CN111599194A - System and method for guiding speed of heterogeneous traffic flow on entrance ramp of expressway - Google Patents

System and method for guiding speed of heterogeneous traffic flow on entrance ramp of expressway Download PDF

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Publication number
CN111599194A
CN111599194A CN202010463827.1A CN202010463827A CN111599194A CN 111599194 A CN111599194 A CN 111599194A CN 202010463827 A CN202010463827 A CN 202010463827A CN 111599194 A CN111599194 A CN 111599194A
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vehicle
speed
subsystem
module
information
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王博通
马文博
郭魁元
张辉
秦孔建
李韬
张帅
高晋先
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China Automotive Technology and Research Center Co Ltd
CATARC Automotive Test Center Tianjin Co Ltd
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China Automotive Technology and Research Center Co Ltd
CATARC Automotive Test Center Tianjin Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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
    • 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
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • 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
    • G08G1/054—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed photographing overspeeding vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The invention provides a vehicle speed guiding system and a vehicle speed guiding method for heterogeneous traffic flows on an entrance ramp of an expressway, which comprise the following steps: the intelligent vehicle-mounted subsystem is used for acquiring information of an intelligent vehicle and is arranged on the intelligent vehicle; the vehicle-mounted internet vehicle system is used for acquiring information of the internet vehicle and is arranged on the internet vehicle; the system comprises a common vehicle information acquisition subsystem used for acquiring common vehicle information, wherein the common vehicle information acquisition subsystem is installed on the road side; the intelligent vehicle-mounted subsystem, the internet vehicle-mounted subsystem and the common vehicle information acquisition subsystem are all in wireless connection with the road-side speed decision subsystem. The invention provides a guiding system capable of quickly guiding vehicles on an entrance ramp of an expressway, and effectively solves the problem that vehicles are easy to block at the entrance of the ramp by utilizing different subsystems aiming at different vehicles.

Description

System and method for guiding speed of heterogeneous traffic flow on entrance ramp of expressway
Technical Field
The invention belongs to the technical field of intelligent traffic, and particularly relates to a vehicle speed guiding system and a vehicle speed guiding method for heterogeneous traffic flow of an expressway entrance ramp.
Background
With the rapid increase of the quantity of automobiles, accidents and congestion at the entrance ramp of the expressway are increasingly serious. Meanwhile, with the development of the intelligent network connection technology, vehicles with different intelligent network connection degrees will appear in road traffic successively, and a phenomenon that heterogeneous traffic flows are mixed on the road will exist for a long time in the future.
The development of the intelligent networking technology can realize the accurate control of individual vehicles, thereby providing a chance for speed guidance and management of traffic jam. The speed guidance has the advantages of considering efficiency and safety, having obvious treatment effect and the like, and the U.S. department of transportation clearly proposes dynamic speed cooperation as one of important means for optimizing traffic flow of a road network in the five-year planning of intelligent traffic development strategy. Therefore, implementing vehicle speed guidance in heterogeneous traffic flows becomes an important means to solve traffic problems at the entrance ramp of a highway.
Meanwhile, on the basis of acquiring the running state of the train in real time, the control theory of the block section in the high-speed rail can ensure the safety and the maneuverability of the whole running of the train, and has reference significance for speed guidance of heterogeneous traffic flow. The intelligent networking technology can realize the microcosmic control of individual vehicles and provides a technical basis for the speed guidance of the blocking interval theory at the entrance ramp, so that the application of the blocking interval theory to the speed guidance at the entrance ramp becomes a feasible way.
At present, most of speed guiding systems and methods of entrance ramps concentrate on homogeneous traffic flows with the same intelligent degree, and the condition that heterogeneous traffic flows such as intelligent vehicles, internet vehicles, common vehicles and the like are mixed in the future for a long time is not considered; on the other hand, in the aspect of road application of blocking theory, the existing method still remains the application of a single method, has the defects of low efficiency and poor robustness, and still has the defects in the aspect of speed guidance by combining methods such as fixed blocking, moving blocking and the like.
Disclosure of Invention
In view of the above, the present invention provides a speed guidance system and a speed guidance method for heterogeneous traffic flows on an entrance ramp of a highway, so as to solve the problem that most of the existing speed guidance systems and methods for entrance ramps are focused on homogeneous traffic flows with the same intelligent degree, and the problem that heterogeneous traffic flows such as intelligent vehicles, internet connection vehicles and common vehicles are mixed in the future for a long time is not considered.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a heterogeneous traffic flow speed guide system of highway entrance ramp includes:
the intelligent vehicle-mounted subsystem is used for acquiring information of an intelligent vehicle and is arranged on the intelligent vehicle; the vehicle-mounted internet vehicle system is used for acquiring information of the internet vehicle and is arranged on the internet vehicle; the system comprises a common vehicle information acquisition subsystem used for acquiring common vehicle information, wherein the common vehicle information acquisition subsystem is installed on the road side;
the intelligent vehicle-mounted subsystem, the internet vehicle-mounted subsystem and the common vehicle information acquisition subsystem are all wirelessly connected with the roadside speed decision subsystem, the roadside speed decision subsystem guides vehicles according to the sequence, and the roadside decision subsystem is further connected with the roadside display screen display subsystem.
Furthermore, the intelligent vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a voice broadcast module, a vehicle speed information display module, a brake and throttle control module, a steering control module and a vehicle basic information storage module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
Furthermore, the internet vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a vehicle-mounted wireless communication module, a vehicle basic information storage module, a vehicle speed display module and a voice broadcasting module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
Furthermore, the common vehicle information acquisition subsystem comprises a storage and wireless communication module, and a license plate camera acquisition module, a position camera acquisition module and a vehicle speed camera acquisition module which are connected with the storage and wireless communication module;
the ordinary vehicle information acquisition subsystem is connected with the road side speed decision-making subsystem through the storage and wireless communication module.
Furthermore, the road side speed decision subsystem comprises a road side wireless communication module, a traffic sequence service module connected with the road side wireless communication module, an intelligent vehicle moving block speed calculation module, a network connection vehicle fixed block speed calculation module and a common vehicle fixed block speed calculation module which are connected with the traffic sequence service module.
Further, the display subsystem of the road side display screen comprises a communication module, a guide information display module and a guide information voice playing module, wherein the guide information display module and the guide information voice playing module are connected with the communication module;
the communication module is a wireless or wired communication module.
A method for guiding the speed of a heterogeneous traffic flow on an entrance ramp of an expressway comprises the following steps:
s1, when the vehicle reaches the communication range of the road side speed decision subsystem, the road side speed decision subsystem acquires the vehicle information;
s2, the road side speed decision subsystem receives the transmitted information, and arranges the passing order of all vehicles on the main road and the entrance ramp according to the passing right of the first-come first-served principle sub-distribution flow zone conflict point;
s3, calculating a guiding speed v by the road side speed decision subsystem;
and S4, after the speed calculation is completed, the speed guiding center sends guiding information to the vehicles within the communication range.
Further, in step S1, the method for the road-side speed decision making subsystem to obtain the vehicle information is as follows:
the vehicle-mounted subsystem of the intelligent vehicle and the internet vehicle carries out information interaction with the road side speed decision subsystem, and sends vehicle information to the road side speed decision subsystem, and the vehicle information of the common vehicle is acquired by the common vehicle information acquisition subsystem arranged on the road side and sent to the road side speed decision subsystem.
Further, in step S3, the guiding speed v is calculated by using a fixed block method for the general vehicle and the internet vehicle, and the guiding speed v is calculated by using a moving block method for the smart vehicle, which includes the following specific steps:
aiming at the intelligent vehicle, because the intelligent vehicle is controlled by a driving robot, the speed control precision is higher, a moving block control method in a block section theory is adopted, the passing time of a front vehicle in a passing sequence is taken as a target point, the predicted passing time of the vehicle is calculated and remembered according to the position and the speed of the vehicle, and the guiding speed is obtained by reverse deduction;
predicted passing time t of intelligent vehiclepassThe calculation formula is as follows:
Figure BDA0002511957500000041
in the formula, treachThe time v when the vehicle reaches the communication range of the roadside decision-making systemiFor guiding speed of vehicle, v0The speed when the communication range is reached is a vehicle acceleration, and x is the distance between the vehicle and a conflict point of the confluence area;
according to the mobile block control method, the predicted passing time of the front vehicle is taken as a target point, and the predicted passing time t of the intelligent vehiclepassComprises the following steps:
Figure BDA0002511957500000042
in the formula, tpass-fAs the predicted passing time, t, of the preceding vehicle in the sequencebrakeThe shortest braking time of the vehicle, tsafeIs a safety time margin.
The two equations are combined to obtain the guiding speed of the vehicle i under acceleration:
Figure BDA0002511957500000043
the guiding speed of the vehicle i in the case of deceleration is:
Figure BDA0002511957500000051
wherein t isi＝tpass-f+tsafe-treach
For the internet vehicles, the vehicles are controlled by the driver, and the speed control precision is low, so a fixed block control method is adopted, the passing time of the front vehicle in the sequence is taken as a target point, and the predicted passing time and the guide speed of the vehicle are calculated according to the fixed length;
predicted passing time t of internet vehiclepass，The calculation formula is as follows:
Figure BDA0002511957500000052
in the formula, treactionThe reaction time of the driver to the speed guidance information;
taking the predicted passing time of the front vehicle in the sequence as an end point of one end of the section, and taking the safe headway as the length t of the section with fixed blockfThen, the predicted passing time t of the host vehiclepassComprises the following steps:
tpass＝ti-1+tf
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure BDA0002511957500000053
guidance speed of vehicle i in acceleration:
Figure BDA0002511957500000054
wherein T is Tpass-f+tf-treach-treaction
For an ordinary vehicle, the vehicle is controlled by a driver, the speed control precision is low, so a fixed block control method is also adopted, and the delay exists in the acquisition and sending of the information of the ordinary vehicle, so the calculation method of the interval length is different from that of the internet vehicle;
the passing time calculation formula of the common vehicle is as follows:
Figure BDA0002511957500000055
and taking the predicted passing time of the front vehicle in the sequence as a target point, and taking the length of the fixed blocked section as the safe headway and the guiding speed of the driver on the reading display screen, so that the predicted passing time of the vehicle is as follows:
tpass＝ti-1+tf+tread
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure BDA0002511957500000061
in the equation, the guidance speed of the vehicle i in the case of acceleration:
Figure BDA0002511957500000062
wherein T is Ti-1+tf-treach-tsafe-treaction。
Further, in step S4, the method for guiding the vehicle is as follows:
guiding the intelligent vehicle to automatically drive and displaying guiding information to a vehicle user; the internet vehicle informs the driver of the information through vision and hearing; and simultaneously, the guide information of the common vehicle is broadcasted visually and auditorily through the road side display screen.
Compared with the prior art, the heterogeneous traffic flow speed guiding system and the heterogeneous traffic flow speed guiding method for the expressway entrance ramp, which are provided by the invention, have the following advantages:
(1) the invention provides a guiding system capable of quickly guiding vehicles on an entrance ramp of an expressway, and effectively solves the problem that vehicles are easy to block at the entrance of the ramp by utilizing different subsystems aiming at different vehicles.
(2) The invention creates a method for guiding the speed of heterogeneous traffic flow on an entrance ramp of a highway, which adopts different guiding speed calculation methods for vehicles with different intelligent network connection degrees and adopts a more efficient moving block speed calculation method for intelligent vehicles with higher intelligent network connection degrees. Aiming at the common vehicle and the internet vehicle, a fixed block speed calculation method is adopted. The system and the method can effectively reduce the collision risk of the confluence area and improve the traffic efficiency by guiding the speed of the individual vehicle. Meanwhile, the method aims at heterogeneous traffic flow environments and adopts a combined block interval control method, so that the method has the characteristics of strong practicability, long service life and high robustness.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention without limitation. In the drawings:
FIG. 1 is a schematic diagram of the theory of block regions;
FIG. 2 is a block diagram of the vehicle speed guidance system of the heterogeneous traffic flow of the entrance ramp of the expressway under the environment of intelligent network connection created by the invention;
FIG. 3 is a schematic view of a vehicle speed guidance system of a heterogeneous traffic flow on an entrance ramp of a highway under an intelligent networking environment according to the invention;
fig. 4 is a logic flow chart of the vehicle speed guidance system of the heterogeneous traffic flow of the expressway entrance ramp in the intelligent networking environment.
Detailed Description
In order to more clearly illustrate the present invention, the present invention is further described below with reference to preferred embodiments and the accompanying drawings. It is to be understood by persons skilled in the art that the following detailed description is illustrative and not restrictive, and is not to be taken as limiting the scope of the invention.
As shown in fig. 2, a heterogeneous traffic flow vehicle speed guidance system for an entrance ramp of an expressway comprises:
the intelligent vehicle-mounted subsystem is used for acquiring information of an intelligent vehicle and is arranged on the intelligent vehicle; the vehicle-mounted internet vehicle system is used for acquiring information of the internet vehicle and is arranged on the internet vehicle; the system comprises a common vehicle information acquisition subsystem used for acquiring common vehicle information, wherein the common vehicle information acquisition subsystem is installed on the road side;
the intelligent vehicle-mounted subsystem, the internet vehicle-mounted subsystem and the common vehicle information acquisition subsystem are all wirelessly connected with the roadside speed decision subsystem, the roadside speed decision subsystem guides vehicles according to the sequence, and the roadside decision subsystem is further connected with the roadside display screen display subsystem.
The intelligent vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a voice broadcasting module, a vehicle speed information display module, a brake and throttle control module, a steering control module and a vehicle basic information storage module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
The internet vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a vehicle-mounted wireless communication module, a vehicle basic information storage module, a vehicle speed display module and a voice broadcasting module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
The common vehicle information acquisition subsystem comprises a storage and wireless communication module, and a license plate camera acquisition module, a position camera acquisition module and a vehicle speed camera acquisition module which are connected with the storage and wireless communication module;
the ordinary vehicle information acquisition subsystem is connected with the road side speed decision-making subsystem through the storage and wireless communication module.
The road side speed decision-making subsystem comprises a road side wireless communication module, a traffic sequence service module connected with the road side wireless communication module, an intelligent vehicle moving block speed calculation module, a network connection vehicle fixed block speed calculation module and a common vehicle fixed block speed calculation module which are connected with the traffic sequence service module.
The display subsystem of the road side display screen comprises a communication module, a guide information display module and a guide information voice playing module, wherein the guide information display module and the guide information voice playing module are connected with the communication module;
the communication module is a wireless or wired communication module.
It should be noted that, the vehicle-mounted subsystem of the smart vehicle, the internet vehicle-mounted subsystem, the information acquisition subsystem of the common vehicle, the roadside speed decision subsystem, and the roadside display screen display subsystem can all be implemented by adopting the prior art, for example, the vehicle speed acquisition module, the GPS positioning module, the vehicle speed information display module, the voice playing module, the accelerator and brake control module, and the steering control module of the vehicle-mounted subsystem of the smart vehicle are similar to the function of the cadilake super cruise system.
The vehicle basic information storage module of the intelligent vehicle-mounted subsystem has similar functions with a hard disk, the hard disk is integrated on a vehicle, and internal data is read by a vehicle ECU;
the vehicle-mounted wireless communication module of the smart vehicle-mounted subsystem has a function similar to that of the LTE-V vehicle-to-vehicle and vehicle-to-road communication scheme communication unit of dating mobile communication devices ltd.
The vehicle speed acquisition module, the GPS positioning module, the vehicle speed display module and the voice broadcast module of the internet vehicle mounted subsystem are similar to the function of a Kedilak super cruise system.
The vehicle basic information storage module of the internet vehicle-mounted subsystem has similar functions to a hard disk, the hard disk is integrated on a vehicle, and internal data is read by a vehicle ECU;
the vehicle-mounted wireless communication module of the internet-connected vehicle-mounted subsystem has similar functions with the LTE-V vehicle-mounted communication scheme communication unit of the Datang mobile communication equipment Co.
The common vehicle speed camera shooting acquisition module of the common vehicle-mounted subsystem has similar functions with the Haokawav vision speed measurement camera;
the position camera shooting acquisition module of the ordinary vehicle-mounted subsystem has similar functions with a vehicle speed feedback instrument radar TBR-510 of Tuobao technology, and the vehicle position and the vehicle speed information are measured;
the license plate camera shooting and collecting module of the vehicle-mounted subsystem of the ordinary vehicle has similar functions with the expressway side speed camera of the Haokangwei sight;
the vehicle-mounted wireless communication module of the vehicle-mounted subsystem in general has similar functions to the LTE-V vehicle-to-vehicle and vehicle-to-road communication scheme of the dating mobile communication devices ltd.
The roadside speed decision making subsystem functions similarly to the LTE-V vehicle-to-vehicle and vehicle-to-road communication scheme of dating mobile communication devices, ltd.
The display screen wired/wireless communication module of the roadside display information subsystem has similar functions to the LTE-V vehicle-to-vehicle and vehicle-to-road communication scheme communication unit of Datang Mobile communication Equipment, Inc.
The guidance information display module of the roadside display information subsystem has similar functions to the Hanwei photoelectric portal type variable information board;
the voice broadcast module of the roadside display information subsystem has a function similar to that of a voice broadcast device of Runxin intelligent transportation equipment Limited company in Zhejiang.
One of the innovation points of the patent application provides a speed guidance system for heterogeneous traffic flows of an expressway on an entrance ramp, which can achieve the purpose of fast traffic (can also achieve the purpose of accelerating fast dredging of ramp vehicles without depending on a guidance method) by combining the subsystems to achieve the guidance of vehicles on the entrance ramp of the expressway; the other innovation point is that a guiding method is introduced on the basis of the system, high-precision guiding is realized, and the traffic efficiency is effectively improved.
Fig. 1 shows a schematic principle diagram of a blocking interval theory, for a fixed blocking method, a time interval of two vehicles passing through a confluence conflict point is a fixed duration, a length is a safe headway, and a passing interval is independent of real-time speed and position of the two vehicles. For the moving block method, the time interval of two vehicles passing through the conflict point is variable, the length of the time interval is related to the relative speed and the relative distance between the two vehicles, and the length consists of braking time and a safety allowance, so that the utilization efficiency of the passing time can be further improved. Fig. 3 is a scene schematic diagram of the vehicle speed guidance system of the heterogeneous traffic flow of the expressway on-ramp in the intelligent networking environment. The scene comprises heterogeneous traffic flow formed by three vehicles, namely an intelligent vehicle, an internet vehicle and a common vehicle. The system also comprises a common vehicle information acquisition subsystem used for acquiring the speed guide information of the common vehicle. And the roadside display screen information display subsystem. The method is used for issuing the guide information of the general vehicle speed. And the road side speed decision subsystem is used for receiving all vehicle speed guide information, arranging the traffic sequence, calculating the speed guide information and sending the speed guide information. FIG. 3 is a block diagram of a vehicle speed guidance system for heterogeneous traffic flows on an entrance ramp of a highway; the system is divided into five subsystems, namely an intelligent vehicle-mounted subsystem, a network vehicle-mounted subsystem, a common vehicle information acquisition subsystem, a road side speed decision subsystem, a road side display screen information display subsystem and the like. The intelligent vehicle-mounted subsystem is used for information acquisition, information reception and vehicle control of the intelligent vehicle. The internet vehicle-mounted subsystem is used for information acquisition, information reception and information reminding of the internet vehicle. The common vehicle information acquisition subsystem is used for acquiring and sending the speed, the position and the vehicle information of the common vehicle. And the road side speed decision subsystem is used for receiving the acquired information of all vehicles, arranging the passing sequence and calculating and sending the speed guide information. And the roadside display screen information display subsystem is used for issuing the speed guide information of the common vehicle.
Fig. 4 shows a logic flow chart of a vehicle speed guiding method, and the vehicle speed guiding method for heterogeneous traffic flows of an entrance ramp of an expressway under an intelligent network environment comprises the following steps:
and S01, when the vehicle reaches the communication range of the road side speed decision subsystem, collecting vehicle information and sending the vehicle information to the decision subsystem. For the intelligent vehicle and the internet vehicle, when the vehicle reaches a communication range, the vehicle can package required speed guide information into a packet and send the packet to the decision subsystem in a wireless communication mode; for the common vehicle, the license plate, the maximum acceleration, the arrival time, the speed and the position information of the common vehicle are sent to the decision-making subsystem through the cameras of the main road and the entrance ramp in the common vehicle information acquisition subsystem;
and the S02 road side speed decision subsystem receives the transmitted information, divides the traffic right of the traffic flow conflict point according to the principle of first-come first-serve, and arranges the traffic sequence of all vehicles on the main road and the entrance ramp.
And the S03 road-side speed decision subsystem calculates the guiding speed v by applying a blocking section theory in the high-speed railway. The common vehicle and the internet vehicle are still people, so the calculation is carried out on the common vehicle and the internet vehicle by adopting a fixed blocking method. Because the driving body of the intelligent vehicle is a robot, a moving block method with higher traffic efficiency and higher vehicle speed precision requirement is adopted for speed calculation.
S04 the speed calculation method of different intelligent level vehicles is as follows:
the intelligent vehicle is controlled by a driving robot, so that the speed control precision is high, therefore, a moving block control method in a block section theory is adopted, the passing time of a front vehicle in a passing order is taken as a target point, the predicted passing time of the vehicle is calculated and remembered according to the position and the speed of the vehicle, and the guiding speed is obtained by reverse deduction.
The whole speed guiding process of the intelligent vehicle comprises five stages of information sending, speed calculation, information receiving, speed adjustment, speed maintaining and the like; because the intelligent vehicle has no response time of a driver, the three stages of sending information, calculating speed and receiving information generally only need about 100ms, and therefore the time consumption of the three stages is ignored. Predicted passing time t of intelligent vehiclepassComprises the following steps:
Figure BDA0002511957500000111
in the formula, treachThe time v when the vehicle reaches the communication range of the roadside decision-making systemiFor guiding speed of vehicle, v0To speed when the communication range is reached, a is the vehicle acceleration, and x is the distance of the vehicle from the merge area conflict point.
According to the mobile block control method, the predicted passing time of the front vehicle is taken as a target point, and the predicted passing time t of the intelligent vehiclepassComprises the following steps:
Figure BDA0002511957500000121
in the formula, tpass-fAs the predicted passing time, t, of the preceding vehicle in the sequencebrakeThe shortest braking time of the vehicle, tsafeIs a safety time margin.
The two equations are combined to obtain the guiding speed of the vehicle i under acceleration:
Figure BDA0002511957500000122
the guiding speed of the vehicle i in the case of deceleration is:
Figure BDA0002511957500000123
wherein t isi＝tpass-f+tsafe-treach
For the internet vehicles, the vehicles are controlled by the driver, and the speed control precision is low, so a fixed block control method is adopted, the passing time of the front vehicle in the sequence is taken as a target point, and the predicted passing time and the guiding speed of the vehicle are calculated according to a fixed length.
The speed guiding process of the internet vehicle comprises five stages of information sending, speed calculation, driver reaction, speed adjustment, speed maintenance and the like, wherein the two stages of information sending and speed calculation are ignored due to short time; predicted passing time t of internet vehiclepassThe following were used:
Figure BDA0002511957500000124
in the formula, treactionThe reaction time of the driver to the speed guidance information.
Taking the predicted passing time of the front vehicle in the sequence as an end point of one end of the section, and taking the safe headway as the length t of the section with fixed blockfThen, the predicted passing time t of the host vehiclepassComprises the following steps:
tpass＝ti-1+tf
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure BDA0002511957500000131
guidance speed of vehicle i in acceleration:
Figure BDA0002511957500000132
wherein T is Tpass-f+tf-treach-treaction
For an ordinary vehicle, the vehicle is controlled by a driver, the speed control precision is low, so a fixed block control method is also adopted, and the delay exists in the acquisition and sending of the information of the ordinary vehicle, so the calculation method of the interval length is different from that of the internet vehicle;
the speed guiding process of the common vehicle comprises five stages of information sending, speed calculation, driver reaction, speed adjustment, speed maintenance and the like, wherein the information sending comprises license plate recognition, speed measurement and the like, and the time is usually about 500 ms; receiving information includes reading time, typically 1s, from a roadside display screen; the predicted passing time of the common vehicle is as follows:
Figure BDA0002511957500000133
and taking the predicted passing time of the front vehicle in the sequence as a target point, and taking the length of the fixed blocked section as the safe headway and the guiding speed of the driver on the reading display screen, so that the predicted passing time of the vehicle is as follows:
tpass＝ti-1+tf+tread
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure BDA0002511957500000134
in the equation, the guidance speed of the vehicle i in the case of acceleration:
Figure BDA0002511957500000135
wherein T is Ti-1+tf-treach-tsafe-treaction
And S05, after the speed calculation is finished, the speed guide center broadcasts the guide information to the vehicles in the communication range, the intelligent vehicle automatically drives and displays the guide information to the vehicle user, and the internet vehicle informs the driver of the information through vision and hearing. Simultaneously, the guiding information of the common vehicle is broadcasted visually and auditorily through a road side display screen;
it should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.

Claims (10)

1. Heterogeneous traffic flow speed of a motor vehicle bootstrap system of highway entrance ramp, its characterized in that includes:
the intelligent vehicle-mounted subsystem is used for acquiring information of an intelligent vehicle and is arranged on the intelligent vehicle; the vehicle-mounted internet vehicle system is used for acquiring information of the internet vehicle and is arranged on the internet vehicle; the system comprises a common vehicle information acquisition subsystem used for acquiring common vehicle information, wherein the common vehicle information acquisition subsystem is installed on the road side;
the intelligent vehicle-mounted subsystem, the internet vehicle-mounted subsystem and the common vehicle information acquisition subsystem are all wirelessly connected with the roadside speed decision subsystem, the roadside speed decision subsystem guides vehicles according to the sequence, and the roadside decision subsystem is further connected with the roadside display screen display subsystem.
2. The heterogeneous traffic flow vehicle speed guiding system of the expressway entrance ramp according to claim 1, wherein: the intelligent vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a voice broadcasting module, a vehicle speed information display module, a brake and throttle control module, a steering control module and a vehicle basic information storage module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
3. The heterogeneous traffic flow vehicle speed guiding system of the expressway entrance ramp according to claim 1, wherein: the internet vehicle-mounted subsystem comprises a vehicle-mounted storage and wireless communication module, and a vehicle speed acquisition module, a GPS positioning module, a vehicle-mounted wireless communication module, a vehicle basic information storage module, a vehicle speed display module and a voice broadcasting module which are connected with the vehicle-mounted storage and wireless communication module;
the intelligent vehicle-mounted subsystem is in wireless connection with the road-side speed decision subsystem through the vehicle-mounted storage and wireless communication module.
4. The heterogeneous traffic flow vehicle speed guiding system of the expressway entrance ramp according to claim 1, wherein: the common vehicle information acquisition subsystem comprises a storage and wireless communication module, and a license plate camera acquisition module, a position camera acquisition module and a vehicle speed camera acquisition module which are connected with the storage and wireless communication module;
the ordinary vehicle information acquisition subsystem is connected with the road side speed decision-making subsystem through the storage and wireless communication module.
5. The heterogeneous traffic flow vehicle speed guiding system of the expressway entrance ramp according to claim 1, wherein: the road side speed decision-making subsystem comprises a road side wireless communication module, a traffic sequence service module connected with the road side wireless communication module, an intelligent vehicle moving block speed calculation module, a network connection vehicle fixed block speed calculation module and a common vehicle fixed block speed calculation module which are connected with the traffic sequence service module.
6. The heterogeneous traffic flow vehicle speed guiding system of the expressway entrance ramp according to claim 5, wherein: the display subsystem of the road side display screen comprises a communication module, a guide information display module and a guide information voice playing module, wherein the guide information display module and the guide information voice playing module are connected with the communication module;
the communication module is a wireless or wired communication module.
7. The guiding method of the vehicle speed guiding system for the heterogeneous traffic flow on the entrance ramp of the expressway according to claim 1, comprising the following steps of:
s1, when the vehicle reaches the communication range of the road side speed decision subsystem, the road side speed decision subsystem acquires the vehicle information;
s2, the road side speed decision subsystem receives the transmitted information, and arranges the passing order of all vehicles on the main road and the entrance ramp according to the passing right of the first-come first-served principle sub-distribution flow zone conflict point;
s3, calculating a guiding speed v by the road side speed decision subsystem;
and S4, after the speed calculation is completed, the speed guiding center sends guiding information to the vehicles within the communication range.
8. The heterogeneous traffic flow vehicle speed guidance system of the highway entrance ramp according to claim 7, characterized in that: in step S1, the method for the road side speed decision making subsystem to obtain the vehicle information is as follows:
the vehicle-mounted subsystem of the intelligent vehicle and the internet vehicle carries out information interaction with the road side speed decision subsystem, and sends vehicle information to the road side speed decision subsystem, and the vehicle information of the common vehicle is acquired by the common vehicle information acquisition subsystem arranged on the road side and sent to the road side speed decision subsystem.
9. The heterogeneous traffic flow vehicle speed guidance system of the highway entrance ramp according to claim 7, characterized in that: in step S3, the guidance speed v is calculated by using a fixed block method for the general vehicle and the internet vehicle, and the guidance speed v is calculated by using a mobile block method for the smart vehicle, which includes the following specific steps:
aiming at the intelligent vehicle, because the intelligent vehicle is controlled by a driving robot, the speed control precision is higher, a moving block control method in a block section theory is adopted, the passing time of a front vehicle in a passing sequence is taken as a target point, the predicted passing time of the vehicle is calculated and remembered according to the position and the speed of the vehicle, and the guiding speed is obtained by reverse deduction;
predicted passing time t of intelligent vehiclepassThe calculation formula is as follows:
Figure FDA0002511957490000031
in the formula, treachThe time v when the vehicle reaches the communication range of the roadside decision-making systemiFor guiding speed of vehicle, v0The speed when the communication range is reached is a vehicle acceleration, and x is the distance between the vehicle and a conflict point of the confluence area;
according to the mobile block control method, the predicted passing time of the front vehicle is taken as a target point, and the predicted passing time t of the intelligent vehiclepassComprises the following steps:
Figure FDA0002511957490000032
in the formula, tpass-fAs the predicted passing time, t, of the preceding vehicle in the sequencebrakeThe shortest braking time of the vehicle, tsafeIs a safety time margin.
The two equations are combined to obtain the guiding speed of the vehicle i under acceleration:
Figure FDA0002511957490000033
the guiding speed of the vehicle i in the case of deceleration is:
Figure FDA0002511957490000041
wherein t isi＝tpass-f+tsafe-treach
For the internet vehicles, the vehicles are controlled by the driver, and the speed control precision is low, so a fixed block control method is adopted, the passing time of the front vehicle in the sequence is taken as a target point, and the predicted passing time and the guide speed of the vehicle are calculated according to the fixed length;
predicted passing time t of internet vehiclepass，The calculation formula is as follows:
Figure FDA0002511957490000042
in the formula, treactionThe reaction time of the driver to the speed guidance information;
taking the predicted passing time of the front vehicle in the sequence as an end point of one end of the section, and taking the safe headway as the length t of the section with fixed blockfThen, the predicted passing time t of the host vehiclepassComprises the following steps:
tpass＝ti-1+tf
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure FDA0002511957490000043
guidance speed of vehicle i in acceleration:
Figure FDA0002511957490000044
wherein T is Tpass-f+tf-treach-treaction
For an ordinary vehicle, the vehicle is controlled by a driver, the speed control precision is low, so a fixed block control method is also adopted, and the delay exists in the acquisition and sending of the information of the ordinary vehicle, so the calculation method of the interval length is different from that of the internet vehicle;
the passing time calculation formula of the common vehicle is as follows:
Figure FDA0002511957490000045
in the formula, tsendIs the time at which the information is sent;
and taking the predicted passing time of the front vehicle in the sequence as a target point, and taking the length of the fixed blocked section as the safe headway and the guiding speed of the driver on the reading display screen, so that the predicted passing time of the vehicle is as follows:
tpass＝ti-1+tf+tread
the two equations are combined to obtain the guiding speed of the vehicle i under the deceleration condition:
Figure FDA0002511957490000051
in the equation, the guidance speed of the vehicle i in the case of acceleration:
Figure FDA0002511957490000052
wherein T is Ti-1+tf-treach-tsafe-treaction。
10. The heterogeneous traffic flow vehicle speed guidance system of the highway entrance ramp according to claim 7, characterized in that: in step S4, the method of guiding the vehicle is as follows:
guiding the intelligent vehicle to automatically drive and displaying guiding information to a vehicle user; the internet vehicle informs the driver of the information through vision and hearing; and simultaneously, the guide information of the common vehicle is broadcasted visually and auditorily through the road side display screen.
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