CN113313949B - Method, device and equipment for cooperative control of passenger cars and trucks on expressways and ramp ways - Google Patents
Method, device and equipment for cooperative control of passenger cars and trucks on expressways and ramp ways Download PDFInfo
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- CN113313949B CN113313949B CN202110605375.0A CN202110605375A CN113313949B CN 113313949 B CN113313949 B CN 113313949B CN 202110605375 A CN202110605375 A CN 202110605375A CN 113313949 B CN113313949 B CN 113313949B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—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
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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
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
Abstract
The invention discloses a method, a device and equipment for cooperatively controlling passenger cars and trucks on an exit ramp of a highway, wherein the method comprises the following steps: determining the expected speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section; when a passenger car is required to be driven out of the main road section and a lane change is required, detecting whether trucks at the main road outlet control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not; when the trucks run in a queue and the distance between the trucks and the road is smaller than the lane change safety threshold, the trucks are guided to increase the distance between the trucks and the road; and when the inter-truck distance is greater than or equal to the lane change safety threshold value, guiding the truck to run at the expected speed. The invention aims to provide a cooperative control method for a passenger car and a truck at an exit ramp of an expressway under a vehicle-road cooperative environment on the basis of real-time data under the vehicle-road cooperative environment so as to improve the safety factor and the traffic efficiency of exit ramp of the expressway and increase the traffic capacity of the conventional expressway.
Description
Technical Field
The invention relates to the technical field of traffic control, in particular to a method, a device and equipment for cooperative control of passenger and freight cars on an exit ramp of a highway based on vehicle-road cooperation.
Background
The rapid development of economy leads to the rapid increase of the freight volume of the highway, which causes the large freight ratio of the highway and brings great influence on the traffic running state of the highway. Compared with other roads, the highway is a closed road, and vehicles can only drive away from the highway through the exit ramp. At the present stage, the highway mainly leads vehicles to exit from an exit ramp of the highway through a traffic sign and an internet navigation product. The shielding effect of large trucks and the shielding obstacles caused by the driving of large trucks in queues to the small vehicles to exit the highway and change lanes cause the small vehicles to miss the exit opportunities, and when the trucks are driven in the freight train queues, the continuous lane change of the small vehicles easily causes rear-end collisions. With the development of the vehicle-road cooperation technology and the further application of the communication technologies such as 5G and the like in the traffic industry, a manager is facilitated to further acquire the type of a vehicle, the real-time speed, whether the vehicle runs in a queue or not, road condition data and weather data, timely and accurately master the running condition of an expressway close to an exit ramp, and through the vehicle-road cooperation technology, the cooperative control of a truck and a passenger car at the exit of the ramp is realized, the traffic safety of the exit ramp is guaranteed, and the road traffic efficiency is improved.
In the control of the entrance and exit of the ramp of the expressway, students at home and abroad carry out a lot of researches on the control of the ramp at the entrance of the expressway, and the purposes of improving the traffic efficiency of the expressway and reducing traffic delay and congestion degree of the expressway by controlling the traffic volume at the entrance of the ramp are achieved. However, the coordination control of the exit ramp of the expressway under the flow of large trucks is less concerned, and if congestion and traffic accidents occur at the exit of the expressway due to queue driving and lane change obstacles of outside trucks at the exit of the expressway, the overall traffic efficiency of the expressway is affected.
Disclosure of Invention
Therefore, in order to solve the technical problems, it is necessary to provide a cooperative control method, device and computer equipment for a passenger car and a truck on an exit ramp of a highway, which can solve the problem of insufficient management of the exit ramp under the condition of a large flow of trucks on the highway.
The embodiment of the invention provides a cooperative control method for passenger and freight cars on an exit ramp of a highway, which comprises the following steps:
obtaining the running speed and density of vehicles on the highway exit ramp section;
determining the expected speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section;
when a passenger car is required to be driven out of the main road section and a lane change is required, detecting whether trucks at the main road outlet control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not;
when the trucks run in a queue and the distance between the trucks and the road is smaller than the lane change safety threshold, the trucks are guided to increase the distance between the trucks and the road;
and when the inter-truck distance is greater than or equal to the lane change safety threshold value, guiding the truck to run at the expected speed.
In one embodiment, the invention provides a cooperative control method for a passenger car and a truck on an exit ramp of a highway, further comprising the following steps:
installing roadside vehicle-road cooperative equipment on an exit control section of a main road of the expressway and an exit ramp section of the expressway to construct an expressway vehicle-road cooperative environment;
and acquiring the running speed and density of the vehicle type-separated vehicles on the exit ramp section of the expressway and the running speed of the vehicle type-separated vehicles on the main line section through roadside vehicle-road cooperative equipment.
In one embodiment, the cooperative control method for the passenger and truck on the exit ramp of the highway provided by the invention further comprises the following steps:
the maximum allowable number of the truck fleet rows is set so that the length of the truck fleet rows on the main section of the highway is shorter than the length of the allowable truck fleet rows.
In one embodiment, the cooperative control method for the passenger and truck on the exit ramp of the highway provided by the invention further comprises the following steps:
when the passenger cars are required to be driven out of the main road section but the lane change is not required or the trucks at the main road outlet control section do not drive in a queue, the trucks are guided to drive at the expected speed.
In one embodiment, the determining the desired vehicle speed of the main road exit control section according to the running speed and the density of the vehicle classified into the exit ramp section includes:
determining the relation between the speed and the density according to the running speed and the density of the vehicle separated from the exit ramp section:
in the formula: v is the vehicle speed; v. offThe speed is the smooth speed, and when the density rho is small, the maximum speed of the traffic flow in the free state is achieved; rhojMaximum traffic density at vehicle speed v → 0 when traffic is congested; rhomVehicle speed at which the road system fully performs its function for optimum density; the density rho of the traffic flow is close to or equal to the optimal density rhomIn time, the following phenomenon occurs in the traffic flow; the density rho of the traffic flow is greater than the optimal density rhomAt that time, the traffic flow starts to be in a congested state.
In one embodiment, the truck spacing is a safe distance between the current truck and the head of the next leading truck:
in the formula: v. ofnIs the current vehicle speed; v. ofn-1The rear vehicle speed; alpha, betal、β、b0Are calibration parameters.
In one embodiment, the lane change safety threshold is:
Ls＝Lb+La
in the formula: l issA lane change safety threshold; l isbThe safe distance between the lane-changing vehicle and the rear vehicle of the target lane is set; l isaThe safe distance between the lane-changing vehicle and the front vehicle of the target lane is provided.
In one of the embodiments, the first and second electrodes are,
the safe distance between the lane changing vehicle and the rear vehicle of the target lane is as follows:
Lb＝(vm-vb)×(tc+tadj)+lc+50
in the formula: v. ofmVehicle speed for lane change; v. ofbThe rear vehicle speed of the target lane; t is tcTime is spent for lane changes; t is tadjAdjusting time for lane changing; lcFor changing the body length of a passenger car:
the safe distance between the lane changing vehicle and the front vehicle of the target lane is as follows:
Lb＝(vm-ba)×(tc+tadj)+lc+50
in the formula: v. ofaThe vehicle speed before the target lane is adopted.
A cooperative control device for passenger and truck vehicles on an exit ramp of a highway comprises:
the data acquisition module is used for acquiring the running speed and the running density of the vehicles on the highway exit ramp section;
the expected vehicle speed determining module is used for determining the expected vehicle speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section vehicle type;
the detection module is used for detecting whether trucks at the main road exit control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not when a passenger car is required to be driven out of the main road section and lane change is required;
the truck distance increasing module is used for guiding the trucks to increase the distance between the trucks when the trucks run in a queue and the truck distance is smaller than the lane change safety threshold;
and the driving guiding module is used for guiding the truck to drive at the expected speed when the inter-truck distance is greater than or equal to the lane change safety threshold.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
Compared with the prior art, the cooperative control method, the cooperative control device and the cooperative control equipment for the passenger cars and the freight cars on the exit ramp of the expressway provided by the embodiment of the invention have the following beneficial effects:
the invention aims to provide a cooperative control method for a passenger car and a truck at an exit ramp of an expressway under a vehicle-road cooperative environment on the basis of real-time data under the vehicle-road cooperative environment so as to improve the safety factor and the traffic efficiency of exit ramp of the expressway and increase the traffic capacity of the conventional expressway. The method is characterized in that road conditions, traffic parameters and vehicle parameters are collected in real time by using a road and road side facility in cooperation, the real-time interaction of the road and the road in the environment in cooperation with the road is utilized to guide the running speed and the running distance of truck vehicles, and the adjustment of the formation of trucks at the exit of a ramp is realized, so that a passenger car with a driving intention on the inner side can quickly and safely exit the inner lane, the traffic jam caused by lane change conflict and traffic accidents is reduced, and the maximum traffic capacity at the exit ramp of the highway is improved. The expressway manager can conduct shunting control on the ramp exit section, can control the queuing length of the trucks and the distance between two trucks, enables the vehicles on the inner side to safely and quickly change lanes to exit the expressway, and constructs a perfect expressway cooperative environment through the construction of expressway cooperative facilities, in-vehicle systems and a central management platform, so that the expressway manager can efficiently manage and control the expressway truck fleet, and the ramp exit safety factor is improved.
Drawings
Fig. 1 is a schematic flow chart of a cooperative control method for a passenger car and a truck on an exit ramp of a highway provided in an embodiment;
fig. 2 is a schematic view of a scenario of a passenger-cargo cooperative control method for an exit ramp of a highway provided in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, referring to fig. 1 to 2, a cooperative control method for a passenger car and a truck on an exit ramp of a highway is provided, which specifically includes:
1. constructing a highway vehicle road collaborative environment:
installing roadside vehicle-road cooperative equipment at the exit of the main line of the expressway and the ramp of the expressway to construct an expressway vehicle-road cooperative environment, and realizing detection of queuing information of a control section at the exit of the main line of the expressway truck, detection of main line traffic volume, driving speed, exit ramp speed, traffic density and section flow; whether a passenger car on the inner side of the exit control section has a lane changing exit requirement is detected, whether a truck on the main road exit control section runs in a queue is detected, when the passenger car has the lane changing exit requirement, the inter-vehicle distance is smaller than a set threshold value, cooperative control is carried out, the vehicle is informed through roadside equipment, the inter-vehicle distance is increased, and the passenger car on the inner side with the purpose of exiting is enabled to quickly and safely exit from the inner side lane.
2. Highway exit ramp passenger car and truck cooperative module construction and control based on vehicle-road cooperation
Aiming at an exit ramp control module, adjusting the real-time traffic flow of an exit ramp of the expressway by adopting a ramp capacity-speed control variable regulation rate method; the running state of the expressway is measured in real time according to the relation among the speed, the density and the flow of the vehicle, and then the guiding speed of the truck outside the main line of the expressway is determined, so that the running state of the exit ramp of the expressway is kept in a non-congestion state.
The running speed and the density of the vehicles on the exit ramp section of the expressway are detected, and the relationship between the speed and the density can be obtained as follows:
in the formula: v is the vehicle speed; v. offThe speed is the smooth speed, and when the density rho is small, the maximum speed of the traffic flow in the free state is achieved; rhojFor the jam density, the maximum flow density at the vehicle speed v → 0 when the traffic jam occurs; rhomVehicle speed at which the road system fully performs its function for optimum density; the density rho of the traffic flow is close to or equal to the optimal density rhomIn time, the following phenomenon occurs in the traffic flow; the density rho of the traffic flow is greater than the optimal density rhomAt that time, the traffic flow starts to be in a congested state.
And detecting the running speed and the running density of the vehicle of the main line section according to the vehicle type.
And detecting whether the trucks run in a queue.
In the formula: τ is driver reaction time; s is a following safety critical gap; v isnIs the current vehicle speed; Δ xnAnd (t) is the safe distance between the current vehicle and the head of the vehicle close to the leading vehicle.
The safe distance between the two vehicle heads is calculated as follows:
in the formula: v. ofnIs the current vehicle speed; v. ofn-1The rear vehicle speed; alpha, betal、β、b0The parameters to be calibrated in the model.
3. And detecting whether the passenger car at the inner side of the exit control section of the expressway needs to be driven out and needs to change lanes, and if so, carrying out the next step.
4. And detecting whether the time headway of the truck is smaller than a lane change threshold value.
Ls＝Lb+La
In the formula: l issA lane change safety threshold; l isbThe safe distance between the lane-changing vehicle and the rear vehicle of the target lane is set; l isaFor the safe distance between the lane-changing vehicle and the front vehicle of the target lane:
Lb＝(vm-vb)×(ta+tadj)+lc+50
in the formula: v. ofmVehicle speed for lane change; v. ofbThe rear vehicle speed of the target lane; t is tcTime is spent for lane changes; t is tadjAdjusting time for lane changing; lcFor changing the length of the passenger car body:
Lb＝(vm-va)×(tc+tadj)+lc+50
in the formula: v. ofaThe vehicle speed before the target lane is adopted.
5. And prompting a driver to guide the vehicle to run at the expected speed through road side and in-vehicle road cooperative equipment.
It should be noted that, the passenger car and the truck related to the present invention are: seven passenger cars and three trucks are respectively arranged below the passenger cars; the vehicle distance is defined as: the distance between the head of the current vehicle and the tail of the previous vehicle; the acquisition time interval of the running speed and the density is five minutes; the running speed of the vehicle means the running speed of each vehicle.
In one embodiment, a cooperative control device for a passenger car and a truck on an exit ramp of a highway is provided, which comprises:
and the data acquisition module is used for acquiring the running speed and the running density of the vehicles on the highway exit ramp section.
And the expected vehicle speed determining module is used for determining the expected vehicle speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section vehicle type.
And the detection module is used for detecting whether trucks at the main road exit control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not when a passenger car is required to be driven out of the main road section and the lane change is required.
And the truck distance increasing module is used for guiding the trucks to increase the distance between the trucks when the trucks run in a queue and the distance between the trucks is smaller than the lane change safety threshold.
And the driving guiding module is used for guiding the truck to drive at the expected speed when the inter-truck distance is greater than or equal to the lane change safety threshold.
For specific limitations of the cooperative control device for the passenger and truck on the exit ramp of the expressway, reference may be made to the above limitations on the cooperative control method for the passenger and truck on the exit ramp of the expressway, and details are not repeated here. All modules in the cooperative control device for the passenger and freight trains on the expressway exit ramp can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
obtaining the running speed and density of vehicles on the highway exit ramp section;
determining the expected speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section;
when a passenger car is required to be driven out of the main road section and a lane change is required, detecting whether trucks at the main road outlet control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not;
when the trucks run in a queue and the distance between the trucks and the road is smaller than the lane change safety threshold, the trucks are guided to increase the distance between the trucks and the road;
and when the inter-truck distance is greater than or equal to the lane change safety threshold value, guiding the truck to run at the expected speed.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features. Furthermore, the above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
1. A cooperative control method for passenger and freight cars on an exit ramp of a highway is characterized by comprising the following steps:
obtaining the running speed and density of vehicles on the highway exit ramp section; installing roadside vehicle-road cooperative equipment on an exit control section of a main road of the expressway and an exit ramp section of the expressway to construct an expressway vehicle-road cooperative environment; acquiring the running speed and density of vehicle type separating vehicles on an exit ramp section of the expressway and the running speed of vehicle type separating vehicles on a main line section through roadside vehicle-road cooperative equipment;
determining the expected speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section;
when a passenger car is required to be driven out of the main road section and a lane change is required, detecting whether trucks at the main road outlet control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not;
when the trucks run in a queue and the distance between the trucks and the road is smaller than the lane change safety threshold, the trucks are guided to increase the distance between the trucks and the road;
when the inter-truck distance is greater than or equal to the lane change safety threshold value, guiding the truck to run at the expected speed;
the method for determining the expected speed of the main road exit control section according to the running speed and the running density of the vehicles of the exit ramp section in different vehicle types comprises the following steps:
determining the relation between the speed and the density according to the running speed and the density of the vehicle separated from the exit ramp section:
in the formula: v is the vehicle speed; v. offThe free-running speed represents the maximum speed of the traffic flow in a free state when the density rho is small; rhojThe traffic jam density represents the maximum traffic density at which the vehicle speed v approaches 0 when traffic jams; rhomFor optimum density, the road system fully performs its function; the density rho of the traffic flow is close to or equal to the optimal density rhomIn time, the following phenomenon occurs in the traffic flow; the density rho of the traffic flow is greater than the optimal density rhomWhen the traffic flow is in a crowded state;
the truck distance is the safe truck distance between the current truck and the next adjacent leading truck:
in the formula: v. ofnIs the current vehicle speed; v. ofn-1The rear vehicle speed; alpha, betal、β、b0Is a calibration parameter;
the lane change safety threshold is as follows:
Ls＝Lb+La
in the formula: l issA lane change safety threshold; l isbThe safe distance between the lane-changing vehicle and the rear vehicle of the target lane is set; l isaThe safe distance between the lane-changing vehicle and the front vehicle of the target lane is set;
the safe distance between the lane changing vehicle and the rear vehicle of the target lane is as follows:
Lb＝(vm-vb)×(tc+tadj)+lc+50
in the formula: v. ofmVehicle speed for lane change; v. ofbThe rear vehicle speed of the target lane; t is tcTime is spent for lane changes; t is tadjAdjusting time for lane changing: lcThe length of the bus body of the lane changing bus;
the safe distance between the lane changing vehicle and the front vehicle of the target lane is as follows:
La＝(vm-va)×(tc+tadj)+lc+50
in the formula: v. ofaThe vehicle speed before the target lane is adopted.
2. The cooperative control method for a passenger car and a truck on an exit ramp of a highway according to claim 1, further comprising:
the maximum allowable number of the cargo fleet rows is set, and the travel length of the cargo fleet rows of the main line section of the expressway is smaller than the allowable train length.
3. The cooperative control method for a passenger car and a truck on an exit ramp of a highway according to claim 1, further comprising:
when the passenger cars are required to be driven out of the main road section but the lane change is not required or the trucks at the main road outlet control section do not drive in a queue, the trucks are guided to drive at the expected speed.
4. The utility model provides a highway exit ramp passenger-cargo vehicle cooperative control device which characterized in that includes:
the data acquisition module is used for acquiring the running speed and the running density of the vehicles on the highway exit ramp section;
the expected vehicle speed determining module is used for determining the expected vehicle speed of the main road exit control section according to the running speed and the running density of the vehicle of the exit ramp section vehicle type;
the detection module is used for detecting whether trucks at the main road exit control section run in a queue or not and whether the inter-truck distance is smaller than a lane change safety threshold or not when a passenger car is required to be driven out of the main road section and lane change is required;
the truck distance increasing module is used for guiding the trucks to increase the distance between the trucks when the trucks run in a queue and the truck distance is smaller than the lane change safety threshold;
and the driving guiding module is used for guiding the truck to drive at the expected speed when the inter-truck distance is greater than or equal to the lane change safety threshold.
5. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any of claims 1-3.
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| CN113808436B (en) * | 2021-08-31 | 2022-10-14 | 东南大学 | Motorcade control method for off-ramp vehicles to leave intelligent internet dedicated lane |
| CN115240442B (en) * | 2022-07-26 | 2023-05-02 | 合肥工业大学 | Optimal lane changing control method for following vehicle of front accident vehicle in network environment and application |
| CN115880884B (en) * | 2022-09-23 | 2023-10-27 | 长安大学 | Expressway ramp mixed traffic flow control method based on controllable intelligent network vehicle connection |
| CN115830908B (en) * | 2022-11-23 | 2023-10-27 | 长安大学 | Method and system for cooperatively changing lanes of unmanned vehicle queues in mixed traffic flow |
| CN116343523B (en) * | 2022-12-28 | 2024-02-27 | 合肥工业大学 | Expressway short-distance inter-ramp vehicle collaborative lane change control method in networking environment |
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