CN111260923A - Expressway entrance ramp control method and system based on heterogeneous traffic scene - Google Patents
Expressway entrance ramp control method and system based on heterogeneous traffic scene Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The invention discloses a method and a system for controlling an expressway entrance ramp based on heterogeneous traffic scenes, which are used for detecting the number Q of vehicles at the downstream of a main road junction1(ii) a If Q1Obtaining the shortest time T for the first vehicle at the outermost side at the upstream of the main road to reach the junction point when the number Q of vehicles is less than the congestion threshold value reached at the downstream of the main road junction point1(ii) a Detecting the number of vehicles queued on the side road Q2(ii) a If Q2≤Q‑Q1Then estimate Q on the auxiliary path2Time T for vehicle to enter main road2(ii) a If T1＞T2Then the green light is turned on for a time ofT2(ii) a Otherwise, the green light is turned on for T1(ii) a If Q2＞Q‑Q1Then, estimate Q-Q on the auxiliary path1Time T for vehicle to enter main road3(ii) a If T1＞T3Then the green light is turned on for T3(ii) a Otherwise, the green light is turned on for T1. The control method and the system improve the traffic efficiency of the junction area of the main road and the auxiliary road of the urban expressway entrance ramp in the heterogeneous traffic scene and the operation efficiency of the urban expressway network, optimize resource allocation, relieve urban traffic and guarantee safe driving.
Description
Technical Field
The invention relates to the technical field of urban intelligent traffic and signal control, in particular to a method and a system for controlling an expressway entrance ramp based on heterogeneous traffic scenes.
Background
In the continuous development process of the automatic driving technology, a scene that the traditional manual driving vehicle and automatic driving vehicles with different grades are mixed can be generated; some driving rules of the automatic driving automobile are different from driving habits of human drivers, and the difference is often a cause of collision between the automatic driving automobile and the manual driving automobile. In the past, most of researches are carried out on an automatic driving single vehicle or automatic driving multiple vehicles of the same type, and the coupling characteristic between the automatic driving vehicle and a traditional manual driving vehicle and the traffic flow operation rule under the condition that the automatic driving vehicle is mixed are not considered.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for controlling an expressway entrance ramp based on a heterogeneous traffic scene.
The invention discloses an expressway entrance ramp control method based on heterogeneous traffic scenes, wherein an expressway entrance ramp comprises a main road and an auxiliary road, the connection point of the main road and the auxiliary road is a junction point (the junction point is a definite fixed position), and a traffic signal lamp is installed at the junction point; the method comprises the following steps:
detecting number of vehicles Q downstream of main road junction1；
If Q1The number Q of vehicles which is smaller than the congestion threshold value reached at the downstream of the main road junction point indicates that the main road is not congested, and the shortest time T of the first vehicle at the outermost side at the upstream of the main road to reach the junction point is obtained1；
Detecting the number of vehicles queued on the side road Q2；
If Q2≤Q-Q1Then estimate Q on the auxiliary path2Time T for vehicle to enter main road2；
If T1＞T2Then the green light is turned on for T2(ii) a Otherwise, the green light is turned on for T1；
If Q2＞Q-Q1Then, estimate Q-Q on the auxiliary path1Time T for vehicle to enter main road3；
If T1＞T3Then the green light is turned on for T3(ii) a Otherwise, the green light is turned on for T1。
As a further improvement of the present invention,
if Q1If the traffic light is more than or equal to Q, if the traffic light indicates that the main road is seriously congested, the green light signal is turned off, the red light signal is turned on, and the vehicles on the auxiliary road are forbidden to enter the main road;
and transmitting the state information of the traffic signal lamps to the automatic driving vehicles queued on the auxiliary road.
As a further improvement of the present invention,
the shortest time T for the first vehicle on the outermost side of the upstream of the main road to reach the junction point is obtained1The method comprises the following steps:
if the first vehicle on the outermost side of the upstream of the main road is an automatic driving vehicle, then:
acquiring the position and the speed of a vehicle;
according to the position and the speed of the vehicle, the shortest time T of the vehicle reaching the junction point is calculated1；
If the first vehicle on the outermost side of the upstream of the main road is a manually driven vehicle, then:
acquiring the position and the speed of a vehicle;
if the vehicle does not cross the critical position at the upstream of the main road, calculating the most meeting point reached by the vehicle based on the critical distance and the maximum speed limitShort time T1(ii) a Wherein the critical distance is a distance from the critical position to the junction (wherein the critical position and the junction are both definite fixed positions, and therefore the critical distance is a fixed value);
if the vehicle crosses a critical location upstream of the main road, estimating the shortest time T for the vehicle to reach the junction point based on the vehicle location and the speed of the vehicle passing the critical location1。
As a further improvement of the present invention,
if the first vehicle on the outermost side of the upstream of the main road is the automatic driving vehicle, a deceleration instruction is sent to the automatic driving vehicle on the main road, and the time T of the automatic driving vehicle reaching the junction point is larger than T1。
As a further improvement of the invention, the automatic driving vehicle on the auxiliary road to enter the main road and the automatic driving vehicle on the main road are communicated in real time to mutually transmit speed and position information.
The invention also discloses an expressway entrance ramp control system based on the heterogeneous traffic scene, wherein the expressway entrance ramp comprises a main road and an auxiliary road, the connection point of the main road and the auxiliary road is a junction point, and a traffic signal lamp is installed at the junction point; the method comprises the following steps: the system comprises a control center, a side road video acquisition device, a main road video acquisition device, a traffic signal lamp and a speed measuring radar, wherein the control center is communicated with the side road video acquisition device, the main road video acquisition device, the traffic signal lamp, the speed measuring radar and an automatic driving vehicle, and the automatic driving vehicles are communicated with each other; wherein:
the auxiliary road video acquisition device is used for:
detecting the number of vehicles queued on the side road Q2；
The main road video acquisition device and the speed measuring radar are used for:
acquiring the position and the speed of the first artificial driving vehicle on the outermost side of the upstream of the main road;
the control center is used for:
detecting number of vehicles Q downstream of main road junction1And judging Q1Whether the number of vehicles Q reaches a congestion threshold value at the downstream of the main road junction point;
if Q1If the number Q of vehicles is smaller than the congestion threshold value reached at the downstream of the main road junction point, the position and the speed of the manually-driven vehicle are obtained based on the main road video acquisition device and the speed measuring radar, and the shortest time T for the first manually-driven vehicle at the outermost side at the upstream of the main road to reach the junction point is calculated1(ii) a Or, based on the received position and speed of the automatic driving vehicle, the shortest time T for the first automatic driving vehicle at the outermost side at the upstream of the main road to reach the junction point is obtained1；
If Q2≤Q-Q1Then estimate Q on the auxiliary path2Time T for vehicle to enter main road2；
If T1＞T2Then the green light is turned on for T2(ii) a Otherwise, the green light is turned on for T1；
If Q2＞Q-Q1Then, estimate Q-Q on the auxiliary path1Time T for vehicle to enter main road3；
If T1＞T3Then the green light is turned on for T3(ii) a Otherwise, the green light is turned on for T1。
As a further improvement of the present invention,
if Q1If the signal is more than or equal to Q, the green light signal is turned off, the red light signal is turned on, and the auxiliary road vehicle is forbidden to enter the main road;
and transmitting the state information of the traffic signal lamps to the automatic driving vehicles queued on the auxiliary road.
As a further improvement of the present invention,
acquiring the position and the speed of a vehicle based on the main road video acquisition device and the speed measuring radar;
if the vehicle does not cross the critical position at the upstream of the main road, the control center calculates the shortest time T for the vehicle to reach the junction point based on the critical distance and the maximum speed limit1(ii) a Wherein the critical distance is the distance from the critical position to the junction point;
if the vehicle crosses a critical position upstream of the main road, the control center estimates the shortest time for the vehicle to reach the junction point based on the vehicle position and the speed of the vehicle passing the critical positionT1。
As a further improvement of the present invention,
if the first vehicle on the outermost side of the upstream of the main road is the automatic driving vehicle, the control center sends a deceleration instruction to the automatic driving vehicle on the main road, so that the time T of the automatic driving vehicle reaching the junction point is more than T1。
As a further improvement of the invention, the automatic driving vehicle on the auxiliary road to enter the main road and the automatic driving vehicle on the main road are communicated in real time to mutually transmit speed and position information.
Compared with the prior art, the invention has the beneficial effects that:
the control method and the system improve the traffic efficiency of the junction area of the main road and the auxiliary road of the urban expressway entrance ramp and the operation efficiency of an urban expressway network under a heterogeneous traffic scene (a mixed traffic scene in which automatic driving automobiles and manually driving vehicles coexist), optimize resource allocation, relieve urban traffic and guarantee safe driving.
Drawings
Fig. 1 is a flowchart of an expressway entrance ramp control method based on heterogeneous traffic scenarios according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an entrance ramp area of a highway segment according to an embodiment of the present invention.
In the figure:
1. a control center; 2. a side road video acquisition device; 3. a main road video acquisition device; 4. a traffic light; 5. and (5) speed measuring radar.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described in further detail below with reference to the attached drawing figures:
as shown in fig. 1, in order to improve the traffic efficiency and safety of the junction area of the main road and the auxiliary road of the entrance ramp of the urban expressway for the case that the automatic driving vehicle and the manual driving vehicle coexist; the invention provides a method for controlling an expressway entrance ramp based on a heterogeneous traffic scene, which comprises the following steps:
as shown in fig. 2, the expressway entrance ramp includes a main road and an auxiliary road, a connection point of the main road and the auxiliary road is a junction point, and a traffic signal lamp is installed at the junction point. In order to realize the control method of the expressway entrance ramp, the data acquisition and processing equipment adopted by the invention comprises: the system comprises a control center 1, a side road video acquisition device 2, a main road video acquisition device 3, a traffic signal lamp 4 and a speed measuring radar 5; wherein the content of the first and second substances,
the control center 1 comprises an edge calculation unit, a traffic state estimation system and a wireless communication system, and is used for gathering and sending various information in an entrance ramp area and detecting the congestion condition of a main road; the traffic state estimation system is mainly used for detecting the traffic jam condition on the main road, and is combined with the video acquisition device to more accurately judge whether the main road reaches a jam threshold value so as to determine whether to open an entrance ramp to allow a vehicle on a secondary road to enter; the communication system is responsible for transmitting the detection result to an edge calculation system of the local control center for calculation, and feeding back the calculation result to the traffic signal lamp system, so that the traffic signal lamp changes the opening time of the traffic light, and is responsible for the communication between the traffic signal lamp system and the automatic driving vehicle.
The auxiliary road video acquisition device 2 is used for acquiring the vehicle queuing length of an auxiliary road at the entrance ramp;
the main road video acquisition device 3 is used for acquiring the positions of the manually driven vehicles in the outermost lanes of the main road so as to judge whether the manually driven vehicles run within the critical distance L; and estimating a vehicle travel speed based on the detected manually-driven vehicle position; on the other hand, the number of vehicles at the downstream of the main road is collected and combined with the traffic state estimation system to jointly judge the congestion condition and the number of vehicles at the downstream of the main road.
The traffic signal lamp 4 is used for controlling the color of the traffic signal lamp, carrying out real-time communication with the automatic driving vehicles running on the main road and the automatic driving vehicles running on the entrance ramp and transmitting the current traffic light state;
the speed measuring radar 5 is used for detecting the speed of a vehicle passing through a main road and an entrance ramp junction point with the distance L, the installation position of the speed measuring radar is called a critical position, and the L is called a critical distance, so that the vehicle starts to decelerate under the condition that the speed of the vehicle at the critical position is the maximum speed limit, and the distance from the speed measuring radar to the junction point can be reduced to zero; the speed measuring system and the main road video information acquisition system jointly detect the speed and the position of the vehicle on the outermost side of the upstream, so that the time of the vehicle reaching the junction of the entrance ramps is calculated, and the result is used as the basis of the green light opening time of the traffic lights on the entrance ramps.
Based on the above-mentioned equipment or other equipment capable of realizing same action, the expressway entrance ramp control method of the invention comprises the following steps:
s1, starting a control system, and enabling each device to work normally;
s2, detecting the number Q of vehicles at the downstream of the main road junction1；
S3, counting the number of vehicles Q1Comparing with the number Q of vehicles reaching the congestion threshold value at the downstream of the main road junction;
s4, if Q1If the traffic light is more than or equal to Q, indicating that the main road is seriously congested, turning off a green light signal and turning on a red light signal at the moment, and forbidding the auxiliary road vehicles to enter the main road; and transmitting the state information of the traffic signal lamps to the automatic driving vehicles queued on the auxiliary road, and returning to S2 to continuously detect the number Q of vehicles at the downstream of the main road junction1；
If Q1If the time is less than Q, it indicates that the main road has free space to allow vehicles to enter, and at the moment, the shortest time T for the first vehicle on the outermost side at the upstream of the main road to reach the junction point is obtained1(ii) a Wherein the content of the first and second substances,
judging whether the first vehicle on the outermost side of the upstream of the main road is an automatic driving vehicle or a manual driving vehicle, wherein the judging method comprises the following steps: if the control center can establish communication with the vehicle, the vehicle is proved to be automatically driven; otherwise, manually driving the vehicle;
if the first vehicle on the outermost side of the upstream of the main road is an automatic driving vehicle, then:
the control center automatically acquires the speed and the position of the vehicle, and calculates the time T for the vehicle to reach the junction point of the main road and the auxiliary road according to the current speed1；
If the first vehicle on the outermost side of the upstream of the main road is a manually driven vehicle, then:
judging whether the vehicle enters the critical distance or not by combining the main road video information acquisition and processing device according to the speed measurement return information of the speed measurement radar at the critical position (the speed measurement radar is used for measuring the speed information of the manually driven vehicle passing through the position, and the speed information of the automatically driven vehicle is measured by the vehicle self-sensing device and is transmitted to the control center in real time);
if the vehicle does not cross the critical position on the upstream of the main road (at the moment, the distance between the vehicle and the junction is greater than the critical distance L), in order to ensure the safety of the junction, the critical position is used as the current position of the vehicle, and the maximum speed limit is used as the running speed of the vehicle; at this time, the shortest time T for the vehicle to reach the meeting point is calculated based on the critical distance and the maximum speed limit1；
If the vehicle crosses a critical position on the upstream of the main road (at the moment, the distance between the vehicle and the junction point is smaller than the critical distance L), the vehicle speed of the vehicle passing through the critical point is detected according to the speed measuring radar to be used as the current speed V of the vehicle (in general, the vehicle can run at a reduced speed when reaching the vicinity of the junction point, so the actual speed V is1Less than V); to this end, the shortest time T for the vehicle to reach the junction is estimated based on the vehicle position and the speed of the vehicle through the critical position1。
S5, judging whether a vehicle is on the auxiliary road entrance ramp or not; if no vehicle exists, the signal lamp continues to be in a red light state; if the vehicles exist, detecting the number Q of vehicles queued on the auxiliary road2(ii) a And when the first vehicle on the outermost side of the upstream of the main road is the automatic driving vehicle, sending a deceleration instruction to the automatic driving vehicle on the main road to enable the time T of the automatic driving vehicle reaching the junction point to be more than T1；
S6, judgment Q2≤Q-Q1Or estimating Q2After all vehicles enter the main road, whether the downstream of the junction point of the main road reaches the congestion threshold or notA value Q;
s7, if Q2≤Q-Q1Then, Q on the road-side is described2The vehicles can all enter the main road; at this time, the secondary on-path Q is estimated2Time T for vehicle to enter main road2；
If T1＞T2Then the green light is turned on for T2Ensuring that all the vehicles on the auxiliary road enter the main road; otherwise, the green light is turned on for T1Ensuring that the auxiliary road vehicles partially enter the main road so as to ensure the safety of the confluence area;
s8, if Q2＞Q-Q1Then, Q on the road-side is described2The vehicles can not enter the main road completely, and only part of the vehicles are allowed to enter; at this time, the Q-Q on the secondary is estimated1Time T for vehicle to enter main road3；
If T1＞T3Then the green light is turned on for T3Ensuring that all vehicles on the auxiliary road Q-Q1 enter the main road; otherwise, the green light is turned on for T1And ensuring that vehicles smaller than Q-Q1 on the auxiliary road enter the main road so as to ensure the safety of the confluence area.
And S9, the automatic driving vehicle on the auxiliary road to enter the main road communicates with the automatic driving vehicle on the main road in real time, and the speed and the position information are mutually transmitted, so that the safety of a convergence area is further guaranteed.
As shown in fig. 1 and 2, based on the expressway entrance ramp control method, the invention further provides an expressway entrance ramp control system based on heterogeneous traffic scenes, wherein the expressway entrance ramp comprises a main road and an auxiliary road, a connection point of the main road and the auxiliary road is a junction point, and a traffic signal lamp is installed at the junction point; the method comprises the following steps: the system comprises a control center 1, a side road video acquisition device 2, a main road video acquisition device 3, a traffic signal lamp 4 and a speed measuring radar 5; the control center is communicated with the auxiliary road video acquisition device, the main road video acquisition device, the traffic signal lamp, the speed measuring radar and the automatic driving vehicle, and the automatic driving vehicle is communicated with each other; wherein the content of the first and second substances,
the control center 1 comprises an edge calculation unit, a traffic state estimation system and a communication system, and is used for gathering and sending various information in an entrance ramp area and detecting the congestion condition of a main road; the traffic state estimation system is mainly used for detecting the traffic jam condition on the main road, and is combined with the main road video acquisition device to more accurately judge whether the main road reaches a jam threshold value so as to determine whether to open an entrance ramp to allow a vehicle on a secondary road to enter; the communication system is responsible for transmitting the detection result to an edge calculation system of the local control center for calculation, and feeding back the calculation result to the traffic signal lamp system, so that the traffic signal lamp changes the opening time of the traffic light, and is responsible for the communication between the traffic signal lamp system and the automatic driving vehicle.
The auxiliary road video acquisition device 2 is used for acquiring the vehicle queuing length of an auxiliary road at the entrance ramp;
the main road video acquisition device 3 is used for acquiring the positions of the manually driven vehicles in the outermost lanes of the main road so as to judge whether the manually driven vehicles run to the critical distance L; estimating the vehicle running speed according to the detected position of the manually-driven vehicle, and further estimating the time when the vehicle reaches the junction;
the traffic signal lamp 4 is used for controlling the color of the traffic signal lamp and is communicated with the automatic driving vehicles running on the main road and the automatic driving vehicles running on the entrance ramp in real time;
the speed measuring radar 5 is used for detecting the speed of a vehicle passing through a main road and an entrance ramp junction point with the distance L, the installation position of the speed measuring radar is called a critical position, and the L is called a critical distance, so that the vehicle starts to decelerate under the condition that the speed of the vehicle at the critical position is the maximum speed limit, and the distance from the speed measuring radar to the junction point can be reduced to zero; the speed measuring system and the main road video information acquisition system jointly detect the speed and the position of the vehicle on the outermost side of the upstream, so that the time of the vehicle reaching the junction of the entrance ramps is calculated, and the result is used as the basis of the green light opening time of the traffic lights on the entrance ramps.
And S1-S9 of the expressway entrance ramp control method based on the equipment.
The invention has the advantages that:
the control method and the system improve the traffic efficiency of the junction area of the main road and the auxiliary road of the urban expressway entrance ramp and the operation efficiency of an urban expressway network under a heterogeneous traffic scene (a mixed traffic scene in which automatic driving automobiles and manually driving vehicles coexist), optimize resource allocation, relieve urban traffic and guarantee safe driving.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An expressway entrance ramp control method based on heterogeneous traffic scenes is characterized in that an expressway entrance ramp comprises a main road and an auxiliary road, the connection point of the main road and the auxiliary road is a junction point, and a traffic signal lamp is installed at the junction point; it is characterized by comprising:
detecting number of vehicles Q downstream of main road junction1；
If Q1Obtaining the shortest time T for the first vehicle at the outermost side at the upstream of the main road to reach the junction point when the number Q of vehicles is less than the congestion threshold value reached at the downstream of the main road junction point1；
Detecting the number of vehicles queued on the side road Q2；
If Q2≤Q-Q1Then estimate Q on the auxiliary path2Time T for vehicle to enter main road2；
If T1＞T2Then the green light is turned on for T2(ii) a Otherwise, the green light is turned on for T1；
If Q2＞Q-Q1Then, estimate Q-Q on the auxiliary path1Time T for vehicle to enter main road3；
If T1＞T3Then the green light is turned on for T3(ii) a Otherwise, the green light is turned on for T1。
2. The control method according to claim 1,
if Q1If the signal is more than or equal to Q, the green light signal is turned off, the red light signal is turned on, and the auxiliary road vehicles are forbidden to enter the main road；
And transmitting the state information of the traffic signal lamps to the automatic driving vehicles queued on the auxiliary road.
3. The control method according to claim 1,
the shortest time T for the first vehicle on the outermost side of the upstream of the main road to reach the junction point is obtained1The method comprises the following steps:
if the first vehicle on the outermost side of the upstream of the main road is an automatic driving vehicle, then:
acquiring the position and the speed of a vehicle;
according to the position and the speed of the vehicle, the shortest time T of the vehicle reaching the junction point is calculated1；
If the first vehicle on the outermost side of the upstream of the main road is a manually driven vehicle, then:
acquiring the position and the speed of a vehicle;
if the vehicle does not cross the critical position at the upstream of the main road, the shortest time T for the vehicle to reach the junction point is calculated based on the critical distance and the maximum speed limit1(ii) a Wherein the critical distance is the distance from the critical position to the junction point;
if the vehicle crosses a critical location upstream of the main road, estimating the shortest time T for the vehicle to reach the junction point based on the vehicle location and the speed of the vehicle passing the critical location1。
4. The control method according to claim 3,
if the first vehicle on the outermost side of the upstream of the main road is the automatic driving vehicle, a deceleration instruction is sent to the automatic driving vehicle on the main road, and the time T of the automatic driving vehicle reaching the junction point is larger than T1。
5. The control method according to claim 1, wherein the autonomous vehicle on the secondary road to enter the primary road communicates with the autonomous vehicle on the primary road in real time, communicating speed and position information with each other.
6. An expressway entrance ramp control system based on heterogeneous traffic scenes is characterized in that an expressway entrance ramp comprises a main road and an auxiliary road, the connection point of the main road and the auxiliary road is a junction point, and a traffic signal lamp is installed at the junction point; it is characterized by comprising: the system comprises a control center, a side road video acquisition device, a main road video acquisition device, a traffic signal lamp and a speed measuring radar, wherein the control center is communicated with the side road video acquisition device, the main road video acquisition device, the traffic signal lamp, the speed measuring radar and an automatic driving vehicle, and the automatic driving vehicles are communicated with each other; wherein:
the auxiliary road video acquisition device is used for:
detecting the number of vehicles queued on the side road Q2；
The main road video acquisition device and the speed measuring radar are used for:
acquiring the position and the speed of the first artificial driving vehicle on the outermost side of the upstream of the main road;
the control center is used for:
detecting number of vehicles Q downstream of main road junction1And judging Q1Whether the number of vehicles Q reaches a congestion threshold value at the downstream of the main road junction point;
if Q1If the number Q of vehicles is smaller than the congestion threshold value reached at the downstream of the main road junction point, the position and the speed of the manually-driven vehicle are obtained based on the main road video acquisition device and the speed measuring radar, and the shortest time T for the first manually-driven vehicle at the outermost side at the upstream of the main road to reach the junction point is calculated1(ii) a Or, based on the received position and speed of the automatic driving vehicle, the shortest time T for the first automatic driving vehicle at the outermost side at the upstream of the main road to reach the junction point is obtained1；
If Q2≤Q-Q1Then estimate Q on the auxiliary path2Time T for vehicle to enter main road2；
If T1＞T2Then the green light is turned on for T2(ii) a Otherwise, the green light is turned on for T1；
If Q2＞Q-Q1Then, estimate Q-Q on the auxiliary path1Time T for vehicle to enter main road3；
If T1＞T3Then the green light is turned on for T3(ii) a Otherwise, the green light is turned on for T1。
7. The control system of claim 6,
if Q1If the signal is more than or equal to Q, the green light signal is turned off, the red light signal is turned on, and the auxiliary road vehicle is forbidden to enter the main road;
and transmitting the state information of the traffic signal lamps to the automatic driving vehicles queued on the auxiliary road.
8. The control system of claim 6,
acquiring the position and the speed of a vehicle based on the main road video acquisition device and the speed measuring radar;
if the vehicle does not cross the critical position at the upstream of the main road, the control center calculates the shortest time T for the vehicle to reach the junction point based on the critical distance and the maximum speed limit1(ii) a Wherein the critical distance is the distance from the critical position to the junction point;
if the vehicle crosses a critical position upstream of the main road, the control center estimates the shortest time T for the vehicle to reach the junction point based on the position of the vehicle and the speed of the vehicle passing through the critical position1。
9. The control system of claim 6,
if the first vehicle on the outermost side of the upstream of the main road is the automatic driving vehicle, the control center sends a deceleration instruction to the automatic driving vehicle on the main road, so that the time T of the automatic driving vehicle reaching the junction point is more than T1。
10. The control system of claim 6, wherein the autonomous vehicles on the secondary road to enter the primary road communicate with the autonomous vehicles on the primary road in real time, communicating speed and location information with each other.
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