CN110969845B - Intelligent vehicle speed control method and system based on vehicle-road cooperation - Google Patents
Intelligent vehicle speed control method and system based on vehicle-road cooperation Download PDFInfo
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- CN110969845B CN110969845B CN201911134686.2A CN201911134686A CN110969845B CN 110969845 B CN110969845 B CN 110969845B CN 201911134686 A CN201911134686 A CN 201911134686A CN 110969845 B CN110969845 B CN 110969845B
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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Abstract
The invention discloses an intelligent vehicle speed control method and system based on vehicle-road cooperation, belongs to the technical field, and solves the problem that the vehicle speed control effect is poor due to the fact that actual road conditions cannot be considered integrally in the prior art. An intelligent vehicle speed control method based on vehicle-road cooperation comprises the following steps: acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in the queue through real-time sampling; according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queuing area to pass through the intersection is estimated; and acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection. The actual road condition is considered integrally, so that the vehicle speed control effect is better.
Description
Technical Field
The invention relates to the technical field of vehicle-road cooperation, in particular to an intelligent vehicle speed control method and system based on vehicle-road cooperation.
Background
With the continuous development of technologies such as artificial intelligence, sensor detection, vehicle-road coordination and the like, the intelligent networked automobile can sense and acquire information of surrounding environment and vehicles more easily, and technical support is provided for the real-time dynamic speed adjustment of the vehicles.
Under the environment of intelligent network connection, the vehicle can communicate with road side facilities and a regional central control system in real time, obtain the real-time information of the traffic flow state of a road network and the state of a downstream signal lamp in advance, and make speed adjustment in time, so that the vehicle can smoothly pass through each signal intersection, the fuel economy is improved, the exhaust emission is reduced, and meanwhile, the driving comfort and the traffic capacity of roads are also improved.
The current vehicle speed guiding method and vehicle speed control system are mostly based on the signal period of traffic lights and the calculation and modeling of the position information of the vehicle, the calculation method is simple, the actual road condition cannot be considered integrally, and the vehicle speed control effect is poor.
Disclosure of Invention
The invention aims to overcome at least one technical defect and provides an intelligent vehicle speed control method and system based on vehicle-road cooperation.
On one hand, the invention provides an intelligent vehicle speed control method based on vehicle-road cooperation, which comprises the following steps:
acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in the queue through real-time sampling;
according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queuing area to pass through the intersection is estimated;
and acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection.
Further, the time required for the vehicles in the queue waiting area to pass through the intersection is estimated according to the traffic light condition of the intersection, the length of the queue waiting area, the traffic flow and the traffic flow density of the vehicles in the queue waiting area, and the method specifically comprises the following steps,
by the formula
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe traffic density when the signal light of the intersection is changed into the red light.
Further, the intelligent vehicle speed control method based on vehicle-road cooperation further comprises the step of obtaining the length from the tail vehicle of the queue in the queue waiting area to the stop line at the next red light arrival moment, and the step specifically comprises the step of obtaining the time of real-time sampling
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRThe time when the signal lamp of the intersection turns into red light next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
Furthermore, the time required by the vehicles passing the intersection in the queuing area is used for obtaining the time and the feasible speed interval for the vehicles to pass the intersection without stopping at a stable speed after entering the vehicle speed control area,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the predicted crossing time of the vehicle.
Further, the intelligent vehicle speed control method based on vehicle-road cooperation further comprises that if the road signal lamp is green at the sampling time T, T belongs to [0, R ∈1]∪[Gn,R(n+1)]If the road signal lamp is red at the sampling time T, T belongs to [ G ]n,Rn]，RnThe time when the nth red light comes at the intersection, GnThe moment when the nth green light arrives at the intersection, n is more than or equal to 1.
On the other hand, the invention also provides an intelligent vehicle speed control system based on vehicle-road cooperation, which comprises a traffic and road condition information acquisition module, a time estimation module for the vehicle to pass through the intersection and a time and speed estimation module;
the traffic and road condition information acquisition module is used for acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of the queuing vehicles through real-time sampling;
the time pre-estimating module for the vehicles to pass through the intersection is used for pre-estimating the time required for the vehicles to pass through the intersection in the queuing area according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queuing area;
and the time and speed pre-estimating module is used for acquiring the time and the feasible speed interval of the intersection which is passed by the vehicle without stopping at a stable speed after the vehicle enters the vehicle speed control area according to the time required by the vehicle in the queuing area to pass the intersection.
Further, the module for estimating the time required for the vehicle to pass through the intersection estimates the time required for the vehicle to pass through the intersection in the queue waiting area according to the traffic light condition of the intersection, the length of the queue waiting area, the traffic flow and the traffic flow density of the vehicle waiting in the queue, and specifically comprises the following steps of estimating the time required for the vehicle to pass through the intersection in the queue waiting area by a formula
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe traffic density when the signal light of the intersection is changed into the red light.
Further, the intelligent vehicle speed control system based on vehicle-road cooperation further comprises a vehicle distance to the stop line length obtaining module, and the vehicle distance to the stop line length obtaining module is used for obtaining the distance between the vehicle at the tail of the queue in the queuing area and the stop line at the next red light arrival moment, and specifically comprises the step of obtaining the distance between the vehicle and the stop line if the time of real-time sampling is reached
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRFor traffic signal of road junctionTime when the signal lamp becomes red next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
Further, the time and speed pre-estimating module acquires the time and the feasible speed interval of the intersection which is passed by the vehicle without stopping at a stable speed after the vehicle enters the vehicle speed control area according to the time required by the vehicle passing the intersection in the queuing area,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the predicted crossing time of the vehicle.
Compared with the prior art, the invention has the beneficial effects that: acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in the queue through real-time sampling; according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queuing area to pass through the intersection is estimated; acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection; the actual road condition is considered integrally, so that the vehicle speed control effect is better.
Drawings
Fig. 1 is a schematic flow chart of an intelligent vehicle speed control method based on vehicle-road coordination according to embodiment 1 of the invention;
fig. 2 is a schematic diagram of a principle of an intelligent vehicle speed control system based on vehicle-road coordination according to embodiment 2 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The embodiment of the invention provides an intelligent vehicle speed control method based on vehicle-road cooperation, which has a flow schematic diagram, as shown in fig. 1, and comprises the following steps:
acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in the queue through real-time sampling;
according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queuing area to pass through the intersection is estimated;
and acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after the vehicles enter the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection.
During specific implementation, a road section in front of the intersection is divided into a vehicle speed control area and a queuing area according to real-time traffic conditions, after a vehicle enters the vehicle speed control area, communication connection is established between the vehicle and a cloud control center and road side equipment, and real-time traffic and road condition information is acquired; the traffic and road condition information specifically comprises traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in a queue; the stable speed can be a constant speed;
preferably, the time required for the vehicles in the queue waiting area to pass through the intersection is estimated according to the traffic light condition of the intersection, the length of the queue waiting area, the flow of the vehicles in the queue waiting area and the traffic density, and the method specifically comprises the following steps,
by the formula
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe traffic density when the signal light of the intersection is changed into the red light.
Preferably, the intelligent vehicle speed control method based on vehicle-road cooperation further comprises the step of obtaining the length from the tail vehicle of the queue in the queue waiting area to the stop line at the next red light arrival moment, and specifically comprises the step of obtaining the time of real-time sampling
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRThe time when the signal lamp of the intersection turns into red light next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
Preferably, the time required by the vehicles passing through the intersection in the queuing area is used for obtaining the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the predicted crossing time of the vehicle.
Preferably, the intelligent vehicle speed control method based on vehicle-road cooperation further includes that if the road signal lamp is green at the sampling time T, T belongs to [0, R ∈1]∪[Gn,R(n+1)]If the road signal lamp is red at the sampling time T, T belongs to [ G ]n,Rn]，RnThe time when the nth red light comes at the intersection, GnThe moment when the nth green light arrives at the intersection, n is more than or equal to 1.
In specific implementation, according to the principle of keeping the speed stable, the estimated running time of the controlled vehicle in the speed control area
D is the distance between the controlled vehicle and the queuing waiting area at the time t, vD0The initial speed of the controlled vehicle entering the speed control area corresponding to the time t is obtained;
the vehicle in the queuing area and the controlled vehicle advance simultaneously, and the predicted time T of the vehicle passing through the intersection is TDAnd TLThe larger value of the sampling time is that the controlled vehicle passes through the intersection when the signal lamp of the intersection (crossing) is green, and if the signal lamp of the intersection is green at the sampling time t, the controlled vehicle passes through the intersection during the current or the nth next green periodA port, having T ∈ [0, R ∈1]∪[Gn,R(n+1)]If the intersection signal lamp is red at the sampling time T, the controlled vehicle passes through the intersection in the nth green period after the red lamp, and T belongs to [ G [n,Rn]；
Taking the maximum speed V in the feasible interval into consideration of the principle of minimizing the passing timecmaxAs the optimal control speed, the change of real-time traffic road conditions is considered, and in order to ensure that the controlled vehicle can pass through the intersection at a stable speed, the optimal control speed is calculated and updated in real time within a certain sampling time.
Example 2
The embodiment of the invention provides an intelligent vehicle speed control system based on vehicle-road cooperation, which comprises a traffic and road condition information acquisition module, a time estimation module and a time and speed estimation module, wherein the time estimation module is used for estimating the time required by a vehicle to pass through an intersection;
the traffic and road condition information acquisition module is used for acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of the queuing vehicles through real-time sampling;
the time pre-estimating module for the vehicles to pass through the intersection is used for pre-estimating the time required for the vehicles to pass through the intersection in the queuing area according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queuing area;
and the time and speed pre-estimating module is used for acquiring the time and the feasible speed interval of the intersection which is passed by the vehicle without stopping at a stable speed after the vehicle enters the vehicle speed control area according to the time required by the vehicle in the queuing area to pass the intersection.
Preferably, the module for estimating the time required for the vehicle to pass through the intersection estimates the time required for the vehicle to pass through the intersection in the queue waiting area according to the traffic light condition of the intersection, the length of the queue waiting area, the traffic flow and the traffic flow density of the vehicle waiting in the queue, and specifically comprises the following steps of estimating the time required for the vehicle to pass through the intersection in the queue waiting area by a formula
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe traffic density when the signal light of the intersection is changed into the red light.
Preferably, the intelligent vehicle speed control system based on vehicle-road cooperation further comprises a length obtaining module of the vehicle from the stop line, wherein the length obtaining module of the vehicle from the stop line is used for obtaining the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the next red light arrival moment, and the method specifically comprises the step of obtaining the time of real-time sampling
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRThe time when the signal lamp of the intersection turns into red light next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
Preferably, the time and speed pre-estimating module obtains the time and the feasible speed interval of the intersection through which the vehicle passes without stopping at a steady speed after entering the vehicle speed control area according to the time required by the vehicle in the queuing area to pass through the intersection,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the predicted crossing time of the vehicle.
In specific implementation, the schematic diagram of the intelligent vehicle speed control system based on vehicle-road cooperation is shown in fig. 2, and the intelligent vehicle speed control system based on vehicle-road cooperation comprises a V2X vehicle-mounted terminal OBU, a roadside terminal RSU and a GPS/BDS high-precision positioning module, wherein the V2X vehicle-mounted terminal OBU and the roadside terminal RSU are used for realizing mutual real-time communication between a controlled vehicle and information of a control center and a roadside terminal, and the GPS/BDS high-precision positioning module is used for acquiring real-time high-precision position information of the controlled vehicle and sending the information to the control center through the vehicle-mounted terminal OBU, so as to calculate the distance between the controlled vehicle and a queuing area;
the intelligent vehicle speed control system based on vehicle-road cooperation further comprises a traffic signal machine, a roadside end message control center and a camera road condition information monitoring module, wherein the traffic signal machine is used for collecting phase information of traffic signal lamps and sending the phase information to a roadside message controller; the camera road condition information monitoring module is used for acquiring information such as the length of a queuing area, the traffic flow, the traffic density and the speed of an intersection and sending the information to the roadside message controller;
the system comprises a road side message controller and a road side end message control center, wherein the road side message controller and the road side end message control center pack and send intersection road condition information such as traffic signal lamp phase information, traffic density, flow, speed and length of a queuing area, which are acquired by a traffic signal machine and a camera (a traffic and road condition information acquisition module), to a cloud information control center (a time estimation module and a time and speed estimation module required by a vehicle to pass through an intersection) through a road side terminal RSU for processing, and obtain the time and a feasible speed interval of the intersection which the vehicle passes through without stopping at a stable speed after entering a vehicle speed control area;
the intelligent network connection vehicle control unit and the controlled vehicle core control unit realize the speed control of the vehicle according to the intelligent vehicle speed control (namely acquiring the time and the feasible speed interval of the intersection which is passed by the vehicle without stopping at a stable speed after entering a vehicle speed control area); the vehicle-mounted display screen information interaction unit is used for realizing the interactive display of real-time controlled vehicles, traffic road condition information and control vehicle speed, and the motor/accelerator and steering controller, the execution unit is used for executing the control command of the whole vehicle controller.
It should be noted that the above-described embodiments 1 and 2 are not repeatedly described and can be referred to each other.
The invention discloses an intelligent vehicle speed control method and system based on vehicle-road cooperation, which are used for acquiring traffic light conditions of intersections, the length of a queuing area, and the traffic flow density of vehicles waiting in a queue through real-time sampling; according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queuing area to pass through the intersection is estimated; acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection; the actual road condition is considered integrally, so that the vehicle speed control effect is better;
according to the invention, real-time road conditions such as vehicle queuing waiting time and the like in front of the intersection are estimated accurately and effectively in real time through data fusion and analysis of multi-source information, and vehicles can smoothly pass through the intersection in the optimal time through intelligent vehicle speed control, so that the fuel consumption is saved, the exhaust emission is reduced, and the driving comfort and the road traffic capacity are improved; the purpose of the invention can be realized only by the fact that the controlled vehicle has the intelligent networking function and all vehicles do not need to realize networking, so that the application and popularization of the invention are more convenient.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. An intelligent vehicle speed control method based on vehicle-road cooperation is characterized by comprising the following steps:
acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of vehicles waiting in the queue through real-time sampling;
according to the traffic light condition of the intersection, the length of the queue waiting area, the traffic flow and the traffic flow density of the vehicles waiting in the queue, the time required for the vehicles in the queue waiting area to pass through the intersection is estimated,
by the formula
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe density of traffic flow when the signal lamp of the intersection changes into red light, v0Waiting for the passing speed of the vehicle at the time t;
and acquiring the time and the feasible speed interval for the vehicles to pass through the intersection without stopping at a stable speed after entering the vehicle speed control area from the time required by the vehicles in the queuing area to pass through the intersection.
2. The intelligent vehicle speed control method based on vehicle-road cooperation according to claim 1, further comprising obtaining the length from the arrival time of the vehicle at the tail of the queue in the queue waiting area to the stop line at the next red light, and specifically comprising the time if real-time sampling is performed
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRThe time when the signal lamp of the intersection turns into red light next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
3. The intelligent vehicle speed control method based on vehicle-road cooperation according to claim 2, wherein the time required for the vehicle to pass through the intersection in the queuing waiting area is used to obtain the time and the feasible speed interval for the vehicle to pass through the intersection without stopping at a steady speed after entering the vehicle speed control area, and specifically comprises,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection.
4. The intelligent vehicle speed control method based on vehicle-road cooperation according to claim 3, further comprising the step of if the road signal lamp is green at the sampling time T, determining that T belongs to [0, R ]1]∪[Gn,R(n+1)]If the road signal lamp is red at the sampling time T, T belongs to [ G ]n,Rn]，RnThe time when the nth red light comes at the intersection, GnThe moment when the nth green light arrives at the intersection, n is more than or equal to 1.
5. An intelligent vehicle speed control system based on vehicle-road cooperation is characterized by comprising a traffic and road condition information acquisition module, a time estimation module for the vehicle to pass through an intersection and a time and speed estimation module;
the traffic and road condition information acquisition module is used for acquiring traffic light conditions of the intersection, the length of a queuing area, the traffic flow and the traffic flow density of the queuing vehicles through real-time sampling;
the module for pre-estimating the time required by the vehicle to pass through the intersection is used for pre-estimating the time required by the vehicle to pass through the intersection in the queuing area according to the traffic light condition of the intersection, the length of the queuing area, the traffic flow and the traffic flow density of the vehicle to be queued
The time required for the vehicles to pass through the intersection in the queuing area is obtained through prediction, wherein T is the time of real-time sampling, and TGThe time for the next turn-to-green of the signal lamp at the intersection; l is the length of the queuing area at time t, LnThe length of the vehicle at the tail of the queue in the queuing area at the time of the next red light from the stop line at the time of t, qGThe traffic flow when the signal lamp of the intersection is changed into the red light, rhoGThe density of traffic flow when the signal lamp of the intersection turns to green, rhoRThe density of traffic flow when the signal lamp of the intersection changes into red light, v0Waiting for the passing speed of the vehicle at the time t;
and the time and speed pre-estimating module is used for acquiring the time and the feasible speed interval of the intersection which is passed by the vehicle without stopping at a stable speed after the vehicle enters the vehicle speed control area according to the time required by the vehicle in the queuing area to pass the intersection.
6. The intelligent vehicle speed control system based on vehicle-road cooperation according to claim 5, further comprising a vehicle-to-stop-line length obtaining module, wherein the vehicle-to-stop-line length obtaining module is used for obtaining the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the next red light arrival time, and specifically comprises the time if real-time sampling is carried out
Then, at this time, the length of the vehicle at the tail of the queue in the queue waiting area from the stop line at the time of arrival of the next red light is
Otherwise, Ln is 0, wherein TRThe time when the signal lamp of the intersection turns into red light next time, v0For the passage speed of the vehicles waiting in line at time t,
q0the traffic flow of the intersection at the moment t; rho0And the traffic density of the intersection at the time t.
7. The intelligent vehicle speed control system based on vehicle-road coordination according to claim 6, wherein the time and speed pre-estimating module obtains the time and feasible speed interval of the intersection passing through without stopping at a steady speed after the vehicle enters the vehicle speed control area according to the time required by the vehicle passing through the intersection in the queuing waiting area,
taking the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection as the time for the vehicle to pass through the intersection without stopping at a stable speed after entering the speed control area; the feasible speed interval of the controlled vehicle passing through the intersection without stopping at a stable speed after entering the vehicle speed control area is
Wherein D is the distance between the controlled vehicle and the queuing waiting area at the time t, and VminIs the lowest speed limit of the road section, VmaxAnd T is the larger of the estimated running time of the controlled vehicle in the speed control area and the time required by the vehicle in the queuing area to pass through the intersection.
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| CN112071093A (en) | 2020-04-22 | 2020-12-11 | 义硕智能股份有限公司 | Control system and method for traffic signal lamp |
| TWI797468B (en) * | 2020-04-22 | 2023-04-01 | 義碩智能股份有限公司 | Control system and method for traffic signal light |
| CN113096421B (en) * | 2021-04-02 | 2022-08-26 | 南京交通职业技术学院 | Road intersection green wave vehicle speed guiding method and system under vehicle-road cooperative mode |
| CN115206090A (en) * | 2022-06-07 | 2022-10-18 | 安徽超清科技股份有限公司 | Traffic situation estimation system based on traffic big data |
| CN115171388A (en) * | 2022-07-20 | 2022-10-11 | 辽宁工程技术大学 | Multi-intersection travel time collaborative optimization method for intelligent internet vehicle |
| CN115497286A (en) * | 2022-09-02 | 2022-12-20 | 东风悦享科技有限公司 | Front intersection real-time traffic state display system and method based on V2X |
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