CN112837539A - Variable lane intelligent control system and method based on wireless geomagnetic detector - Google Patents
Variable lane intelligent control system and method based on wireless geomagnetic detector Download PDFInfo
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Abstract
The invention discloses a variable lane intelligent control system and method based on a wireless geomagnetic detector, wherein the system comprises the geomagnetic detector, a road indicator, a signal lamp and a signal machine; the queuing length conditions of the variable lane and the special left-turn lane are monitored in real time by the wireless geomagnetic detector, and vehicle queuing length data are provided for variable lane annunciators and guideboards.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic control, and particularly relates to a variable lane intelligent control system and method based on a wireless geomagnetic detector.
Background
With the rapid increase of the traffic flow and the pedestrian flow of the road, the traffic jam degree of the urban road is more and more serious, and in order to improve the traffic efficiency of the road, a variable lane canalization design scheme is generally adopted at many large road intersections. The lane-changeable technology can reasonably change the traffic flow guide line of a certain lane according to the traffic flow in different directions in different time periods, so that the lane-changeable technology can avoid the situation that the traffic flow in a certain direction (such as left turn) is less and still occupies a complete lane, and give up the lane direction with less traffic flow to the lane direction with larger traffic flow, thereby improving the traffic efficiency of vehicles to a great extent by the lane-changeable technology. However, the lane-changing technology used at present basically changes the lane direction according to the traffic flow in different directions in different time periods, changes the flow guiding direction of the lane only in a fixed mode in different time periods, and is difficult to intelligently change the lane guiding in real time according to the traffic flow in different directions and the queuing length.
With the continuous development of monitoring equipment, monitoring technology, control algorithm and control technology in an intelligent traffic system, a control system capable of intelligently adjusting a variable lane guiding scheme according to traffic flow and traffic direction is urgently needed in the lane-variable technology of a large intersection. The intelligent optimization control system for the variable lane is required to monitor the traffic flow, the traffic flow direction and the queuing length information in different lanes in real time, and can intelligently adjust the guiding direction of the variable lane according to the monitored real-time information; the intelligent control system is required to have low reconstruction construction difficulty, small occupied area, low cost, high accuracy and high intelligent degree on the existing intersection control system.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a system and a method for intelligently controlling a variable lane based on a wireless geomagnetic detector.
The invention is realized by the following technical scheme:
a variable lane intelligent control system based on a wireless geomagnetic detector comprises a geomagnetic detector, a road indicator, a signal lamp and a signal machine;
the geomagnetic detectors comprise a left-turn lane geomagnetic detector and a variable lane geomagnetic detector, the left-turn lane geomagnetic detector is arranged below a left-turn lane road surface, and the variable lane geomagnetic detector is arranged below the variable lane road surface;
the guidepost is provided with a signal receiver and a controller, and is provided with a changeable lane mark for indicating left turning or straight going; the signal lamp is provided with a signal receiver and a controller, and a changeable lane-changeable signal lamp is arranged on the signal lamp and indicates left turning or straight going;
the signal machine is respectively in communication connection with signal receivers of the magnetic detectors, the guideposts and the signal lamps, collects signals of the magnetic detectors, sends the signals to the signal receivers of the guideposts and the signal lamps, and executes corresponding indication signal conversion after the guideposts and the signal lamps receive the signals.
In the above technical solution, the variable lane refers to a lane adjacent to a left-turn lane, and all expressions for the left-turn lane are equally applicable to a right-turn lane.
In the above technical solution, the left-turn lane geomagnetic detectors are greater than or equal to 2, and the number of the variable lane geomagnetic detectors is greater than or equal to 2.
In the technical scheme, the left-turn lane geomagnetic detectors and the variable lane geomagnetic detectors are arranged at equal intervals, the distance between the first geomagnetic detector and a stop line is 40-60m, and the interval between adjacent geomagnetic detectors is 15-25 m.
A variable lane intelligent control method based on a wireless geomagnetic detector is implemented according to the following expressions:
the geomagnetic detector of the left-turn lane closest to the stop line is abbreviated as 1, and the geomagnetic detectors arranged behind the left-turn lane closest to the stop line are sequentially 2 and 3; the variable lane geomagnetic detector closest to the stop line is abbreviated as 4, and the subsequent geomagnetic detectors are 5 and 6 in sequence; the magnetic detector output value is 1 when there is a vehicle in line, and is 0 when there is no vehicle in line.
Firstly, control logic for the variable lane when the variable lane is in a straight-going state:
1. when the output values of 1, 2 and 3 are 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be serious congestion when the vehicle is in straight driving and turns left, and the road indicator board and the signal lamp indicate the driving direction of the variable lane to keep straight driving;
2. when the output values of 1, 2 and 3 are equal to 0, the output values of 4 and 5 are equal to 1, and the output value of 6 is equal to 0, the congestion state is judged to be more congestion than left turning, and the direction of the lane-changeable driving is indicated to be kept straight through by a guidepost and a signal lamp;
3. when the output values of 1, 2 and 3 are equal to 0, the output values of 4 are equal to 1 and the output values of 5 and 6 are equal to 0, the congestion state is judged to be a straight-going common congestion rather than a left-turning common congestion, and the road indicator and the signal lamp indicate that the driving direction of the variable lane is kept straight;
4. when the output value of 1 is equal to 1, the output values of 2 and 3 are equal to 0, and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be more congestion than left turning, and the direction of the lane-changeable driving is indicated to keep straight through by a guidepost and a signal lamp;
5. when the output value of 1 is 1, the output values of 2 and 3 are 0, the output values of 4 and 5 are 1, and the output value of 6 is 0, the congestion state is judged to be straight running rather than left-turning general congestion, and the direction of the lane-changeable running is indicated to be kept straight running through a guidepost and a signal lamp;
6. when the output value 1 is equal to 1, the output values 2 and 3 are equal to 0, the output value 4 is equal to 1, and the output values 5 and 6 are equal to 0, the congestion state is judged to be the same congestion as the straight running and the left-turning, and the road indicator and the signal lamp indicate that the lane-changeable running direction is kept straight running;
7. when the output values of 1 and 2 are 1, the output value of 3 is 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be a straight-going common congestion rather than a left-turning common congestion, and the direction of the lane-changeable driving is indicated to be kept straight-going through a guidepost and a signal lamp;
8. when the output values of 1 and 2 are 1, the output value of 3 is 0, the output values of 4 and 5 are 1 and the output value of 6 is 0, the congestion state is judged to be the same congestion when the vehicle runs straight and turns left, and the direction of the lane-changeable vehicle is indicated to be kept straight through by a guidepost and a signal lamp (the current state is kept when the vehicle runs in the same congestion);
9. when the output values of 1 and 2 are 1 and 3 are 0, the output value of 4 is 1, and the output values of 5 and 6 are 0, the congestion state is judged to be a straight-ahead common congestion with a left turn, and the direction of the lane-changeable driving is indicated to be a straight-ahead driving and is changed into a left turn by a direction board and a signal lamp;
10. when the output values of 1, 2 and 3 are 1 and the output values of 4, 5 and 6 are 0, the congestion state is judged to be serious congestion when the left turn is more straight, and the direction of the lane-changeable driving is indicated to be changed into left turn when the lane-changeable driving direction is straight through by a guidepost and a signal lamp;
11. when the output values of 1, 2 and 3 are 1, the output values of 4 are 1 and the output values of 5 and 6 are 0, the congestion state is judged that the left turn is more congested than the straight running, and the direction of the lane-changeable running is indicated by a guidepost and a signal lamp to be changed into the left turn as the straight running;
12. when the output values of 1, 2 and 3 are 1, the output values of 4 and 5 are 1 and the output values of 5 and 6 are 0, the congestion state is judged to be equal congestion when the left turn is relatively straight, and the direction of the lane-changeable driving is indicated to be kept straight through by a guidepost and a signal lamp (the current state is kept when the congestion is equal);
13. when other conditions occur, the road indicator board and the signal lamp indicate the lane-changeable driving direction to keep the existing straight-driving state.
Secondly, the control logic of the variable lane when the variable lane is in the left-turn state:
1. when the output values of 1, 2 and 3 are equal to 0 and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be serious congestion when the vehicle is in a straight driving mode and turns left, and the direction of the lane-changeable driving is indicated to be changed into a straight driving mode through a guidepost and a signal lamp;
2. when the output values of 1, 2 and 3 are equal to 0, the output values of 4 and 5 are equal to 1, and the output value of 6 is equal to 0, the congestion state is judged to be more congestion than left turning, and the direction of lane-changeable driving is indicated to be changed from left turning to straight driving through a guidepost and a signal lamp;
3. when the output values of 1, 2 and 3 are equal to 0, the output values of 4 are equal to 1 and the output values of 5 and 6 are equal to 0, the congestion state is judged to be a straight running and a left-turning general congestion, and a road indicator and a signal lamp indicate that the lane-changeable driving direction is changed into a left-turning running and a straight running;
4. when the output value of 1 is equal to 1, the output values of 2 and 3 are equal to 0, and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be more congestion than left turning when the vehicle is running straight, and the direction of the lane-changeable vehicle is indicated to be changed from left turning to straight running through a guidepost and a signal lamp;
5. when the output value of 1 is 1, the output values of 2 and 3 are 0, the output values of 4 and 5 are 1, and the output value of 6 is 0, the congestion state is judged to be a straight running rather than a left-turning common congestion, and the direction of lane-changeable driving is indicated by a guidepost and a signal lamp to turn left and convert into a straight running;
6. when the output value 1 is equal to 1, the output values 2 and 3 are equal to 0, the output value 4 is equal to 1, and the output values 5 and 6 are equal to 0, the congestion state is judged to be the same congestion as the straight running and the left-turning, and the direction of the lane-changeable running is indicated to be changed into the straight running from the left-turning by the guidepost and the signal lamp;
7. when the output values of 1 and 2 are 1, the output value of 3 is 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be a straight running rather than a left-turning general congestion, and the direction of the lane-changeable driving is indicated by a guidepost and a signal lamp to be changed into a straight running for left turning;
8. when the output values of 1 and 2 are 1, the output value of 3 is 0, the output values of 4 and 5 are 1 and the output value of 6 is 0, the congestion state is judged to be the same congestion when the vehicle runs straight and turns left, and the direction of the lane-changeable vehicle is indicated to be left-turning through a guidepost and a signal lamp (the current state is kept when the traffic is the same);
9. when the output values of 1 and 2 are 1 and the output value of 3 is 0, the output value of 4 is 1, and the output values of 5 and 6 are 0, the congestion state is judged to be a straight-ahead common congestion with a left turn, and the direction of the lane-changeable driving is indicated to keep turning left through a guidepost and a signal lamp;
10. when the output values of 1, 2 and 3 are 1 and the output values of 4, 5 and 6 are 0, the congestion state is judged to be serious congestion when the left turn is relatively straight, and the direction of the lane-changeable driving is indicated to keep the left turn through a guidepost and a signal lamp;
11. when the output values of 1, 2 and 3 are 1, the output values of 4 are 1 and the output values of 5 and 6 are 0, the congestion state is judged that the left turn is more congested than the straight running, and the direction of the lane-changeable running is indicated to keep turning left through the guidepost and the signal lamp;
12. when the output values of 1, 2 and 3 are 1, the output values of 4 and 5 are 1 and the output values of 5 and 6 are 0, the congestion state is judged to be the same congestion with a relatively straight left turn, and the direction of the lane-changeable driving is indicated to be left turn through the guidepost and the signal lamp (the current state is kept when the congestion is equal);
13. when other conditions occur, the road indicator board and the signal lamp indicate that the lane-changeable driving direction is kept in the existing left-turning state.
The invention has the advantages and beneficial effects that:
1. in the variable lane intelligent control system provided by the invention, the wireless geomagnetic detectors are utilized to monitor the queuing length conditions of the variable lane and the special left-turn lane in real time, and vehicle queuing length data are provided for the variable lane signal machine and the guidepost. Thus, it has: the device has the advantages of no wiring, simple installation, low cost, convenient maintenance and accurate and reliable detection data.
2. The equipment installation degree of difficulty and the transformation work volume are lower relatively among this intelligence control system, can install and reform transform with the help of the existing signal lamp in intersection and the infrastructure of guide board, and the underground line pipe of signal lamp that has now with the help of intersection lays wire, carries out the installation of controller with the help of original signal machine case, has reduced the upgrading and has reformed transform the degree of difficulty, the cost is reduced.
3. The variable lane change control in the intelligent control system is mainly based on real-time queuing length monitoring data in lanes, and under the 26 control rules, an intelligent control mode which is simple in logic, intelligent in process and easy to realize can be provided for the variable lanes, the vehicle passing efficiency in different traffic directions is improved, and the queuing length at intersections is reduced.
Drawings
Fig. 1 is a schematic view of the overall arrangement of the present invention.
Fig. 2 is a schematic diagram of an installation position of the geomagnetic detector.
Fig. 3 is a schematic diagram of a fingerboard structure.
Fig. 4 is a schematic diagram of a signal lamp structure.
Fig. 5 is a schematic diagram of the structure of the signaling device.
Fig. 6 is a diagram showing steps of determining whether there is a vehicle waiting in line at the geomagnetic location.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to specific examples.
Examples
As shown in fig. 1-5, a variable lane intelligent control system based on a wireless geomagnetic detector comprises a geomagnetic detector, a road indicator, a signal lamp and a signal machine;
the geomagnetic detectors comprise a left-turn lane geomagnetic detector and a variable lane geomagnetic detector, the left-turn lane geomagnetic detectors are arranged under a left-turn lane road surface at equal intervals, the number of the left-turn lane geomagnetic detectors is 3, the distance between a first geomagnetic detector and a stop line is 50m, and the interval between adjacent geomagnetic detectors is 20 m. The variable lane geomagnetic detectors are arranged below the variable lane road surface at equal intervals; the number is 3. The distance between the first geomagnetic detector and the stop line is 50m, and the distance between adjacent geomagnetic detectors is 20 m. If the wireless geomagnetic detector at the position of 50m detects that vehicles are in line, the condition is defined as general congestion; if the wireless geomagnetic detector at the position of 70m detects that vehicles are queued, the condition is defined as congestion comparison; if the wireless geomagnetic detector at 90m detects that the vehicle is in line, it is defined as a special jam.
The reason why the wireless geomagnetic detector is selected is: the traditional induction coil detector has the advantages of simple technology and low cost, but the induction coil detector has low sensitivity for detecting vehicles and poor external interference resistance, and has low accuracy when being applied to vehicle sensing, so that the queuing length of a lane cannot be accurately obtained. The method has the advantages that the video is acquired in real time through the camera, and the queuing length and the traffic flow in the lane are obtained by utilizing the image processing technology, so that the detection precision is high, the cost is high, and meanwhile, the method is also easily influenced by light and severe weather. The wireless geomagnetic detector senses the vehicle by detecting the change of the vehicle to the geomagnetic field, and has the characteristics of no wiring, low cost, small volume, low power consumption, long service cycle, convenient installation and maintenance, high detection accuracy (more than or equal to 98%), high protection level (reaching IP68), proper detection radius (adjustable from 0 to 1.5 m), communication distance radius larger than 150m, bidirectional communication frequency of 2.45GHz, capability of detecting any vehicle type, no influence of severe environment, small influence of road surface falling leaves and rain and snow covers and the like. Therefore, the invention selects the wireless geomagnetic detector to monitor the queuing length in the lane.
The guidepost is provided with a signal receiver and a controller, and is provided with a changeable lane mark for indicating left turning or straight going; the signal lamp is provided with a signal receiver and a controller, and a changeable lane-changeable signal lamp is arranged on the signal lamp and indicates left turning or straight going;
the signal machine is respectively in communication connection with signal receivers of the magnetic detectors, the guideposts and the signal lamps, collects signals of the magnetic detectors, sends the signals to the signal receivers of the guideposts and the signal lamps, and executes corresponding indication signal conversion after the guideposts and the signal lamps receive the signals.
The detection mode of the queue length of the wireless geomagnetic detector is as follows:
the geomagnetic detector is used for judging whether vehicles stay or queue above the geomagnetic field through monitoring the change condition of the geomagnetic field, transmitting the judgment result to the receiver through wireless radio frequency, and the data receiver realizes data exchange with an upper computer system through a serial port.
The intensity of the earth magnetic field is 0.5 to 0.6 gauss, and the intensity of the earth magnetic field is constant in a region of 3-5 km. When an automobile on a certain lane passes through or stops in the magnetic field of the geomagnetic detector, the magnetic field is disturbed, the closer the automobile is to the geomagnetic detector, the larger the magnetic field variation amplitude is, and the judgment mode of whether the automobile is queued at the geomagnetic part is as shown in fig. 6. Therefore, the geomagnetic detector can judge whether the vehicle is waiting in line or not according to the detected change of the geomagnetic field strength.
The smoothing and calibration process of the magnetic field change requires data filtering, smoothing and calibration of factors affecting the oscillation frequency change, including: vehicle, climate, drift of component parameters, and the like.
The specific implementation mode is as follows: the wireless geomagnetic vehicle detector input module mainly detects sine waves with certain frequency generated by the arrival of the vehicle and judges the arrival of the vehicle by checking the sine waves; the output module is used for outputting the information to the variable lane signal machine and the variable lane indicating plate in a wireless mode by the control output circuit; communication module-communication using wireless transmission mode; the comparison and judgment module consists of a shaping amplifying circuit, a counting circuit, a frequency doubling circuit and a singlechip circuit.
A variable lane intelligent control method based on a wireless geomagnetic detector comprises the following steps:
the geomagnetic detector of the left-turn lane closest to the stop line is abbreviated as 1, and the geomagnetic detectors arranged behind the left-turn lane closest to the stop line are sequentially 2 and 3; the variable lane geomagnetic detector closest to the stop line is abbreviated as 4, and the subsequent geomagnetic detectors are 5 and 6 in sequence; the control logic is provided with a wireless geomagnetic detector, the output value of the wireless geomagnetic detector is 1 when the wireless geomagnetic detector detects that vehicles are in line, and the output value of the wireless geomagnetic detector is 0 when the vehicles are not in line.
TABLE 1 control logic for a variable lane currently in a straight-ahead state
TABLE 2 control logic for variable lane currently in left turn state
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (4)
1. The utility model provides a variable lane intelligence control system based on wireless earth magnetism detector which characterized in that: the geomagnetic road sign comprises a geomagnetic detector, a road sign board, a signal lamp and a signal machine;
the geomagnetic detectors comprise a left-turn lane geomagnetic detector and a variable lane geomagnetic detector, the left-turn lane geomagnetic detector is arranged below a left-turn lane road surface, and the variable lane geomagnetic detector is arranged below the variable lane road surface;
the guidepost is provided with a signal receiver and a controller, and is provided with a changeable lane mark for indicating left turning or straight going; the signal lamp is provided with a signal receiver and a controller, and a changeable lane-changeable signal lamp is arranged on the signal lamp and indicates left turning or straight going;
the signal machine is respectively in communication connection with signal receivers of the magnetic detectors, the guideposts and the signal lamps, collects signals of the magnetic detectors, sends the signals to the signal receivers of the guideposts and the signal lamps, and executes corresponding indication signal conversion after the guideposts and the signal lamps receive the signals.
2. The intelligent control system for a variable lane based on a wireless geomagnetic detector according to claim 1, wherein: the left-turn lane geomagnetic detectors are greater than or equal to 2, and the number of the variable lane geomagnetic detectors is greater than or equal to 2.
3. The intelligent control system for a variable lane based on a wireless geomagnetic detector according to claim 1, wherein: the left-turn lane geomagnetic detectors and the variable lane geomagnetic detectors are arranged at equal intervals, the distance between the first geomagnetic detector and a stop line is 40-60m, and the interval between adjacent geomagnetic detectors is 15-25 m.
4. A variable lane intelligent control method based on a wireless geomagnetic detector is characterized by being executed according to the following expression:
the geomagnetic detector of the left-turn lane closest to the stop line is abbreviated as 1, and the geomagnetic detectors arranged behind the left-turn lane closest to the stop line are sequentially 2 and 3; the variable lane geomagnetic detector closest to the stop line is abbreviated as 4, and the subsequent geomagnetic detectors are 5 and 6 in sequence; the magnetic detector output value is 1 when there is a vehicle in line, and is 0 when there is no vehicle in line.
Firstly, control logic for the variable lane when the variable lane is in a straight-going state:
1) when the output values of 1, 2 and 3 are 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be serious congestion when the vehicle is in straight driving and turns left, and the road indicator board and the signal lamp indicate the driving direction of the variable lane to keep straight driving;
2) when the output values of 1, 2 and 3 are equal to 0, the output values of 4 and 5 are equal to 1, and the output value of 6 is equal to 0, the congestion state is judged to be more congestion than left turning, and the direction of the lane-changeable driving is indicated to be kept straight through by a guidepost and a signal lamp;
3) when the output values of 1, 2 and 3 are equal to 0, the output values of 4 are equal to 1 and the output values of 5 and 6 are equal to 0, the congestion state is judged to be a straight-going common congestion rather than a left-turning common congestion, and the road indicator and the signal lamp indicate that the driving direction of the variable lane is kept straight;
4) when the output value of 1 is equal to 1, the output values of 2 and 3 are equal to 0, and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be more congestion than left turning, and the direction of the lane-changeable driving is indicated to keep straight through by a guidepost and a signal lamp;
5) when the output value of 1 is 1, the output values of 2 and 3 are 0, the output values of 4 and 5 are 1, and the output value of 6 is 0, the congestion state is judged to be straight running rather than left-turning general congestion, and the direction of the lane-changeable running is indicated to be kept straight running through a guidepost and a signal lamp;
6) when the output value 1 is equal to 1, the output values 2 and 3 are equal to 0, the output value 4 is equal to 1, and the output values 5 and 6 are equal to 0, the congestion state is judged to be the same congestion as the straight running and the left-turning, and the road indicator and the signal lamp indicate that the lane-changeable running direction is kept straight running;
7) when the output values of 1 and 2 are 1, the output value of 3 is 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be a straight-going common congestion rather than a left-turning common congestion, and the direction of the lane-changeable driving is indicated to be kept straight-going through a guidepost and a signal lamp;
8) when the output values of 1 and 2 are 1, the output value of 3 is 0, the output values of 4 and 5 are 1 and the output value of 6 is 0, the congestion state is judged to be the same congestion when the vehicle runs straight and turns left, and the direction of the lane-changeable vehicle is indicated to be kept straight through by a guidepost and a signal lamp (the current state is kept when the vehicle runs in the same congestion);
9) when the output values of 1 and 2 are 1 and 3 are 0, the output value of 4 is 1, and the output values of 5 and 6 are 0, the congestion state is judged to be a straight-ahead common congestion with a left turn, and the direction of the lane-changeable driving is indicated to be a straight-ahead driving and is changed into a left turn by a direction board and a signal lamp;
10) when the output values of 1, 2 and 3 are 1 and the output values of 4, 5 and 6 are 0, the congestion state is judged to be serious congestion when the left turn is more straight, and the direction of the lane-changeable driving is indicated to be changed into left turn when the lane-changeable driving direction is straight through by a guidepost and a signal lamp;
11) when the output values of 1, 2 and 3 are 1, the output values of 4 are 1 and the output values of 5 and 6 are 0, the congestion state is judged that the left turn is more congested than the straight running, and the direction of the lane-changeable running is indicated by a guidepost and a signal lamp to be changed into the left turn as the straight running;
12) when the output values of 1, 2 and 3 are 1, the output values of 4 and 5 are 1 and the output values of 5 and 6 are 0, the congestion state is judged to be equal congestion when the left turn is relatively straight, and the direction of the lane-changeable driving is indicated to be kept straight through by a guidepost and a signal lamp (the current state is kept when the congestion is equal);
13) when other conditions occur, the road indicator board and the signal lamp indicate the lane-changeable driving direction to keep the existing straight-driving state.
Secondly, the control logic of the variable lane when the variable lane is in the left-turn state:
1) when the output values of 1, 2 and 3 are equal to 0 and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be serious congestion when the vehicle is in a straight driving mode and turns left, and the direction of the lane-changeable driving is indicated to be changed into a straight driving mode through a guidepost and a signal lamp;
2) when the output values of 1, 2 and 3 are equal to 0, the output values of 4 and 5 are equal to 1, and the output value of 6 is equal to 0, the congestion state is judged to be more congestion than left turning, and the direction of lane-changeable driving is indicated to be changed from left turning to straight driving through a guidepost and a signal lamp;
3) when the output values of 1, 2 and 3 are equal to 0, the output values of 4 are equal to 1 and the output values of 5 and 6 are equal to 0, the congestion state is judged to be a straight running and a left-turning general congestion, and a road indicator and a signal lamp indicate that the lane-changeable driving direction is changed into a left-turning running and a straight running;
4) when the output value of 1 is equal to 1, the output values of 2 and 3 are equal to 0, and the output values of 4, 5 and 6 are equal to 1, the congestion state is judged to be more congestion than left turning when the vehicle is running straight, and the direction of the lane-changeable vehicle is indicated to be changed from left turning to straight running through a guidepost and a signal lamp;
5) when the output value of 1 is 1, the output values of 2 and 3 are 0, the output values of 4 and 5 are 1, and the output value of 6 is 0, the congestion state is judged to be a straight running rather than a left-turning common congestion, and the direction of lane-changeable driving is indicated by a guidepost and a signal lamp to turn left and convert into a straight running;
6) when the output value 1 is equal to 1, the output values 2 and 3 are equal to 0, the output value 4 is equal to 1, and the output values 5 and 6 are equal to 0, the congestion state is judged to be the same congestion as the straight running and the left-turning, and the direction of the lane-changeable running is indicated to be changed into the straight running from the left-turning by the guidepost and the signal lamp;
7) when the output values of 1 and 2 are 1, the output value of 3 is 0 and the output values of 4, 5 and 6 are 1, the congestion state is judged to be a straight running rather than a left-turning general congestion, and the direction of the lane-changeable driving is indicated by a guidepost and a signal lamp to be changed into a straight running for left turning;
8) when the output values of 1 and 2 are 1, the output value of 3 is 0, the output values of 4 and 5 are 1 and the output value of 6 is 0, the congestion state is judged to be the same congestion when the vehicle runs straight and turns left, and the direction of the lane-changeable vehicle is indicated to be left-turning through a guidepost and a signal lamp (the current state is kept when the traffic is the same);
9) when the output values of 1 and 2 are 1 and the output value of 3 is 0, the output value of 4 is 1, and the output values of 5 and 6 are 0, the congestion state is judged to be a straight-ahead common congestion with a left turn, and the direction of the lane-changeable driving is indicated to keep turning left through a guidepost and a signal lamp;
10) when the output values of 1, 2 and 3 are 1 and the output values of 4, 5 and 6 are 0, the congestion state is judged to be serious congestion when the left turn is relatively straight, and the direction of the lane-changeable driving is indicated to keep the left turn through a guidepost and a signal lamp;
11) when the output values of 1, 2 and 3 are 1, the output values of 4 are 1 and the output values of 5 and 6 are 0, the congestion state is judged that the left turn is more congested than the straight running, and the direction of the lane-changeable running is indicated to keep turning left through the guidepost and the signal lamp;
12) when the output values of 1, 2 and 3 are 1, the output values of 4 and 5 are 1 and the output values of 5 and 6 are 0, the congestion state is judged to be the same congestion with a relatively straight left turn, and the direction of the lane-changeable driving is indicated to be left turn through the guidepost and the signal lamp (the current state is kept when the congestion is equal);
13) when other conditions occur, the road indicator board and the signal lamp indicate that the lane-changeable driving direction is kept in the existing left-turning state.
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