CN111754777A - Microscopic traffic simulation method for unmanned and manned mixed traffic flow - Google Patents
Microscopic traffic simulation method for unmanned and manned mixed traffic flow Download PDFInfo
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a microscopic traffic simulation method of unmanned and manned mixed traffic flow, which comprises the following steps: receiving a simulation request of mixed traffic flow of unmanned vehicles and manned vehicles; constructing a traffic simulation scene according to the simulation request based on a microscopic traffic simulation platform, and setting traffic simulation scene parameters; setting the proportion of the unmanned vehicles or specifying the initial occurrence sequence numbers of the unmanned vehicles according to the traffic simulation scene parameters, and configuring the following, lane changing and overtaking model parameters of the unmanned vehicles; inputting the driving related parameters into a preset microscopic traffic simulation program for traffic simulation, and outputting a simulation result; and carrying out traffic safety evaluation and traffic efficiency evaluation based on the simulation result. The method can provide a simulation research foundation for the unmanned vehicles to go on the road, and overcomes the defect that the existing traffic simulation platform cannot realize the traffic simulation of large-scale unmanned vehicles and manned vehicles in a mixed way.
Description
Technical Field
The invention relates to the technical field of traffic simulation, in particular to a microscopic traffic simulation method for unmanned and manned mixed traffic flow.
Background
The appearance of the unmanned technology provides a good solution for future trips of people, and on one hand, the unmanned system senses surrounding traffic information through a sensor, so that a stable, efficient and safe mixed traffic flow is formed through accurate calculation of an unmanned automobile following model, a lane changing model and the like and through a sensitive vehicle control system and high-precision mechanical operation. Meanwhile, the high-level unmanned system can automatically complete driving operation without human intervention, so that the traveling difficulty of the old and the non-driving group is solved, and the traveling of people is more free and comfortable. Although the unmanned technology has many advantages, the unmanned technology of all countries in the world only stays in a small-scale road test stage at present, and the application time of a large-scale real scene is not mature. The transition from manned to unmanned driving is not always done, and a scene of mixed unmanned and manned driving must occur for a considerable time before full unmanned driving of the road is achieved. Because the observation precision of human is not high, the reaction time of brain analysis and judgment is far longer than that of a computer, and the human often has specific driving habits and preferences, the sudden braking or lane changing operation of the unmanned vehicle can cause the rear-end collision or collision of the vehicle driven by the human, and further serious traffic jam and traffic accidents are caused. Therefore, in a mixed-driving scene, how to accurately observe, correctly decide, reasonably plan and correctly execute a driving track and mechanical operation of the unmanned automobile is a key problem to be solved urgently.
The application of advanced technology necessarily requires rigorous testing, while large-scale drive tests of unmanned vehicles on urban roads require a long time and great labor and financial costs, and drive tests are impossible for particularly dangerous traffic scenes. The existing drive test experiment of the small-scale unmanned vehicle causes a plurality of casualty accidents, and the large-scale drive test seriously threatens the health and life safety of drivers and passengers on the road. Due to the fact that the technology is immature, unmanned driving cannot adapt to mixed traffic flow possibly, large-scale road test experiments are high in cost, abnormal fluctuation of urban traffic flow can be caused, more delay is caused, normal traveling of people is delayed, and waste of space-time resources is caused.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a microscopic traffic simulation method for the unmanned and manned mixed traffic flow, which overcomes the defect that the existing traffic simulation platform cannot realize the traffic simulation of large-scale unmanned vehicles and manned vehicles mixed traffic.
In order to achieve the purpose, the embodiment of the invention provides a microscopic traffic simulation method of unmanned and manned mixed traffic flow, which comprises the following steps: step S1, receiving a simulation request of mixed traffic flow of unmanned vehicles and manned vehicles; step S2, constructing a traffic simulation scene according to the simulation request based on a microscopic simulation platform, and setting parameters of the traffic simulation scene; step S3, setting the proportion of the unmanned vehicles or appointing the initial appearance sequence numbers of the unmanned vehicles according to the traffic simulation scene parameters, and configuring the following, lane changing and overtaking model parameters of the unmanned vehicles; step S4, inputting the proportion of the unmanned vehicles or the initial occurrence sequence numbers of the unmanned vehicles and the following, lane changing and overtaking model parameters of the unmanned vehicles into a preset microscopic traffic simulation program for traffic simulation, and outputting simulation results; and step S5, carrying out traffic safety evaluation and traffic efficiency evaluation based on the simulation result.
The microscopic traffic simulation platform simulation method for the unmanned and manned mixed traffic flow provides a simulation test and research platform and method for the control logic of the unmanned vehicle, provides a simulation research platform and technical support for the manned and unmanned mixed traffic flow formed after the unmanned vehicle enters the road, and provides a simulation research platform and technical support for the research of future roads and future traffic management and control system research suitable for the manned and unmanned mixed traffic flow and the fully unmanned traffic flow.
In addition, the micro traffic simulation platform simulation method for the unmanned and manned mixed traffic flow according to the above embodiment of the invention may further have the following additional technical features:
further, in one embodiment of the invention, the micro simulation platform comprises a micro traffic simulation model, an unmanned vehicle following, lane changing and overtaking control model and interface, an unmanned vehicle parameter setting model and interface, wherein the microscopic traffic simulation model is used for providing a 3D simulation model to build various road traffic network models and configure the traffic simulation scene parameters, the unmanned vehicle following, lane changing and overtaking control model and the interface are used for realizing the logic control of the motion state of the unmanned vehicle, including the following track control, the lane changing decision control, the lane changing track planning and control, the overtaking decision control and the overtaking track planning and control of the vehicle, the unmanned vehicle parameter setting model and the interface are used for realizing the configuration of the type, the size and the dynamic index of the unmanned vehicle.
Further, in one embodiment of the present invention, the simulation request includes a study of a local road area or a specific unmanned vehicle and a study of a mass transit mixed traffic flow, and the traffic simulation scenario includes a local road area or a specific vehicle simulation scenario and a mass transit mixed traffic flow simulation scenario.
Further, in one embodiment of the present invention, when the simulation request is to study a local road area or a specific unmanned vehicle, the local road area or specific vehicle simulation scenario is constructed; and when the simulation request is to research the large-scale mixed traffic flow, constructing the large-scale mixed traffic flow simulation scene.
Further, in an embodiment of the present invention, the traffic simulation scene parameters include road, intersection, and overpass elements, OD matrix of configured vehicles, intersection signal timing, and other simulation scene parameters.
Further, in an embodiment of the present invention, the simulation result includes a macroscopic traffic flow parameter and a microscopic vehicle trajectory parameter, where the macroscopic traffic flow parameter includes average speed, average delay, average queue length at an intersection, and real-time road flow parameter of the unmanned vehicle and the manned vehicle, and the microscopic vehicle trajectory parameter includes speed, acceleration, jerk, lane number, headway distance, and change in relative position between vehicles of the unmanned vehicle and the manned vehicle. .
Further, in one embodiment of the invention, the traffic safety evaluation is an evaluation of a collision of the vehicle, the number of occurrences of sudden braking of the vehicle, and other potential risks.
Further, in an embodiment of the present invention, when the simulation request is to study a local road area or a specific unmanned vehicle, the traffic efficiency evaluation in step S5 is to include an evaluation of a speed, an acceleration, a jerk, a headway-to-headway lane change of the vehicle in real time, and includes an evaluation of a relative position change of each vehicle in the simulation scene; when the simulation request is to study a mass mixed traffic flow, the traffic efficiency evaluation in step S5 includes evaluation of an average speed of traffic flow, an average delay, and an average queuing length at an intersection, includes evaluation of a real-time traffic flow of a road, includes evaluation of a vehicle arrival time, and includes evaluation of a time and a road space utilization.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow diagram of a method for microscopic traffic simulation of a mixed unmanned and manned traffic flow, according to one embodiment of the invention;
FIG. 2 is a flowchart of a detailed implementation of a micro traffic simulation method for mixed unmanned and manned traffic flow, according to an embodiment of the invention;
FIG. 3 is a flow chart of a traffic safety and efficiency assessment method for a local road area or a scene simulated by a specific vehicle in an embodiment of the present invention;
fig. 4 is a flow chart of a traffic safety and efficiency evaluation method for a large-scale mixed traffic flow according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
It should be noted that, compared with a large-scale drive test experiment, the microscopic traffic simulation technology adopted in the embodiment of the present invention has significant advantages. First, the microscopic traffic simulation technology can realize the simulation of microscopic levels of mixed traffic flow, can realize the simulation of microscopic levels of observation parameters, control strategies, trajectory planning, dynamic performance control of vehicles and the like of specific unmanned vehicles, and can also perform the simulation of large-scale mixed traffic flows, thereby reproducing the traffic conditions on real roads. Second, the simulation platform can perform parameter evaluation from both macroscopic and microscopic perspectives. From the macroscopic perspective, the simulation platform can feed back parameters such as speed, density and flow of the macroscopic traffic flow; from a microscopic angle, the simulation platform can feed back parameters such as coordinate values, speed and acceleration of each vehicle in real time. Compared with a drive test experiment, the method is more convenient for acquiring experimental data and realizing accurate analysis and evaluation. Third, the method of microscopic traffic simulation helps to save time and economic cost. On one hand, the microscopic traffic simulation method can realize repeated experiments in a short time through high-speed calculation, and saves time compared with a road test experiment; on the other hand, in the simulation scene, even if the chaos of the traffic flow and the collision accident of the vehicles occur, the real traffic jam and the loss of life and property can not be caused. However, in real drive test scenarios, such a situation may cause a huge economic loss even at the cost of human life. Therefore, in the link of the unmanned test, a microscopic traffic simulation platform can be used for carrying out a large number of experiments, and the like, so that the relevant road tests can be carried out after the stable performance of each technology of the unmanned vehicle is ensured.
A microscopic traffic simulation method of an unmanned and manned mixed traffic flow proposed according to an embodiment of the present invention is described below with reference to the accompanying drawings.
FIG. 1 is a flow diagram of a method for microscopic traffic simulation of a mixed unmanned and manned traffic flow in accordance with one embodiment of the present invention.
As shown in fig. 1, the microscopic traffic simulation method of the unmanned and manned mixed traffic flow includes the steps of:
in step S1, a simulation request for a mixed traffic flow of unmanned vehicles and manned vehicles is received.
Wherein the simulation request includes a study of a local road region or a particular unmanned vehicle and a study of a mass mixed traffic flow.
In step S2, based on the microscopic simulation platform, a traffic simulation scene is constructed according to the simulation request, and traffic simulation scene parameters are set.
Further, in one embodiment of the invention, the micro simulation platform comprises a micro traffic simulation model, an unmanned vehicle following and lane changing control model and interface, and an unmanned vehicle parameter setting model and interface.
Specifically, the microscopic traffic simulation model is used for providing a 3D simulation model, a user can set up various road traffic network models, set different traffic flow parameters (namely parameters for configuring traffic scenes), realize the traffic simulation scene of mixed running of unmanned vehicles and manned vehicles, and generate real-time track parameters of the vehicles; the interface can realize the access of different following, lane changing and overtaking models, and provides a foundation for the research of the control model of the unmanned vehicle; the unmanned vehicle parameter setting model is used for realizing configuration of vehicle types, sizes and dynamic indexes of the unmanned vehicle, and the interface sets reserved space for other unmanned vehicle parameters.
Further, the traffic simulation scene in the embodiment of the present invention includes a local road area or a specific vehicle simulation scene and a large-scale mixed traffic flow simulation scene, and specifically, when the simulation request is to study the local road area or a specific unmanned vehicle, the local road area or the specific vehicle simulation scene is constructed based on a microscopic simulation platform; and when the simulation request is to research the large-scale mixed traffic flow, constructing a large-scale mixed traffic flow simulation scene based on the microscopic simulation platform.
Further, after the traffic simulation scene is constructed by combining the actual traffic scene, the embodiment of the invention performs initial parameter configuration, wherein the traffic simulation scene parameters comprise road, intersection and overpass elements, configuration of an OD matrix of a vehicle, configuration of intersection signal lamp timing and other simulation scene parameters.
In step S3, the ratio of the unmanned vehicles is set or the initial appearance number of the unmanned vehicles is designated according to the traffic simulation scene parameters, and the following, lane changing and passing model parameters of the unmanned vehicles are configured. That is, the parameters of the unmanned vehicle are set according to the traffic simulation scene parameters.
In step S4, the ratio of the unmanned vehicles or the initial appearance number of the unmanned vehicles, and the following and lane-changing model parameters of the unmanned vehicles are input into a preset microscopic traffic simulation program for traffic simulation, and a simulation result is output.
Further, in an embodiment of the present invention, the simulation result includes macroscopic traffic flow parameters and microscopic vehicle trajectory parameters, wherein the macroscopic traffic flow parameters include average speed, average delay, intersection queuing length, arrival time and road real-time flow parameters of a traffic flow composed of the unmanned vehicles and the manned vehicles, and the microscopic vehicle trajectory parameters include speed, acceleration, jerk, lane number, headway distance and relative position change between the unmanned vehicles and the manned vehicles.
That is, the proportion of the unmanned vehicles or the initial appearance sequence number of the unmanned vehicles, the following and lane changing model parameters of the unmanned vehicles are input into a preset microscopic traffic simulation program, the preset microscopic traffic simulation program is operated to realize the simulation of traffic flow, and the average speed, the average time delay, the intersection queuing length, the arrival time and the road flow of the macroscopic traffic flow parameters are output; and outputting the trace of the microscopic vehicle, wherein the trace comprises the speed, the acceleration, the jerk, the lane number, the headway distance and the change of the relative position between the vehicles.
And step S5, performing traffic safety evaluation and traffic efficiency evaluation based on the simulation result.
Further, in one embodiment of the invention, the traffic safety assessment is an assessment of collisions of the vehicle, the number of hard braking occurrences of the vehicle, and other potential risks.
Further, in one embodiment of the present invention, when the simulation request is to study a local road area or a specific unmanned vehicle, the traffic efficiency evaluation in step S5 is to include an evaluation of the speed, acceleration, jerk, headway lane change of the vehicle in real time, and to include an evaluation of the relative position change of each vehicle in the simulation scene; when the simulation request is to study a mass mixed traffic flow, the traffic efficiency evaluation in step S5 is to include the evaluation of the average speed of the traffic flow, the average delay, and the average queuing length at the intersection, to include the evaluation of the real-time traffic flow of the road, to include the evaluation of the arrival time of the vehicle, to include the evaluation of the utilization of the time and the road space.
It should be noted that the simulation request in the embodiment of the present invention may further include a simulation scenario in which a microscopic unmanned vehicle and a manned vehicle interact with each other, when researching the effectiveness of the control model of the unmanned vehicle in the mixed traffic flow, so as to research a high-efficiency unmanned vehicle motion control module meeting the safety requirement and verify the effectiveness of the modules, such as a following control module, a lane change control module, an overtaking control module, and the like.
The simulation method proposed by the embodiment of the present invention is further described below with reference to specific embodiments.
As shown in fig. 2, the embodiment uses a microscopic traffic simulation platform FLOWSIM to realize the simulation of mixed traffic, wherein the simulation flow includes four main steps of mixed traffic flow simulation request, initial parameter configuration, parameter output and traffic safety and efficiency evaluation.
Firstly, when the mixed traffic flow simulation request step is carried out, specific scenes of simulation research are determined, and different scene settings correspond to different research purposes. When the effectiveness of a control model of the unmanned vehicle in a mixed traffic flow is researched, a simulation scene of interaction between a microscopic unmanned vehicle and a manned vehicle needs to be established; when the behaviors of following a vehicle, changing lanes and the like of a specific unmanned vehicle in a local area are researched, a hybrid vehicle interaction model in the local area needs to be constructed; when the performance of the unmanned vehicle in the mixed traffic flow is researched, a large-scale mixed traffic flow simulation scene needs to be constructed.
Step two, in the step of configuring the simulation initial parameters, configuring basic parameters of physical elements of the simulation scene, such as attribute configuration of elements of roads, intersections, overpasses and the like; the method comprises the steps of configuring a traffic flow OD matrix, and setting the flow of motor vehicles, non-motor vehicles and pedestrians; configuration of the attributes of the unmanned vehicle, namely the size of the unmanned vehicle and the threshold value of a power system; the method comprises the steps of configuring control parameters of the unmanned vehicle, namely configuring a following model, a lane changing model and a passing model of the unmanned vehicle. The unmanned control model is in butt joint with the simulation platform through dll files, so that the unmanned vehicle control model can be changed to test the performances of different control models in combination with research needs.
And step three, in the simulation parameter output step, macroscopic and microscopic traffic parameters are considered, and selective or emphasizing research on the parameters can be realized by combining different research purposes. Macroscopic traffic flow parameters include: average speed, average time delay, intersection queuing length, arrival time and road real-time flow parameters of the traffic flow; the microscopic traffic flow parameters include: the speed, acceleration, jerk, lane number, headway distance, and the change in relative position between vehicles.
And step four, the evaluation steps of traffic safety and efficiency provide a targeted evaluation mode, so that the research purpose is better achieved.
Specifically, the evaluation method has two evaluation modes aiming at different simulation requests, wherein the first mode is traffic safety and efficiency evaluation and evaluation aiming at a local road area or a scene simulated by a specific vehicle; the second mode is the evaluation of traffic safety and efficiency of the large-scale mixed traffic flow.
As shown in fig. 3, the traffic safety and efficiency evaluation method for a local road area or a scene simulated by a specific vehicle is as follows:
the traffic safety evaluation is the evaluation of the collision of the vehicle, the occurrence frequency of sudden braking of the vehicle and other potential risks.
The traffic efficiency evaluation comprises the evaluation of the real-time speed, acceleration, jerk, headway and headway lane change of the vehicles and the evaluation of the relative position change of each vehicle in a simulation scene.
As shown in fig. 4, the method for evaluating traffic safety and efficiency of a large-scale mixed traffic flow is as follows:
the traffic safety evaluation is the evaluation of the collision of the vehicle, the occurrence frequency of sudden braking of the vehicle and other potential risks.
The traffic efficiency evaluation comprises the evaluation of the average speed, the average time delay and the average queue length of the intersection of the traffic flow, the evaluation of the real-time traffic of the road, the evaluation of the arrival time of the vehicle and the evaluation of the utilization rate of the time and the space of the road.
The microscopic traffic simulation platform simulation method for the unmanned and manned mixed traffic flow provided by the embodiment of the invention utilizes the microscopic traffic simulation technology to carry out the microscopic traffic simulation test method for the unmanned and manned mixed traffic flow, realizes the test of the scientific, efficient, safe and economic unmanned technology, and also completes the evaluation of the traffic flow state and the vehicle running state; in addition, the microscopic traffic simulation platform can provide an interface for the control parameters of the unmanned vehicle, supports the research of different parameters of the unmanned vehicle, and further can be used for the online simulation test of the unmanned vehicle with different control and operation logics.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. A microscopic traffic simulation method for unmanned and manned mixed traffic flow is characterized by comprising the following steps:
step S1, receiving a simulation request of mixed traffic flow of unmanned vehicles and manned vehicles;
step S2, constructing a traffic simulation scene according to the simulation request based on a microscopic simulation platform, and setting parameters of the traffic simulation scene;
step S3, setting the proportion of the unmanned vehicles or appointing the initial appearance sequence numbers of the unmanned vehicles according to the traffic simulation scene parameters, and configuring the following, lane changing and overtaking model parameters of the unmanned vehicles;
step S4, inputting the proportion of the unmanned vehicles or the initial occurrence sequence numbers of the unmanned vehicles and the following, lane changing and overtaking model parameters of the unmanned vehicles into a preset microscopic traffic simulation program for traffic simulation, and outputting simulation results;
and step S5, carrying out traffic safety evaluation and traffic efficiency evaluation based on the simulation result.
2. The method of claim 1, wherein the micro simulation platform comprises a micro traffic simulation model, an unmanned vehicle following, lane changing and overtaking control model and interface, and an unmanned vehicle parameter setting model and interface, wherein the micro traffic simulation model is used for providing a 3D simulation model to build a plurality of road traffic network models and configure the traffic simulation scene parameters, the unmanned vehicle following, lane changing and overtaking control model and interface are used for implementing logic control of the motion state of the unmanned vehicle, including vehicle following trajectory control, lane changing decision control and lane changing trajectory planning and control, overtaking decision control and overtaking trajectory planning and control, and the unmanned vehicle parameter setting model and interface are used for implementing vehicle type control of the unmanned vehicle, Size and configuration of dynamic index.
3. The microscopic traffic simulation platform simulation method for the mixed unmanned and manned traffic flow according to claim 1, wherein the simulation request includes a study of a local road area or a specific unmanned vehicle and a study of a large-scale mixed traffic flow, and the traffic simulation scenario includes a local road area or a specific vehicle simulation scenario and a large-scale mixed traffic flow simulation scenario.
4. The microscopic traffic simulation platform simulation method for the mixed unmanned and manned traffic flow according to claim 3,
when the simulation request is to study a local road area or a specific unmanned vehicle, constructing a simulation scene of the local road area or the specific vehicle;
and when the simulation request is to research the large-scale mixed traffic flow, constructing the large-scale mixed traffic flow simulation scene.
5. The microscopic traffic simulation platform simulation method for the mixed traffic flow of unmanned driving and manned driving according to claim 1, wherein the traffic simulation scene parameters include road, intersection, and overpass elements, configuration of OD matrix of vehicle, configuration of intersection signal timing, and other simulation scene parameters.
6. The microscopic traffic simulation platform simulation method of the unmanned and manned mixed traffic flow according to claim 1, wherein the simulation result comprises macroscopic traffic flow parameters and microscopic vehicle trajectory parameters, wherein the macroscopic traffic flow parameters comprise average speed, average time delay, average queue length at intersections, arrival time and real-time traffic flow parameters of traffic flows formed by unmanned vehicles and manned vehicles, and the microscopic vehicle trajectory parameters comprise speed, acceleration, jerk, lane number, headway distance and relative position change between vehicles of the unmanned vehicles and the manned vehicles.
7. The method for simulating a microscopic traffic simulation platform for an unmanned and manned mixed traffic flow according to claim 1, wherein the traffic safety evaluation is an evaluation of a collision of a vehicle, an occurrence of a hard braking of a vehicle, and other potential risks.
8. The microscopic traffic simulation platform simulation method for the mixed unmanned and manned traffic flow according to claim 1,
when the simulation request is to study a local road area or a specific unmanned vehicle, the traffic efficiency evaluation in step S5 includes an evaluation of a lane change trend of a vehicle real-time speed, an acceleration, a jerk, a headway distance, an evaluation of a vehicle headway distance and a headway distance, and an evaluation of a relative position change of each vehicle in a simulation scene;
when the simulation request is to study a mass mixed traffic flow, the traffic efficiency evaluation in step S5 includes evaluation of an average speed of traffic flow, an average delay, and an average queuing length at an intersection, includes evaluation of a real-time traffic flow of a road, includes evaluation of a vehicle arrival time, and includes evaluation of a time and a road space utilization.
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