CN111815952A - Intersection traffic flow adjusting method based on vehicle-road cooperation - Google Patents

Intersection traffic flow adjusting method based on vehicle-road cooperation Download PDF

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CN111815952A
CN111815952A CN202010715044.8A CN202010715044A CN111815952A CN 111815952 A CN111815952 A CN 111815952A CN 202010715044 A CN202010715044 A CN 202010715044A CN 111815952 A CN111815952 A CN 111815952A
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vehicle
vehicles
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turning
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CN111815952B (en
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潘福全
杨永正
张丽霞
张游
杨金顺
杨晓霞
李昕光
康国祥
宋慧
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Qingdao University of Technology
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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
    • 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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Abstract

The invention discloses an intersection traffic flow adjusting method based on vehicle-road cooperation, and relates to the field of road traffic. The method comprises the following steps: and determining the positions and the number of the conflict points in the intersection according to the number of the roads connected at the intersection, the number of the specific lanes contained in each road and the lane width of each road, and calculating the dangerous time period of each conflict point. And arranging a vehicle condition adjusting area at the entrance lanes around the intersection. The method comprises the steps of installing enough sensors around a road or below the road surface, monitoring parameters such as real-time position, real-time speed and real-time acceleration of each vehicle above the road, and transmitting vehicle condition parameters to an information processing module in real time. The information processing module regulates and controls the vehicles in the vehicle condition regulation area according to the real-time information of the vehicles above the surrounding roads and by combining the dangerous time interval of the conflict points in the intersection. And the vehicles can sequentially enter and pass through the intersection area according to a certain time interval in the dangerous time period of avoiding the conflict point.

Description

Intersection traffic flow adjusting method based on vehicle-road cooperation
Technical Field
The invention relates to the field of road traffic, in particular to an intersection traffic flow adjusting method based on vehicle-road cooperation.
Background
With the development of society, the automobile keeping quantity is increased year by year, and a series of problems such as disordered traffic order, traffic congestion, frequent traffic accidents and the like are increasingly prominent. The intersection is located in a crossing zone of a road, a plurality of traffic conflict points (the conflict points are intersection points where two traffic flow trajectories are in a cross shape in the crossing mouth) exist, the traffic conflict points are serious disaster areas where traffic accidents and traffic jams occur, the traffic capacity of the current intersection is limited by the reaction time of a driver, the coordination time between vehicles and other reasons, and the problems cannot be solved fundamentally.
The vehicle-road cooperation is a safe, efficient and environment-friendly road traffic system which adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, improves the passing efficiency and is formed. The vehicle-road cooperation technology has important significance for solving the problems of disordered traffic order, low traffic efficiency, traffic congestion, frequent traffic accidents and the like, and the large-scale application and popularization of vehicle-road cooperation become the inevitable choice for modern road traffic development. The vehicle road cooperation technology is vigorously developed and prosperous, and simultaneously faces a series of basic research problems. For example, the current traffic flow adjusting method at the intersection cannot meet the requirements of new technologies such as vehicle-road cooperation and automatic driving.
Disclosure of Invention
The invention aims to overcome the defects, and provides an intersection traffic flow adjusting method based on vehicle-road coordination, which can adjust the dangerous time period when a vehicle avoids a conflict point, and sequentially enters and passes through an intersection area according to a certain time interval.
The invention specifically adopts the following technical scheme:
an intersection traffic flow adjusting method based on vehicle-road cooperation comprises the following steps:
step S1: determining the positions and the number of conflict points in the intersection according to the number of roads around the intersection, the number of specific lanes contained in each road and the lane width of each road, and calculating the dangerous time interval of each conflict point;
step S2: arranging a vehicle condition adjusting area in an entrance lane around the intersection, installing sensors around the road or below the road surface, monitoring vehicle condition parameters of each vehicle above the road, transmitting the vehicle condition parameters to an information processing module in real time, and analyzing and processing the vehicle condition parameters in real time by the information processing module;
step S3: the information processing module regulates and controls the vehicles in the vehicle condition regulation area according to the real-time information of the vehicles above the surrounding roads and by combining the dangerous time interval of the conflict points in the intersection; and controlling the vehicles on different lanes to accelerate and decelerate so that different vehicles on different lanes enter the intersection area at certain time intervals, avoiding the dangerous time period of the conflict point, and enabling all straight-going and left-turning vehicles to pass through the intersection area at a constant speed according to the allowable optimal speed.
Preferably, when the straight-ahead vehicles penetrate the straight-ahead traffic flow, the minimum distance between the penetrated straight-ahead vehicles and the time required for the straight-ahead vehicles to pass through the action areas of the straight-ahead and straight-ahead conflict points are respectively shown as (4) and (5):
Lmin is straight-straight＝S1+S2+vStraight barΔtStraight-straight(4)
Figure BDA0002597844590000021
Lmin is straight-straightMinimum distance between straight vehicles inserted when inserting straight traffic flow for straight vehicles(m)；S1Is the vehicle length (m); s2Is the vehicle width (m); Δ tStraight-straightThe time(s) required for the straight-ahead vehicle to pass through the straight-ahead and straight-ahead conflict point action area.
Preferably, when the left-turn vehicle crosses the straight traffic flow, the minimum distance between the crossed straight vehicles and the time required for the straight vehicles to pass through the action areas of the straight and left-turn conflict points are respectively expressed by equations (9) and (10):
Lleft-right of min＝L1+L2+S1+vStraight barΔtStraight-straight left(9)
Figure BDA0002597844590000022
When the straight-going vehicles pass through the left-turning traffic flow, the minimum distance between the passed left-turning vehicles and the time required for the left-turning vehicles to pass through the action areas of the straight-going and left-turning conflict points are respectively expressed by the following formulas (11) and (12):
Lmin is right-left＝L1+L2+S1+vLeft side ofΔtLeft-straight left(11)
Figure BDA0002597844590000023
LLeft-right of minA minimum distance (m) between the straight vehicles which are inserted when the straight traffic flow is inserted for the left-turning vehicle; l ismin is right-leftA minimum distance (m) between left-turn vehicles that are interspersed when left-turn traffic flow is interspersed for straight-going vehicles; Δ tStraight-straight leftThe time(s) required for the straight-driving vehicle to pass through the action area of the straight-driving conflict point and the left-turning conflict point; Δ tLeft-straight leftThe time(s) required for the left-turn vehicle to pass through the action area of the straight-going and left-turn conflict points;
at the collision point of straight going and left turning, the minimum action distance of the conflict point is L1+L2The shortest dangerous time interval between the straight-going vehicle and the left-turning traffic flow is delta tStraight-straight leftThe shortest dangerous time interval between the left-turning vehicle and the straight-going traffic flow is delta tLeft-straight left。
Preferably, when the left-turn vehicle crosses the left-turn traffic stream, the minimum distance between the crossed left-turn vehicles and the time required for the left-turn vehicle to pass through the left-turn and left-turn conflict point action area are respectively expressed by equations (13) and (14):
Lleft to left of min＝S1tanq+S2+vLeft side ofΔtLeft-left(13)
Figure BDA0002597844590000024
LLeft to left of minA minimum distance (m) between left-turning vehicles interspersed when left-turning traffic is interspersed for left-turning vehicles; Δ tLeft-leftThe time(s) required for a left turn vehicle to pass through the left turn and left turn bump point application region.
The invention has the following beneficial effects:
the method can calculate the dangerous time interval of the traffic conflict point, and control the target vehicles about to enter the intersection to change lanes and accelerate and decelerate, so that the vehicles on different lanes around the intersection avoid the dangerous time interval of the traffic conflict point, sequentially enter the intersection area according to a certain time sequence, and pass through the intersection area at a constant speed according to a rated speed.
The automatic driving vehicle can be guided to run, information exchange between the vehicle and a road is achieved, effective vehicle-road cooperation and vehicle-vehicle cooperation are achieved, the traffic capacity of the intersection is greatly improved, the requirement of a future intelligent traffic system is met, and good effects are achieved for maintaining the order of the intersection and improving the traffic efficiency of the intersection.
Drawings
FIG. 1 is a general flow chart of an intersection traffic flow adjustment method based on vehicle-road coordination;
FIG. 2 is an illustration of a schematic diagram of a method for adjusting traffic flow at an intersection based on vehicle-road coordination;
FIG. 3 is an exemplary illustration of a vehicle intersection at a straight-ahead and straight-ahead collision point;
FIG. 4 is an exemplary illustration of a vehicle intersection at a straight and left turn conflict point;
FIG. 5 is a diagram of an example of a vehicle intersection at a left turn and left turn conflict point;
FIG. 6 is a flow chart of the first vehicle speed adjustment of the lanes around the intersection.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings:
with reference to fig. 1, the intersection traffic flow adjusting method based on the vehicle-road cooperation includes the following steps:
step S1: and determining the positions and the number of the conflict points in the intersection according to the number of the roads around the intersection, the number of the specific lanes contained in each road and the lane width of each road, and calculating the dangerous time period of each conflict point.
Taking a cross intersection with four bidirectional lanes as an example, the positions, the number and the types of the conflict points in the cross intersection are determined. As shown in FIG. 2, a coordinate system is established by taking the O point at the lower left corner of the intersection as the origin of coordinate axes, and then the conflict point is (i) —
Figure BDA0002597844590000031
The coordinates of (1.5l, 3.5l), phi (4l- √ 6l, 3.5l), phi (3.5l ), phi (0.5l, √ 6l), phi (2l, 2.5l), phi (3.5l, √ 6l), phi (1.5l, 2l), phi (2.5l, 2l), phi (0.5l, 4l- √ 6l),
Figure BDA0002597844590000032
(2l，1.5l)、
Figure BDA0002597844590000033
(3.5l，4l-√6l)、
Figure BDA0002597844590000034
(0.5l，0.5l)、
Figure BDA0002597844590000035
(4l-√6l，0.5l)、
Figure BDA0002597844590000036
(√6l，0.5l)、
Figure BDA0002597844590000037
(3.5l，3.5l)。
Dash and dash a point (1)
Figure BDA0002597844590000038
Classification into 3 categories:
(1) straight-going and straight-going conflict points: firstly, fourthly,
Figure BDA0002597844590000039
(2) Straight going and left turning conflict points: ②, ③, fifthly, seventh,
Figure BDA00025978445900000310
(3) Left turn and left turn bump points: sixthly, nine,
Figure BDA0002597844590000041
Firstly, a fifth step,
Figure BDA0002597844590000042
For example, the minimum distance and the minimum dangerous period of the straight-going conflict point, the left-turning conflict point, and the left-turning conflict point are calculated, respectively.
In the intersection area, the speed of the same vehicle is constant and the speed of the straight-ahead vehicle is vStraight barThe speed of the left-turn vehicle is vLeft side ofEach lane is wide lm.
0≤vStraight bar＜vLimit of(1)
Figure BDA0002597844590000043
R＝2.5l (3)
vLimit ofThe highest speed limit (km/h) of the road is set; mu is the maximum friction coefficient of the road surface; and R is the turning radius of the left-turning vehicle.
Referring to fig. 3, when the straight vehicles pass through the straight traffic flow, the minimum distance between the passed straight vehicles and the time required for the straight vehicles to pass through the action areas of the straight and straight conflict points are respectively shown as (4) and (5):
Lmin is straight-straight＝S1+S2+vStraight barΔtStraight-straight(4)
Figure BDA0002597844590000044
Lmin is straight-straightA minimum distance (m) between the straight vehicles which are inserted when the straight vehicles are inserted with the straight traffic; s1Is the vehicle length (m); s2Is the vehicle width (m); Δ tStraight-straightThe time(s) required for the straight-ahead vehicle to pass through the straight-ahead and straight-ahead conflict point action area.
At the collision point of the straight line and the straight line, the minimum action distance of the collision point is S1The shortest dangerous time period is delta tStraight-straight。
In connection with the description of figure 4,
Figure BDA0002597844590000045
L2＝S2sinn (7)
L1＝tanm(S2+S2cosn) (8)
k is the slope of the tangent line of the conflict point in the coordinate; theta is an inclination angle; x is the number of0The abscissa of the conflict point in the coordinate system is taken as the coordinate; (a, b) is the circle center position corresponding to the circular arc; n is a central angle (DEG) corresponding to the arc A-C, the angle n and the angle theta are complementary, and the angle m and the angle n are complementary.
When the left-turn vehicle crosses the straight traffic flow, the minimum distance between the crossed straight vehicles and the time required for the straight vehicles to pass through the action areas of the straight and left-turn conflict points are respectively expressed by the following formulas (9) and (10):
Lleft-right of min＝L1+L2+S1+vStraight barΔtStraight-straight left(9)
Figure BDA0002597844590000051
When the straight-going vehicles pass through the left-turning traffic flow, the minimum distance between the passed left-turning vehicles and the time required for the left-turning vehicles to pass through the action areas of the straight-going and left-turning conflict points are respectively expressed by the following formulas (11) and (12):
Lmin is right-left＝L1+L2+S1+vLeft side ofΔtLeft-straight left(11)
Figure BDA0002597844590000052
LLeft-right of minA minimum distance (m) between the straight vehicles which are inserted when the straight traffic flow is inserted for the left-turning vehicle; l ismin is right-leftA minimum distance (m) between left-turn vehicles that are interspersed when left-turn traffic flow is interspersed for straight-going vehicles; Δ tStraight-straight leftThe time(s) required for the straight-driving vehicle to pass through the action area of the straight-driving conflict point and the left-turning conflict point; Δ tLeft-straight leftThe time(s) required for the left-turn vehicle to pass through the action area of the straight-going and left-turn conflict points;
at the collision point of straight going and left turning, the minimum action distance of the conflict point is L1+L2The shortest dangerous time interval between the straight-going vehicle and the left-turning traffic flow is delta tStraight-straight leftThe shortest dangerous time interval between the left-turning vehicle and the straight-going traffic flow is delta tLeft-straight left。
Referring to fig. 5, when a left-turn vehicle crosses a left-turn traffic stream, the minimum distance between the crossed left-turn vehicles and the time required for the left-turn vehicle to pass through the left-turn and left-turn conflict point action area are respectively expressed by equations (13) and (14):
Lleft to left of min＝S1tanq+S2+vLeft side ofΔtLeft-left(13)
Figure BDA0002597844590000053
The size of the angle 2q can be obtained by formula 6; l isLeft to left of minWhen the left-turn traffic flow is inserted for the left-turn vehicles, the left-turn vehicles are insertedMinimum distance (m) between left turn vehicles inserted; Δ tLeft-leftThe time(s) required for a left turn vehicle to pass through the left turn and left turn bump point application region.
Step S2: the vehicle condition adjusting areas are arranged on the entrance lanes around the intersection, the length of the vehicle condition adjusting areas is not short enough and is preferably more than 500 meters, and theoretically, the longer the vehicle condition adjusting areas are, the better the vehicle condition adjusting areas are. The method comprises the steps of installing enough sensors around a road or below the road surface, monitoring vehicle condition parameters of each vehicle above the road, transmitting the vehicle condition parameters to an information processing module in real time, and analyzing and processing the vehicle condition parameters in real time by the information processing module.
Step S3: the information processing module regulates and controls the vehicles in the vehicle condition regulation area according to the real-time information of the vehicles above the surrounding roads and by combining the dangerous time interval of the conflict points in the intersection; and controlling the vehicles on different lanes to accelerate and decelerate so that different vehicles on different lanes enter the intersection area at certain time intervals, avoiding the dangerous time period of the conflict point, and enabling all straight-going and left-turning vehicles to pass through the intersection area at a constant speed according to the allowable optimal speed.
The four sides of the intersection are provided with 4 roads from east to south (NSWE) to merge into the intersection, each road is provided with a straight lane and a left-turn lane, and the number of the lanes merging into the intersection is 8.
As shown in FIG. 2, each lane has 4 traffic conflict points in the intersection area, taking the left turn lane of south at the intersection as an example, the conflict points corresponding to the lane are respectively (v), (v) and (v),
Figure BDA0002597844590000061
Figure BDA0002597844590000062
Figure BDA0002597844590000063
Figure BDA0002597844590000064
LB-CIs the length (m) of line segment B-C; l isA-CIs the length (m) of the arc A-C; t is tA-CThe time(s) required for turning the vehicle left from point a to point C; t is tB-C(s) required for straight-ahead vehicle from point B to point C.
Let us assume at t0At the moment, a left-turning vehicle enters the intersection area from the point A, for the conflict point, a direct vehicle cannot enter the action area of the conflict point within the dangerous time period, and at the entrance (point B) of a direct traffic lane at the north of the corresponding intersection, at the time tN is prohibited to straightenStraight vehicles cannot enter the intersection in the time period.
t0+tA-C-tB-C<tN is prohibited to straighten＜t0+tA-C-tB-C+ΔtStraight-straight left(18)
The conflict point available in the same way,
Figure BDA0002597844590000065
Corresponding to the traffic-forbidden time period t at the entrance of the laneW ban left、tE forbidden to left、tW is prohibited to straighten。
The vehicle speed adjustment process of any vehicle state adjustment region is as follows:
Figure BDA0002597844590000066
a is the initial state of the vehicle; b is the adjusting state of the vehicle; c is the vehicle adjustment completion state; x is the number ofaj、taj、vaj、aajRespectively setting the distance between the jth automobile at the initial position and an intersection entry point, the time required for the jth automobile to travel to the intersection entry point, the real-time speed of the jth automobile and the set acceleration of the jth automobile; x is the number ofbi、tbi、vbi、abiRespectively representing the vehicle state of the ith vehicle at any moment in the vehicle condition adjusting process; x is the number ofcl、tclAt the point of entry of the first vehicle to the intersection after the completion of the vehicle stateDistance, time required for the first car to travel to the intersection entry point.
xbi-xb(i+1)≥S (20)
According to the existing research of a plurality of scholars, the human body feels comfortable acceleration (m/s)2) The range is as follows:
2.5≥a0≥-8 (21)
Figure BDA0002597844590000071
vbi＝vai+aiΔt0(23)
Figure BDA0002597844590000072
xci-cc(i+1)≥S (25)
xci＝∫∫abid(tci-tai)2(26)
Figure BDA0002597844590000073
s is the minimum safety distance between the front vehicle and the rear vehicle; Δ t0The time spent for state a to state b.
As shown in fig. 6, the vehicle speeds of the lanes around the intersection are adjusted.
Selecting the lane of the intersection closest to the first vehicle in the 8 lanes around the intersection, namely
Min(X1N straight、X1N left、X1S straight、X1S left side、X1W straight、X1W left、X1E straight、X1E left side) (28)
X1N straightIndicating a distance of a first vehicle on a straight lane north of the intersection from the intersection entry point; x1N leftA distance from an intersection entry point representing a first vehicle on a left turn lane north of the intersection; x1S straight、X1S left side、X1W straight、X1W left、X1E straight、X1E left sideThe same is true.
Suppose Min (X)1N straight、X1N left、X1S straight、X1S left side、X1W straight、X1W left、X1E straight、X1E left side)＝X1S left sideThen the first vehicle turning left in south will be at the time t as fast as possible under the condition that the acceleration allows and the overspeed is not exceeded1S left sideAnd entering the intersection.
Figure BDA0002597844590000074
Figure BDA0002597844590000075
v0The initial speed of the first car of the left-turn lane in south; x1、X2、X3Three stages of driving the first vehicle to the intersection entrance point of the south left-turn lane, X1To accelerate the driving process uniformly, X2For the uniform speed driving process, X3The process of uniform deceleration running is carried out; t is t1、t2、t3Respectively X1、X2、X3The corresponding time. If X is1S left sideIf the length of the wheel is too small, the constant speed driving process X may be lacked2。
The south left-turn lane has conflict points with the north straight lane, the west left-turn lane, the east left-turn lane and the west straight lane, and vehicles above the north straight lane, the west left-turn lane, the east left-turn lane and the west straight lane are adjusted, so that the first vehicle of each lane is started at t1S left side+tN is prohibited to straighten、t1S left side+tW ban left、t1S left side+tE forbidden to left、t1S left side+tW is prohibited to straightenThe intersection area was not entered before.
After the process, the first vehicle of the south left-turn lane is removed, and the next round of target lane is selected according to the formula (28).
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (5)

1. An intersection traffic flow adjusting method based on vehicle-road cooperation is characterized by comprising the following steps:
step S1: determining the positions and the number of conflict points in the intersection according to the number of roads around the intersection, the number of specific lanes contained in each road and the lane width of each road, and calculating the dangerous time interval of each conflict point;
step S2: arranging a vehicle condition adjusting area in an entrance lane around the intersection, installing sensors around the road or below the road surface, monitoring vehicle condition parameters of each vehicle above the road, transmitting the vehicle condition parameters to an information processing module in real time, and analyzing and processing the vehicle condition parameters in real time by the information processing module;
step S3: the information processing module regulates and controls the vehicles in the vehicle condition regulation area according to the real-time information of the vehicles above the surrounding roads and by combining the dangerous time interval of the conflict points in the intersection; and controlling the vehicles on different lanes to accelerate and decelerate so that different vehicles on different lanes enter the intersection area at certain time intervals, avoiding the dangerous time period of the conflict point, and enabling all straight-going and left-turning vehicles to pass through the intersection area at a constant speed according to the allowable optimal speed.
2. The intersection traffic flow adjusting method based on the vehicle-road cooperation as claimed in claim 1, wherein when the straight-going vehicles alternate the straight-going traffic flow, the minimum distance between the interleaved straight-going vehicles and the time required for the straight-going vehicles to pass through the action areas of the straight-going and straight-going conflict points are respectively (4) and (5):
Lmin is straight-straight＝S1+S2+vStraight barΔtStraight-straight(4)
Figure FDA0002597844580000011
Lmin is straight-straightA minimum distance (m) between the straight vehicles which are inserted when the straight vehicles are inserted with the straight traffic; s1Is the vehicle length (m); s2Is the vehicle width (m); Δ tStraight-straightThe time(s) required for the straight-ahead vehicle to pass through the straight-ahead and straight-ahead conflict point action area.
3. The intersection traffic flow adjusting method based on the vehicle-road cooperation as claimed in claim 1, wherein when a left-turning vehicle alternates a straight-going traffic flow, the minimum distance between the interleaved straight-going vehicles and the time required for the straight-going vehicle to pass through the action area of the straight-going and left-turning conflict points are respectively expressed by equations (9) and (10):
Lleft-right of min＝L1+L2+S1+vStraight barΔtStraight-straight left(9)
Figure FDA0002597844580000012
LLeft-right of minA minimum distance (m) between the straight vehicles which are inserted when the straight traffic flow is inserted for the left-turning vehicle; l is1+L2The distance (m) between the straight line and the left-turning conflict point; v. ofStraight barIs the speed (m/s) of the straight-ahead vehicle; Δ tStraight-straight leftThe time(s) required for the straight-driving vehicle to pass through the straight-driving and left-turning conflict point action area.
When the straight-going vehicles pass through the left-turning traffic flow, the minimum distance between the passed left-turning vehicles and the time required for the left-turning vehicles to pass through the action areas of the straight-going and left-turning conflict points are respectively expressed by the following formulas (11) and (12):
Lmin is right-left＝L1+L2+S1+vLeft side ofΔtLeft-straight left(11)
Figure FDA0002597844580000021
Lmin is right-leftA minimum distance (m) between left-turn vehicles that are interspersed when left-turn traffic flow is interspersed for straight-going vehicles; v. ofLeft side ofIs the speed (m/s) of the left-turning vehicle; Δ tLeft-straight leftThe time(s) required for a left-turn vehicle to pass through the straight-ahead and left-turn conflict point action zones.
4. The intersection traffic flow adjusting method based on the vehicle-road cooperation as claimed in claim 1, wherein when a left-turning vehicle alternates a left-turning traffic flow, the minimum distance between the interleaved left-turning vehicles and the time required for the left-turning vehicle to pass through the action area of the left-turning and left-turning conflict points are respectively expressed as formulas (13) and (14):
Lleft to left of min＝S1tanq+S2+vLeft side ofΔtLeft-left(13)
Figure FDA0002597844580000022
LLeft to left of minA minimum distance (m) between left-turning vehicles interspersed when left-turning traffic is interspersed for left-turning vehicles; Δ tLeft-leftThe time(s) required for a left turn vehicle to pass through the left turn and left turn bump point application region.
5. The intersection traffic flow adjusting method based on the vehicle-road cooperation as claimed in claim 1, wherein the length of the vehicle condition adjusting area is 500 m.
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