to be driven in four directions respectively at four intersections of a standard intersectionk,lWherein k =1, 2, 3, 4, l = u-turn, left turn, straight going, right turn; n is the number of vehicles in one pass, k is a natural number multiple of the number of vehicles in one pass, whereinThe road in the row direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located 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]In which C isk,lParallel passing coefficients for four crossing lanes of a 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, and the maximum passing time T of four combined directions of the four crossings in a single passing preset period is respectively calculatedi,mWherein i =1, 2, 3, 4; m = a preset first pass scheme, a preset second pass scheme, selecting Ti,mThe scheme with the smallest weighted sum;
according to the selected Ti,mDetermining a control scheme of the traffic light according to the scheme with the minimum weighted sum;
and controlling the traffic lights according to the determined control scheme of the traffic lights.
2. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1= second passing road coefficient P2When the vehicles pass through the standard intersection, a cycle period is preset as T, when the number of the vehicles at four intersections of the standard intersection is the same, the same weight is taken as 0.25 × T +0.25 × T +0.25 × T +0.25 × T = T, namely, a cycle time is averagely distributed, the cycle period is set to be 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, different weights of 0.175+0.225+0.275+0.325=1 and 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 and 10.5 };
the vehicles waiting for driving at the four intersections of the standard intersection are the same in pairs but different, the weights are taken to be 0.225+0.225+0.275+0.275=1, 0.225 × T +0.275 × T = T, and the time distribution of two intersections of more vehicles and two intersections of fewer vehicles is {16.5, 16.5, 13.5, 13.5}, respectively.
3. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1= second passing road coefficient P2When the number of vehicles at the three intersections is larger, the weights of 0.175+0.275+0.275+0.275=1, 0.175 × T +0.275 × T +0.275 × T +0.275 × T = T, and T is set to 60 seconds, and the time distribution of the three intersections with more vehicles and the intersections with less vehicles is respectively {16.5, 16.5, 16.5 and 10.5 };
when the number of vehicles at the three intersections is small, the weight is 0.325+0.225+0.225 =1, 0.325 × T +0.225 × T = T, and the time allocations of one intersection with more vehicles and three intersections with fewer 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>Second pass road coefficient P2When the number of vehicles passing through four intersections of the standard intersection is the same, the weights of 0.275+0.275+0.225+0.225=1, 0.275 × T +0.275 × T +0.225 × T +0.225 × T = T, { α T { (25) } is preset to Ti}={{Ni×Pj，Ni×Pj，Ni×Pj，Ni×Pj}/{ (2 × first passing road coefficient P1+2 × second pass path coefficient P2) ×Ni}}={ { first passing road coefficient P1First pass road coefficient P1Second pass road coefficient P2Second pass road coefficient P2}/ (2× first passing road coefficient P1+2 × second pass path coefficient P2) And } = {1.25, 1.25, 1, 1}/(2 × 1.25.25 +2 × 1) = {1.25, 1.25, 1, 1 }/4.5, wherein 1.25/4.5=0.2777, rounded to 0.275, 1.0/4.5=0.222, rounded to 0.225, namely, a cycle time is optimally allocated, the cycle period is 60 seconds, and two intersections of each road are {16.5, 16.5, 13.5, 13.5} according to the priority respectively.
5. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1>Second pass road coefficient P2When the number of vehicles at four intersections of the standard intersection is different, judging the overall priority sequence:
(i) more vehicles at the priority crossing and less vehicles at the non-priority crossing, N1>N2>N3>N4，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-priority intersection is determined;
{αi}={(N1× first passing road coefficient P1，N2× first passing road coefficient P1，N3× second passing road coefficient P2，N4× second passing road coefficient P2)/(N1× first passing road coefficient P1+N2× first passing road coefficient P1+N3× second passing road coefficient P2+N4× second passing road coefficient P2)}， N1、N2、N3And N412, 9, 6, and 3, respectively, there are {12 × 1.25.25, 9 × 1.25, 6 × 1, 3 × 1}/(12 × 1.25.25 +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 allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5}, respectively;
(ii) fewer vehicles at the priority crossing, and more vehicles at the non-priority crossing, N4>N3>N2>N1，N1、N2Number of vehicles at priority crossing, N3、N4The number of vehicles at the non-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 allocation from the most vehicle intersection to the least vehicle intersection is {25, 19, 10, 5} respectively.
6. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1>Second pass road coefficient P2When the vehicle passes through the intersection, the cycle period is preset as T, the T is set as 60 seconds, and two phases of the vehicles waiting for driving at the four intersections of the standard intersection are the same:
(i) more vehicles in waiting area of priority crossing, namely N1=N2=9, there are fewer vehicles in waiting area at non-priority crossing, i.e. N3=N4=6, {9 × 1.25.25, 9 × 1.25, 6 × 1, 6 × 1}/(9 × 1.25.25 +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 allocation from more vehicle intersections to less vehicle intersections is {19.56, 19.56, 10.43, 10.43}, respectively;
(ii) fewer vehicles in the waiting area of the priority crossing, namely N1=N2=6, there are more vehicles in waiting area at non-priority crossing, namely N3=N4=9, {6 × 1.25.25, 6 × 1.25, 9 × 1, 9 × 1}/(6 × 1.25.25 +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 for the two intersections with more vehicles and the two intersections with less vehicles are {16.36, 16.36, 13.62, 13.62}, respectively;
(iii) the number of vehicles in the waiting area of the priority crossing is one more than one, namely N1Is set to 9, N2Is set to 6; the number of vehicles in the waiting area of the non-priority intersection is one more than one, namely N3Is set to 9, N4Set to 6, {9 × 1.25, 6 × 1.25, 9 × 1, 6 × 1}/(9 × 1.25.25 +6 × 1.25+9 × 1+6 × 1) = {11.25, 7.5, 9, 6}/33.75= {0.333, 0.222, 0.267, 0.178}, multiple vehicles per priority, non-priorityThe time allocation for the multi-vehicle and non-priority low-vehicle intersections is 19.98, 16, 13.32, 10.7.
7. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard crossroad, a cycle period is preset as T, the T is set as 60 seconds, when the vehicles at the three crossroads of the standard crossroad are the same and the vehicles at one crossroad are different, the number of the vehicles in the waiting area of the priority crossroad is more, namely N1=N2=12, one more vehicle or one less vehicle is in waiting area of non-priority crossing, namely N3Is set to 12, N4Set to 6, {12 × 1.25.25, 12 × 1.25, 12 × 1, 6 × 1}/(12 × 1.25.25 +12 × 1.25+12 × 1+6 × 1) = {15, 15, 12, 6}/48= {0.3125, 0.3125, 0.25, 0.125}, and the time allocations for the two intersections with more vehicle priority and the two intersections with less vehicle priority are {18.75, 18.75, 15, 7.5}, respectively.
8. The standard intersection vehicle quick pass method of claim 1, wherein at the first pass road coefficient P1>Second pass road coefficient P2When the vehicles pass through the standard crossroad, a cycle period is preset as T, the T is set as 60 seconds, when the vehicles at the three crossroads of the standard crossroad are the same and the vehicles at one crossroad are different, the vehicles in the waiting area of the priority crossroad are increased by one or less, namely N1Is set to 12, N2Setting as 6, more vehicles are in waiting area of two non-priority intersections, namely N3=N4=12, {12 × 1.25.25, 6 × 1.25, 12 × 1, 12 × 1}/(12 × 1.25.25 +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 allocation of one vehicle intersection, more vehicles at a non-priority intersection and less vehicles at a priority intersection to be driven are {19.35, 15.48, 15.48, 9.66}, respectively.
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, wherein the variables comprise va，tr，dm，lc，lw(ii) a Wherein v isaIs the preset average speed, t, of the vehicle passing through the intersectionrIs the reaction time of the driver of the vehicle, dmIs the average distance of the vehicle to be driven, lcIs the average length of the vehicle body,/wIs the length of the waiting area;
the detection module is used for detecting the number n of vehicles to be driven in four directions respectively at four intersections of the standard crossroadsk,lWherein k =1, 2, 3, 4, l = u-turn, left turn, straight going, right turn; n is the number of vehicles which are planned to pass once, k is the natural number multiple of the number of vehicles which are planned to pass once, wherein the road in the straight-going direction is set as a first passing road coefficient P1Setting the road in which the left turn direction and/or the right turn direction is located as a second passing road coefficient P2；
The calculation module is used for respectively calculating 16 theoretical passing time lengths Tk,l= Ck,l×[nk,l×tr+ dm/va+(n-1)×(dm+lc)/ va]In which C isk,lParallel passing coefficients for four crossing lanes of a standard crossing;
the selection module is used for associating two possible crossing 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, and respectively calculating the maximum passing time T of four combined directions of the four crossings in a single passing preset periodi,mWherein i =1, 2, 3, 4, m = a preset first pass scheme, a preset second pass scheme, and T is selectedi,mThe scheme with the smallest weighted sum;
the determination module is used for determining T according to the selectioni,mScheme with minimum weighted sum, and control scheme for determining traffic light；
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 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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