CN113345240A - Highway vehicle importing method and system based on intelligent networking environment - Google Patents

Highway vehicle importing method and system based on intelligent networking environment Download PDF

Info

Publication number
CN113345240A
CN113345240A CN202110887375.4A CN202110887375A CN113345240A CN 113345240 A CN113345240 A CN 113345240A CN 202110887375 A CN202110887375 A CN 202110887375A CN 113345240 A CN113345240 A CN 113345240A
Authority
CN
China
Prior art keywords
vehicle
time
speed
merging
candidate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110887375.4A
Other languages
Chinese (zh)
Inventor
杨唐涛
何书贤
黄浩
陈琳
任学锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ismartways Wuhan Technology Co ltd
Original Assignee
Ismartways Wuhan Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ismartways Wuhan Technology Co ltd filed Critical Ismartways Wuhan Technology Co ltd
Priority to CN202110887375.4A priority Critical patent/CN113345240A/en
Publication of CN113345240A publication Critical patent/CN113345240A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a highway vehicle importing method and system based on an intelligent networking environment, wherein the method comprises the following steps: acquiring longitude and latitude positions and speeds of the outermost lanes and the vehicles to be converged on the ramp of the expressway; determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway; selecting one candidate import gap from all candidate import gaps, judging whether the candidate import gap can be used as an import gap, and otherwise, selecting another candidate import gap from all candidate import gaps for re-judgment until all candidate import gaps are selected; and the vehicle to be imported is imported into the outermost lane of the highway according to the import clearance, the corresponding import point position, the time interval of the vehicle at the current moment from the expected time of arriving at the import point and the speed of the vehicle to be imported during the import. The method provided by the invention improves the merging efficiency and safety of the ramp of the expressway.

Description

Highway vehicle importing method and system based on intelligent networking environment
Technical Field
The invention relates to the technical field of highway vehicle convergence, in particular to a highway vehicle convergence method and system based on an intelligent networking environment.
Background
With the rapid increase of the quantity of motor vehicles in China, the construction and development conditions of the current expressway are more and more difficult to meet the increasing travel demands of people. Particularly, in the peripheral area of an entrance ramp, an intersection area of an entrance ramp and a main line of an expressway is a bottleneck section of an expressway system, nearly 30% of traffic accidents occur in the area every year in China, when traffic flow on a main line road of the expressway is dense, ramp vehicles have to be decelerated to wait for a proper convergence gap, queuing and even backflow of the vehicles at the entrance ramp are caused, meanwhile, convergence of the ramp vehicles also causes reduction of speed of the main line, so that traffic capacity is reduced, and the convergence efficiency and safety of the conventional expressway ramps are low.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a system for importing vehicles on a highway based on an intelligent networking environment, so as to solve the problem of low efficiency and safety of importing ramps on the highway in the prior art.
The invention provides a highway vehicle importing method based on an intelligent networking environment, which comprises the following steps:
acquiring longitude and latitude positions and speeds of the outermost lanes and the vehicles to be converged on the ramp of the expressway;
determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
selecting a candidate import gap from all candidate import gaps, under the candidate import gap, if the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import can be determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate import gap as the import gap, or selecting another candidate import gap from all candidate import gaps to judge whether the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import again until all candidate import gaps are selected;
and the vehicle to be imported is imported into the outermost lane of the highway according to the import clearance, the corresponding import point position, the time interval of the vehicle at the current moment from the expected time of arriving at the import point and the speed of the vehicle to be imported during the import.
Further, determining at least one candidate merging gap according to the longitude and latitude position and the speed of the vehicle on the outermost lane of the highway specifically comprises the following steps:
and acquiring front and rear two-car head time distances according to the longitude and latitude positions, the speed and the car lengths of the cars on the outermost lane of the highway, determining the constraint condition of the front and rear two-car head time distances, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the constraint condition that the abscissa of the rear car is smaller than the abscissa of the car to be merged, and taking the car clearance which meets the front and rear two-car head time distance constraint condition, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the abscissa of the rear car is smaller than the abscissa constraint condition of the car to be merged as a candidate merging clearance.
Further, according to the longitude and latitude position, the speed and the vehicle length of the vehicle on the outermost lane of the highway, the time distance between the front and the rear vehicle heads is obtained, and the method specifically comprises the following steps:
the method comprises the steps of establishing a rectangular coordinate system by taking a ramp nose end as an origin of coordinates, taking the traffic direction of the outermost lane of a main highway as an abscissa axis and taking the direction perpendicular to the main highway as an ordinate axis, converting longitude and latitude positions of vehicles on the outermost lane of the highway into coordinates in the rectangular coordinate system, and acquiring the time distance between the front vehicle head and the rear vehicle head according to the abscissa, the vehicle speed and the vehicle length of the vehicles in the rectangular coordinate system.
Further, according to the abscissa, the vehicle speed and the vehicle length of the vehicle in the rectangular coordinate system, the time distance between the front and rear vehicle heads is obtained, which specifically comprises:
acquiring front and rear two-car head time distances according to a formula of the horizontal coordinate, the vehicle speed, the vehicle length and the car head time distance of the vehicle in a rectangular coordinate system, wherein the formula of the front and rear two-car head time distances is
Figure 419244DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure 349153DEST_PATH_IMAGE002
is as followsiVehicle and the firstiThe headway of +1 vehicle,
Figure 778998DEST_PATH_IMAGE003
is as followsiThe abscissa of the vehicle in the rectangular coordinate system,
Figure 177880DEST_PATH_IMAGE004
is as followsi+The abscissa of 1 vehicle in the rectangular coordinate system,
Figure 249742DEST_PATH_IMAGE005
as the length of the vehicle,
Figure 299737DEST_PATH_IMAGE006
is as followsi+Speed of 1 vehicle, n is the total number of vehicles.
Further, according to the longitude and latitude position and the speed of the vehicle to be merged into the ramp, determining the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged into the ramp, including:
when the current position of a vehicle to be merged is on a ramp and the speed reaches the maximum speed limit of an acceleration lane during merging, determining the time interval between the vehicle and the expected merging point at the current moment according to the longitude and latitude position, the speed and the first time interval determination formula of the vehicle to be merged on the ramp, determining the merging point position according to the time interval between the current moment and the expected merging point and the first merging point position formula, and determining the speed of the vehicle to be merged at the merging time according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula;
the first time interval is determined by the formula
Figure 821854DEST_PATH_IMAGE007
The formula of the first sink-in point position is
Figure 550776DEST_PATH_IMAGE008
The first input-time speed formula is
Figure 426328DEST_PATH_IMAGE009
Wherein, in the step (A),
Figure 65251DEST_PATH_IMAGE010
the time interval between the vehicle at the current time and the time at which the vehicle is expected to reach the point of entry,
Figure 102477DEST_PATH_IMAGE011
rear vehicles merging into the gap for candidate at the current momenttThe abscissa of the time-of-day,
Figure 584274DEST_PATH_IMAGE012
for the distance traveled by the vehicle to be merged in to accelerate on the acceleration lane with the recommended acceleration up to the speed limit,
Figure 358457DEST_PATH_IMAGE013
in order to accelerate the maximum speed limit of the lane,
Figure 242099DEST_PATH_IMAGE014
in order to keep the time interval from the constant speed running of the vehicle on the ramp to the starting point of the acceleration lane,
Figure 512544DEST_PATH_IMAGE015
for the time it takes for the acceleration to be recommended to the vehicle to the speed limit,
Figure 481637DEST_PATH_IMAGE016
in order to converge into a safe distance,
Figure 574358DEST_PATH_IMAGE017
rear vehicles merging into the gap for candidate at the current momenttThe speed of the time of flight or flight of the flight,
Figure 578086DEST_PATH_IMAGE018
the speed of the vehicle to be fed in at the time of the feed-in,
Figure 379951DEST_PATH_IMAGE019
for the vehicle to be merged at the current momenttThe speed of (2).
Further, according to the longitude and latitude position and the speed of the vehicle to be merged into the ramp, determining the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged into the ramp, including:
when the current position of a vehicle to be merged is on a ramp and the speed during merging does not reach the maximum speed limit of an acceleration lane, determining the merging point position according to the time interval from the current time to the expected merging point reaching time and a second merging point position formula, determining the time interval from the current time to the expected merging point reaching time according to the longitude and latitude position, the speed and the second time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula; the second sink-in point position formula is
Figure 446127DEST_PATH_IMAGE020
The second time interval is determined by the formula
Figure 201593DEST_PATH_IMAGE021
。
Further, according to the longitude and latitude position and the speed of the vehicle to be merged into the ramp, determining the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged into the ramp, including:
when the current position of a vehicle to be merged is in an acceleration lane and the speed reaches the maximum speed limit of the acceleration lane during merging, determining the merging point position according to the time interval from the current time to the predicted merging point reaching time and a third merging point position formula, determining the time interval from the current time to the predicted merging point reaching time according to the longitude and latitude positions, the speed and the third time interval determination formula of the vehicle to be merged on a ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the third sink-in point position formula is
Figure 184462DEST_PATH_IMAGE022
Said third time interval is determined by the formula
Figure 734392DEST_PATH_IMAGE023
The second formula of the velocity at the time of entry is
Figure 146919DEST_PATH_IMAGE024
。
Further, according to the longitude and latitude position and the speed of the vehicle to be merged into the ramp, determining the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged into the ramp, including:
when the current position of the vehicle to be merged is in an acceleration lane and the speed during merging does not reach the maximum speed limit of the acceleration lane, determining the merging point position according to the time interval from the current time to the predicted time of reaching the merging point and a fourth merging point position formula, determining the time interval from the current time to the predicted time of reaching the merging point according to the longitude and latitude positions, the speed and the fourth time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the fourth sink-in point position formula is
Figure 581442DEST_PATH_IMAGE025
Said fourth time interval is determined by the formula
Figure 28604DEST_PATH_IMAGE026
。
Further, selecting a candidate merging gap from all candidate merging gaps, and under the candidate merging gap, if the merging point position, the time interval of the vehicle from the current time to the predicted time of reaching the merging point and the speed of the vehicle to be merged at the time of merging can be determined according to the longitude and latitude position and the speed of the vehicle to be merged on the ramp, taking the candidate merging gap as the merging gap, otherwise, selecting another candidate merging gap from all candidate merging gaps, and re-judging whether the merging point position, the time interval of the vehicle from the current time to the predicted time of reaching the merging point and the speed of the vehicle to be merged at the time can be determined or not until all candidate merging gaps are selected, specifically comprising:
and selecting a candidate merging gap with the largest headway time distance of the front vehicle and the rear vehicle from all candidate merging gaps, under the candidate merging gap, if the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude positions and the speeds of the vehicles to be merged on the ramp, taking the candidate merging gap as the merging gap, otherwise, selecting the next candidate merging gap from the headway time distances of the front vehicle and the rear vehicle from all candidate merging gaps, and judging whether the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined again until all candidate merging gaps are selected.
The invention also provides an expressway vehicle import system based on the intelligent network connection environment, which comprises a data acquisition module, a candidate import gap determination module, a vehicle import gap determination module and a vehicle import control module;
the data acquisition module is used for acquiring the longitude and latitude positions and the speed of vehicles to be imported into the outermost lane and the ramp of the highway;
the candidate import clearance determining module is used for determining at least one candidate import clearance according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
the vehicle merging gap is used for selecting a candidate merging gap from all candidate merging gaps, under the candidate merging gap, if the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the merging point and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude positions and the speeds of the vehicles to be merged on the ramp, the candidate merging gap is used as the merging gap, otherwise, another candidate merging gap is selected from all candidate merging gaps to judge whether the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the merging point and the speed of the vehicle to be merged at the merging time can be determined again, and all candidate merging gaps are selected until the candidate merging gaps are completely selected;
the vehicle convergence control module is used for converging the vehicle to be converged into the outermost lane of the highway according to the convergence gap, the corresponding convergence point position, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the convergence point, and the speed of the vehicle to be converged.
Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps of obtaining longitude and latitude positions and speeds of vehicles to be converged on an outermost lane and a ramp of the highway; determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway; selecting a candidate import gap from all candidate import gaps, under the candidate import gap, if the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import can be determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate import gap as the import gap, or selecting another candidate import gap from all candidate import gaps to judge whether the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import again until all candidate import gaps are selected; the vehicle to be imported is imported into the outermost lane of the highway according to the import clearance, the corresponding import point position, the time interval of the vehicle at the current moment from the expected time of arriving at the import point and the speed of the vehicle to be imported during the import; the efficiency and the security of highway ramp confluence are improved.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a method for importing vehicles on a highway based on an intelligent networking environment according to the present invention;
FIG. 2 is a rectangular coordinate system provided by an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating the principle of recognizing the candidate merging gap of the outermost lane according to the embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a vehicle driving assistance guidance strategy according to an embodiment of the present invention;
fig. 5 is a highway vehicle importing system based on an intelligent networking environment according to an embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
The invention provides a highway vehicle importing method based on an intelligent networking environment, wherein an embodiment of the highway vehicle importing method based on the intelligent networking environment comprises the following steps of:
s1, acquiring longitude and latitude positions and speeds of vehicles to be merged on the outermost lanes and ramps of the highway;
s2, determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
s3, selecting a candidate entrance gap from all candidate entrance gaps, under the candidate entrance gap, if the position of an entrance point, the time interval of the vehicle from the current time to the expected arrival time of the entrance point and the speed of the vehicle to be entered are determined according to the longitude and latitude position and the speed of the vehicle to be entered, using the candidate entrance gap as the entrance gap, or else, selecting another candidate entrance gap from all candidate entrance gaps to judge again whether the position of the entrance point, the time interval of the vehicle from the current time to the expected arrival time of the entrance point and the speed of the vehicle to be entered are determined, until all candidate entrance gaps are selected;
and S4, the vehicle to be merged is merged into the outermost lane of the highway according to the merging gap and the corresponding merging point position, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged at the merging time.
It should be noted that, according to the technical scheme, whether a candidate merging gap for merging vehicles on a ramp is formed on the outermost lane of the expressway is judged, and on the premise of ensuring safe merging, the influence of the merging vehicles on the main road traffic flow is reduced by selecting reasonable merging time, merging positions and merging speed, so that the traffic safety and the traffic efficiency at the ramp at the entrance of the expressway (expressway) are improved.
In one embodiment, the motion states (longitude and latitude positions and vehicle speed) of vehicles on the outermost lane and the ramp of the main line of the expressway are detected in real time based on BSM (basic safety information) messages sent by road side sensors (laser radar/millimeter wave radar/camera) or vehicles provided with on-board units (OBUs). The vehicle to be imported with the OBU device installed transmits the own vehicle driving state, the driving intention, and the request for importing the highway main road to the roadside device RSU through V2I (vehicle-to-infrastructure) communication by filling in and transmitting a VIR (vehicle intention and request) message.
As a preferred embodiment, determining at least one candidate merging gap according to the longitude and latitude position and the speed of the vehicle in the outermost lane of the highway specifically includes:
and acquiring front and rear two-car head time distances according to the longitude and latitude positions, the speed and the car lengths of the cars on the outermost lane of the highway, determining the constraint condition of the front and rear two-car head time distances, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the constraint condition that the abscissa of the rear car is smaller than the abscissa of the car to be merged, and taking the car clearance which meets the front and rear two-car head time distance constraint condition, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the abscissa of the rear car is smaller than the abscissa constraint condition of the car to be merged as a candidate merging clearance.
As a preferred embodiment, the obtaining of the time distance between the front and rear vehicle heads according to the longitude and latitude position, the speed and the vehicle length of the vehicle on the outermost lane of the highway specifically includes:
the method comprises the steps of establishing a rectangular coordinate system by taking a ramp nose end as an origin of coordinates, taking the traffic direction of the outermost lane of a main highway as an abscissa axis and taking the direction perpendicular to the main highway as an ordinate axis, converting longitude and latitude positions of vehicles on the outermost lane of the highway into coordinates in the rectangular coordinate system, and acquiring the time distance between the front vehicle head and the rear vehicle head according to the abscissa, the vehicle speed and the vehicle length of the vehicles in the rectangular coordinate system.
In a specific embodiment, a rectangular coordinate system is established by taking the nose end of a ramp as the origin of coordinates, the traffic direction of the outermost lane of the main road of the expressway as the abscissa axis and the direction perpendicular to the expressway as the ordinate axis, and the rectangular coordinate system is shown in fig. 2; after the RSU equipment receives VIR information carrying an application import message sent by a ramp vehicle, the RSU equipment obtains the real-time longitude and latitude positions and speeds of the out-side lane of the expressway and the ramp vehicle by using a road side sensor (laser radar/millimeter wave radar/camera and the like) arranged at an entrance ramp or a BSM message with vehicle state information sent by the vehicle provided with the OBU equipment, and the real-time longitude and latitude position coordinates of the vehicle are projected onto a rectangular coordinate system.
As a preferred embodiment, the obtaining the time distance between the front and rear vehicle heads according to the abscissa, the vehicle speed and the vehicle length of the vehicle in the rectangular coordinate system specifically includes:
acquiring front and rear two-car head time distances according to a formula of the horizontal coordinate, the vehicle speed, the vehicle length and the car head time distance of the vehicle in a rectangular coordinate system, wherein the formula of the front and rear two-car head time distances is
Figure 15015DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure 806515DEST_PATH_IMAGE002
is as followsiVehicle and the firstiThe headway of +1 vehicle,
Figure 638205DEST_PATH_IMAGE003
is as followsiThe abscissa of the vehicle in the rectangular coordinate system,
Figure 205453DEST_PATH_IMAGE004
is as followsi+The abscissa of 1 vehicle in the rectangular coordinate system,
Figure 972551DEST_PATH_IMAGE005
as the length of the vehicle,
Figure 625250DEST_PATH_IMAGE006
is as followsi+Speed of 1 vehicle, n is the total number of vehicles.
When implemented, at the current momenttThe outermost lane of the main road coexists from downstream to upstreamnThe vehicles are numbered from downstream to upstream of the roadiVehicle (A)
Figure 260630DEST_PATH_IMAGE027
) After each car position is converted into rectangular coordinate, it is
Figure 72597DEST_PATH_IMAGE028
At a speed of respectively
Figure 135231DEST_PATH_IMAGE029
The length of the vehicle is respectively
Figure 150592DEST_PATH_IMAGE030
. Sequentially calculating the time distance between the front and the rear car heads
Figure 589664DEST_PATH_IMAGE031
Is represented by formula (1):
Figure 865924DEST_PATH_IMAGE032
（1）
the target vehicle-inserting gap for the vehicle to converge needs to meet the time interval between the front vehicle and the rear vehicle according to safety consideration and actual requirements
Figure 725558DEST_PATH_IMAGE031
And (3) constraint conditions of the minimum safe headway time are larger than or equal to, as shown in a formula (2).
Figure 87269DEST_PATH_IMAGE033
（2）
In the formula (I), the compound is shown in the specification,
Figure 330032DEST_PATH_IMAGE034
and 4 s is taken when the vehicle type is a small automobile for the minimum safe headway.
If the rear vehicle speed is higher than the front vehicle, even intThe gap meeting the vehicle inserting condition is always reserved, and the safe vehicle inserting gap still can not be ensured in the stage that the vehicles on the subsequent guide ramp converge into the main road, so that the condition that the vehicle inserting gap is reserved is ensuredtAt that time, the front vehicle speed is greater than or equal to the constraint condition of the rear vehicle speed, as shown in equation (3).
Figure 601744DEST_PATH_IMAGE035
（3）
The requirement is met because the vehicle applying for merging (the vehicle to be merged) does not start to accelerate, the running speed is low, and the speed of the vehicle on the main road is hightAt the moment, the abscissa of the vehicle of the rear vehicle is smaller than the abscissa applied for convergence, otherwise, the ramp vehicle cannot catch up with the tail vehicle of the main road which is allowed to insert the gap, so that the gap is not used, and the constraint is shown as a formula (4).
Figure 6181DEST_PATH_IMAGE036
（4）
The gaps meeting the three constraint conditions can be used as candidate merging gaps of the outermost lanes of the expressway, and the vehicle merging time, the merging position and the merging vehicle speed are further calculated for the candidate merging gaps so as to determine whether the candidate merging gaps are available.
In one embodiment, the candidate entry gap identified by the insertable lane gap for the outermost lane of the main road of the highway is identified according to
Figure 855188DEST_PATH_IMAGE037
Sequentially executing a vehicle driving auxiliary guide strategy on the clearance from large to small, and if the driving guide strategy executed by the current calculation clearance is solved, assisting the safe import of the vehicle through the guide of the vehicle to be imported; if the current calculation gap has no solution, continuing to calculate
Figure 760696DEST_PATH_IMAGE038
And (4) until the candidate clearance with the next value is solved, wherein the solution is the output result of the auxiliary guidance strategy for applying to be imported into the vehicle driving, and the output result can be fed back to the driver of the imported vehicle through an HMI (human machine interface) or voice broadcast.
In specific implementation, the schematic diagram of the principle of recognizing the merging gap of the outermost lane candidates is shown in fig. 3, which is the current timetCandidate merging gaps for executing the judgment are provided, wherein the vehicle A is a front vehicle, the vehicle B is a rear vehicle, and the position coordinates of the vehicles are respectively
Figure 11549DEST_PATH_IMAGE039
、
Figure 852466DEST_PATH_IMAGE040
At a speed of respectively
Figure 798556DEST_PATH_IMAGE041
、
Figure 117542DEST_PATH_IMAGE042
. Application for the merging of a vehicle R at a position of
Figure 488481DEST_PATH_IMAGE043
At a speed of
Figure 860818DEST_PATH_IMAGE044
。
Assuming that the vehicle to be merged keeps running at a constant speed on the ramp and accelerates at an acceleration speed less than the maximum comfortable acceleration
Figure 215576DEST_PATH_IMAGE045
The running of the vehicle is evenly accelerated,
Figure 948040DEST_PATH_IMAGE046
is the speed limit value of the acceleration lane. Through
Figure 173485DEST_PATH_IMAGE047
After that
Figure 356205DEST_PATH_IMAGE048
At the moment, the application is made to the influx of the vehicle on the acceleration lane at an acceleration rate not greater than the maximum comfortable acceleration
Figure 526155DEST_PATH_IMAGE049
Suggested acceleration ofaUniformly accelerated and arrive at the expected convergence point
Figure 186943DEST_PATH_IMAGE050
. The positions of the front and rear vehicles A, B in the gap are
Figure 266895DEST_PATH_IMAGE051
、
Figure 495882DEST_PATH_IMAGE052
The speed is equal to that of the constant speed running because the constant speed running is maintained
Figure 28494DEST_PATH_IMAGE053
、
Figure 492974DEST_PATH_IMAGE054
。
For vehicle time of entry
Figure 319110DEST_PATH_IMAGE048
Merging into the vehicle position
Figure 578053DEST_PATH_IMAGE050
Should be larger than the rear vehicle position
Figure 597961DEST_PATH_IMAGE055
And the distance should be greater than the ingress safety distance
Figure 866132DEST_PATH_IMAGE056
(can take 80 m) and is smaller than the front position
Figure 530462DEST_PATH_IMAGE057
At the same time
Figure 225886DEST_PATH_IMAGE058
Should not exceed the length of the acceleration lane
Figure 733090DEST_PATH_IMAGE059
. The constraint is shown in formulas (5) and (6).
Figure 664006DEST_PATH_IMAGE060
（5）
Figure 573056DEST_PATH_IMAGE061
（6）
Since it is assumed that the vehicles on the main highway road are running at a constant speed,
Figure 439381DEST_PATH_IMAGE062
、
Figure 43669DEST_PATH_IMAGE063
can be calculated by the formulas (7) and (8) respectively;
Figure 653642DEST_PATH_IMAGE064
（7）
Figure 417199DEST_PATH_IMAGE065
（8）
Figure 68805DEST_PATH_IMAGE066
if the current position of the vehicle to be merged is on the ramp, the vehicle needs to travel to an acceleration lane to accelerate, and the acceleration lane has
Figure 285022DEST_PATH_IMAGE067
And therefore the calculation of the location of the entry point needs to be discussed case by case.
As a preferred embodiment, determining the merging point position, the time interval of the vehicle from the predicted time of reaching the merging point at the current time and the speed of the vehicle to be merged at the time of merging according to the longitude and latitude position and the speed of the vehicle to be merged at the ramp comprises:
when the current position of a vehicle to be merged is on a ramp and the speed reaches the maximum speed limit of an acceleration lane during merging, determining the time interval between the vehicle and the expected merging point at the current moment according to the longitude and latitude position, the speed and the first time interval determination formula of the vehicle to be merged on the ramp, determining the merging point position according to the time interval between the current moment and the expected merging point and the first merging point position formula, and determining the speed of the vehicle to be merged at the merging time according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula;
the first time interval is determined by the formula
Figure 433107DEST_PATH_IMAGE007
The formula of the first sink-in point position is
Figure 51170DEST_PATH_IMAGE068
The first input-time speed formula is
Figure 134664DEST_PATH_IMAGE009
Wherein, in the step (A),
Figure 103757DEST_PATH_IMAGE010
the time interval between the vehicle at the current time and the time at which the vehicle is expected to reach the point of entry,
Figure 55532DEST_PATH_IMAGE011
rear vehicles merging into the gap for candidate at the current momenttThe abscissa of the time-of-day,
Figure 652736DEST_PATH_IMAGE012
for the distance traveled by the vehicle to be merged in to accelerate on the acceleration lane with the recommended acceleration up to the speed limit,
Figure 31764DEST_PATH_IMAGE013
in order to accelerate the maximum speed limit of the lane,
Figure 222574DEST_PATH_IMAGE014
in order to keep the time interval from the constant speed running of the vehicle on the ramp to the starting point of the acceleration lane,
Figure 853407DEST_PATH_IMAGE015
for the time it takes for the acceleration to be recommended to the vehicle to the speed limit,
Figure 446062DEST_PATH_IMAGE016
in order to converge into a safe distance,
Figure 730413DEST_PATH_IMAGE017
rear vehicles merging into the gap for candidate at the current momenttThe speed of the time of flight or flight of the flight,
Figure 300197DEST_PATH_IMAGE018
the speed of the vehicle to be fed in at the time of the feed-in,
Figure 593775DEST_PATH_IMAGE019
for the vehicle to be merged at the current momenttThe speed of (2).
In one embodiment, when the current position of the converged vehicle is on a ramp and the speed reaches the maximum speed limit of an acceleration lane when converged, the current position of the vehicle is determined by using the auxiliary driving guidance strategy of the converged vehicle, and if the current position of the vehicle is on the ramp, the formula (9) is satisfied
Figure 40937DEST_PATH_IMAGE069
（9）
The speed reaches the speed limit value of the acceleration lane when merging
Figure 761768DEST_PATH_IMAGE070
If so, the equation (10) holds;
Figure 536957DEST_PATH_IMAGE071
（10）
in the formula (I), the compound is shown in the specification,ain order to suggest an acceleration rate of the vehicle,
Figure 634226DEST_PATH_IMAGE072
；
Figure 201474DEST_PATH_IMAGE073
a time interval for the current time distance to the expected arrival time of the sink point;
Figure 217840DEST_PATH_IMAGE074
calculating the time interval from the constant-speed running of the vehicle on the ramp to the starting point of the acceleration lane as shown in the formula (11);
Figure 604959DEST_PATH_IMAGE075
（11）
in the formula (I), the compound is shown in the specification,
Figure 505919DEST_PATH_IMAGE076
the width of the lane is 3.5 m according to the actual situation.
In case 1, the sink point position should satisfy equation (12);
Figure 803039DEST_PATH_IMAGE077
（12）
in the formula (I), the compound is shown in the specification,
Figure 865673DEST_PATH_IMAGE078
acceleration is recommended for a vehicle to be integrated in an acceleration laneaAccelerate to the speed limit value
Figure 740089DEST_PATH_IMAGE067
The distance traveled is as shown in formula (13);
Figure 913581DEST_PATH_IMAGE079
for applying for incorporating into a vehicle to suggest an accelerationaAccelerate to the speed limit value
Figure 81519DEST_PATH_IMAGE067
The time taken is as shown in equation (14):
Figure 315055DEST_PATH_IMAGE080
（13）
Figure 676766DEST_PATH_IMAGE081
（14）
Figure 794894DEST_PATH_IMAGE082
the calculation of (2) is that the convergence point is in front of the rear of the clearance by making the left sides of the equation (5) equal
Figure 925662DEST_PATH_IMAGE083
Position, i.e. equation (15) holds;
Figure 720311DEST_PATH_IMAGE084
（15）
the united type (8), (12) and (15) can obtain the time interval between the current time and the expected arrival time of the sink pointt m As shown in formula (16);
Figure 569318DEST_PATH_IMAGE085
（16）
as a preferred embodiment, determining the merging point position, the time interval of the vehicle from the predicted time of reaching the merging point at the current time and the speed of the vehicle to be merged at the time of merging according to the longitude and latitude position and the speed of the vehicle to be merged at the ramp comprises:
when the current position of a vehicle to be merged is on a ramp and the speed during merging does not reach the maximum speed limit of an acceleration lane, determining the merging point position according to the time interval from the current time to the expected merging point reaching time and a second merging point position formula, determining the time interval from the current time to the expected merging point reaching time according to the longitude and latitude position, the speed and the second time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula; the second sink-in point position formula is
Figure 350193DEST_PATH_IMAGE086
The second time interval is determined by the formula
Figure 476412DEST_PATH_IMAGE087
。
In a specific embodiment, when the current position of a vehicle to be merged is on a ramp and the speed does not reach the maximum speed limit of an acceleration lane during merging, the current position of the vehicle needs to be determined, and if the current position of the vehicle is on the ramp, the formula (9) is satisfied;
the speed does not reach the speed limit value of the acceleration lane when merging
Figure 51749DEST_PATH_IMAGE088
If so, then equation (17) holds;
Figure 388053DEST_PATH_IMAGE089
（17）
the position of the convergence point satisfies the formula (18);
Figure 707039DEST_PATH_IMAGE090
（18）
by means of the joint type (8), (15) and (18), the time interval between the current time and the expected arrival time of the convergence point can be obtainedt m As shown in formula (19)
Figure 704076DEST_PATH_IMAGE091
（19）
When the current position of the vehicle to be merged is on the ramp and the speed reaches the maximum speed limit of the acceleration lane during merging, and when the current position of the vehicle to be merged is on the ramp and the speed does not reach the maximum speed limit of the acceleration lane during merging, the speed of the vehicle to be merged is shown as a formula (20).
Figure 450315DEST_PATH_IMAGE092
（20）
As a preferred embodiment, determining the merging point position, the time interval of the vehicle from the predicted time of reaching the merging point at the current time and the speed of the vehicle to be merged at the time of merging according to the longitude and latitude position and the speed of the vehicle to be merged at the ramp comprises:
when the current position of a vehicle to be merged is in an acceleration lane and the speed reaches the maximum speed limit of the acceleration lane during merging, determining the merging point position according to the time interval from the current time to the predicted merging point reaching time and a third merging point position formula, determining the time interval from the current time to the predicted merging point reaching time according to the longitude and latitude positions, the speed and the third time interval determination formula of the vehicle to be merged on a ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the third sink-in point position formula is
Figure 273914DEST_PATH_IMAGE022
Said third time interval is determined by the formula
Figure 6378DEST_PATH_IMAGE023
The second formula of the velocity at the time of entry is
Figure 231823DEST_PATH_IMAGE024
。
In one specific embodiment, when the current position of the vehicle to be converged is in an acceleration lane and the speed reaches the maximum speed limit of the acceleration lane during convergence; judging the current position of the vehicle, and if the current position of the vehicle is in an acceleration lane, satisfying the formula (21);
Figure 414543DEST_PATH_IMAGE093
（21）
the speed reaches the speed limit value of the acceleration lane when merging
Figure 584493DEST_PATH_IMAGE046
If so, the equation (21) holds;
Figure 245281DEST_PATH_IMAGE094
（22）
meeting the meeting point position (23)
Figure 590812DEST_PATH_IMAGE095
（23）
The united type (8), (15) and (23) can obtain the time interval between the current time and the expected arrival time of the convergent pointt m As shown in formula (24);
Figure 554220DEST_PATH_IMAGE096
（24）
as a preferred embodiment, determining the merging point position, the time interval of the vehicle from the predicted time of reaching the merging point at the current time and the speed of the vehicle to be merged at the time of merging according to the longitude and latitude position and the speed of the vehicle to be merged at the ramp comprises:
when the current position of the vehicle to be merged is in an acceleration lane and the speed during merging does not reach the maximum speed limit of the acceleration lane, determining the merging point position according to the time interval from the current time to the predicted time of reaching the merging point and a fourth merging point position formula, determining the time interval from the current time to the predicted time of reaching the merging point according to the longitude and latitude positions, the speed and the fourth time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the fourth sink-in point position formula is
Figure 86833DEST_PATH_IMAGE025
Said fourth time interval is determined by the formula
Figure 551312DEST_PATH_IMAGE097
。
In a specific embodiment, when the current position of the vehicle to be converged is in an acceleration lane and the speed does not reach the maximum speed limit of the acceleration lane during convergence; and (3) judging the current position of the vehicle, and if the current position of the vehicle is in the acceleration lane, satisfying the formula (21).
The speed does not reach the speed limit value of the acceleration lane when merging
Figure 485770DEST_PATH_IMAGE070
If yes, the equation (25) is established;
Figure 636391DEST_PATH_IMAGE089
（25）
the position of the convergence point satisfies the formula (26);
Figure 656299DEST_PATH_IMAGE098
（26）
the joint type (8), (15) and (26) and the time interval between the current time and the expected arrival time of the convergence pointt m As shown in formula (27)；
Figure 658890DEST_PATH_IMAGE099
（27）
When the current position of the vehicle to be merged is in the acceleration lane and the speed reaches the maximum speed limit of the acceleration lane during merging, and when the current position of the vehicle to be merged is in the acceleration lane and the speed does not reach the maximum speed limit of the acceleration lane during merging, the speed of the vehicle to be merged is applied as shown in a formula (28).
Figure 588800DEST_PATH_IMAGE100
（28）
As a preferred embodiment, selecting one candidate import gap from all candidate import gaps, under the candidate import gap, if the import point position, the time interval from the current time to the time when the vehicle is expected to reach the import point, and the speed of the vehicle to be imported at the time of importing can be determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate import gap as the import gap, otherwise, selecting another candidate import gap from all candidate import gaps, and re-determining whether the import point position, the time interval from the current time to the time when the vehicle is expected to reach the import point, and the speed of the vehicle to be imported at the time of importing can be determined, until all candidate import gaps are selected, specifically including:
and selecting a candidate merging gap with the largest headway time distance of the front vehicle and the rear vehicle from all candidate merging gaps, under the candidate merging gap, if the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude positions and the speeds of the vehicles to be merged on the ramp, taking the candidate merging gap as the merging gap, otherwise, selecting the next candidate merging gap from the headway time distances of the front vehicle and the rear vehicle from all candidate merging gaps, and judging whether the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined again until all candidate merging gaps are selected.
In one embodiment, acceleration is suggested for a currently calculated candidate influx gapaNot constant, willaTaken as the maximum comfortable acceleration
Figure 284224DEST_PATH_IMAGE049
And calculating an import guide strategy, and if the guide strategy has no feasible solution, setting the step length (for example, 0.1 m/s)2) Gradually reducing the guiding acceleration, and recalculating the guiding strategy until a feasible solution meeting the requirement is found; if traversing the accelerationaIf no solution exists, the candidate import gap calculated currently cannot be used as the target import gap, and then the current candidate import gap is selected
Figure 791429DEST_PATH_IMAGE002
And executing the vehicle driving auxiliary guiding strategy by the next candidate entry gap until the solution exists or no solution exists after all candidate entry gaps are traversed. The principle diagram of the vehicle driving auxiliary guiding strategy is shown in FIG. 4.
If the solution exists, the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the merging point and the speed of the vehicle to be merged at the merging point can be determined according to the longitude and latitude positions and the speed of the vehicle to be merged on the ramp; the vehicle importation assist driving strategy can be solved in 4 different situations: at a suggested accelerationaTo guide the vehicle to be merged in to uniformly accelerate on the accelerating lane
Figure 456765DEST_PATH_IMAGE047
After time, the expected influx position is reached
Figure 365815DEST_PATH_IMAGE101
At a time of convergence of speed
Figure 232140DEST_PATH_IMAGE102
。
The RSU equipment communicates the vehicle import guide strategy through V2X and sends the vehicle import guide strategy to a vehicle to be imported, the vehicle runs by the import guide strategy after receiving the guide information and smoothly imports the vehicle into the outermost lane of the main road of the highway, and the highway cooperative vehicle import flow based on the intelligent internet environment is completed.
It should be noted that if there is no candidate import gap meeting the constraint condition, or all candidate import gaps are traversed, the auxiliary driving guidance strategy of the vehicle to be imported has no solution, that is, according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, the position of the import point, the time interval of the vehicle at the current moment from the expected time of reaching the import point and the speed of the vehicle to be imported at the time of importing cannot be determined, it can be considered that the saturation of the main road traffic flow of the current expressway is high, there is no safe import condition of the vehicles on the ramp, and at this time, the ramp is temporarily closed through signal control, and the vehicle is prohibited from importing; and opening the ramp until the auxiliary driving guide strategy of the vehicle to be merged is solved.
The embodiment of the invention provides an intelligent internet environment-based highway vehicle importing system, which is shown in a structural block diagram of fig. 5, and comprises a data acquisition module 1, a candidate importing clearance determining module 2, a vehicle importing clearance determining module 3 and a vehicle importing control module 4;
the data acquisition module 1 is used for acquiring longitude and latitude positions and speeds of vehicles to be converged on an outermost lane and a ramp of the highway;
the candidate converging gap determining module 2 is used for determining at least one candidate converging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
the vehicle merging gap 3 is used for selecting a candidate merging gap from all candidate merging gaps, under the candidate merging gap, if the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude position and the speed of the vehicle to be merged on the ramp, the candidate merging gap is used as the merging gap, otherwise, another candidate merging gap is selected from all candidate merging gaps to judge whether the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined again, and all candidate merging gaps are selected completely;
the vehicle merging control module 4 is configured to enable the vehicle to be merged into the outermost lane of the highway according to the merging gap and the corresponding merging point position, a time interval between the vehicle at the current time and the time when the vehicle is expected to reach the merging point, and a speed of the vehicle to be merged into the outermost lane of the highway.
The invention discloses a highway vehicle importing method and system based on an intelligent network connection environment, which comprises the steps of obtaining longitude and latitude positions and speeds of vehicles to be imported on an outermost lane and a ramp of a highway; determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway; selecting a candidate import gap from all candidate import gaps, under the candidate import gap, if the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import can be determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate import gap as the import gap, or selecting another candidate import gap from all candidate import gaps to judge whether the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import again until all candidate import gaps are selected; the vehicle to be imported is imported into the outermost lane of the highway according to the import clearance, the corresponding import point position, the time interval of the vehicle at the current moment from the expected time of arriving at the import point and the speed of the vehicle to be imported during the import; the efficiency and the security of highway ramp confluence are improved.
According to the technical scheme, the motion states of vehicles on a main line and a ramp of the expressway are detected in real time by using road side sensors arranged at the entrance ramps of the expressway and a V2X technology, and road side equipment integrates the running information and the driving intention of surrounding vehicles and provides an auxiliary driving guide strategy for vehicles to be merged into the ramp, so that the vehicles on the entrance ramps of the expressway are guided to be merged efficiently and safely.
The technical scheme of the invention comprehensively considers different conditions that the vehicles to be converged are on the ramp and the acceleration lane, simultaneously considers the speed limit constraint of the acceleration lane, considers whether the guiding speed reaches the speed limit or not, analyzes the calculation of the cooperative type vehicle convergence guiding strategy of the expressway under four different conditions, and widens the application range of the method compared with the condition that only the vehicles are in the acceleration lane. The technical scheme of the invention can accurately and safely guide the vehicle which is requested to be converged into the outside lane of the main road of the highway at a specific speed and at a specific position.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims (10)

1. A highway vehicle convergence method based on an intelligent networking environment is characterized by comprising the following steps:
acquiring longitude and latitude positions and speeds of the outermost lanes and the vehicles to be converged on the ramp of the expressway;
determining at least one candidate merging gap according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
selecting a candidate import gap from all candidate import gaps, under the candidate import gap, if the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import can be determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate import gap as the import gap, or selecting another candidate import gap from all candidate import gaps to judge whether the position of the import point, the time interval of the vehicle from the current time to the expected time of the arrival of the import point and the speed of the vehicle to be imported during the import again until all candidate import gaps are selected;
and the vehicle to be imported is imported into the outermost lane of the highway according to the import clearance, the corresponding import point position, the time interval of the vehicle at the current moment from the expected time of arriving at the import point and the speed of the vehicle to be imported during the import.
2. The method for importing vehicles into a highway based on an intelligent networking environment according to claim 1, wherein at least one candidate importing gap is determined according to the longitude and latitude position and the speed of the vehicle on the outermost lane of the highway, and specifically comprises the following steps:
and acquiring front and rear two-car head time distances according to the longitude and latitude positions, the speed and the car lengths of the cars on the outermost lane of the highway, determining the constraint condition of the front and rear two-car head time distances, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the constraint condition that the abscissa of the rear car is smaller than the abscissa of the car to be merged, and taking the car clearance which meets the front and rear two-car head time distance constraint condition, the constraint condition that the front car speed is greater than or equal to the rear car speed, and the abscissa of the rear car is smaller than the abscissa constraint condition of the car to be merged as a candidate merging clearance.
3. The intelligent networking environment-based highway vehicle convergence method according to claim 2, wherein the step of obtaining the time distance between the front and rear vehicle heads according to the longitude and latitude position, the speed and the vehicle length of the vehicle on the outermost lane of the highway specifically comprises the following steps:
the method comprises the steps of establishing a rectangular coordinate system by taking a ramp nose end as an origin of coordinates, taking the traffic direction of the outermost lane of a main highway as an abscissa axis and taking the direction perpendicular to the main highway as an ordinate axis, converting longitude and latitude positions of vehicles on the outermost lane of the highway into coordinates in the rectangular coordinate system, and acquiring the time distance between the front vehicle head and the rear vehicle head according to the abscissa, the vehicle speed and the vehicle length of the vehicles in the rectangular coordinate system.
4. The intelligent networking environment-based highway vehicle convergence method according to claim 3, wherein the step of obtaining the time distance between the front vehicle head and the rear vehicle head according to the abscissa, the vehicle speed and the vehicle length of the vehicle in the rectangular coordinate system specifically comprises the steps of:
acquiring front and rear two-car head time distances according to a formula of the horizontal coordinate, the vehicle speed, the vehicle length and the car head time distance of the vehicle in a rectangular coordinate system, wherein the formula of the front and rear two-car head time distances is
Figure 763930DEST_PATH_IMAGE001
Wherein, in the step (A),
Figure 689423DEST_PATH_IMAGE002
is as followsiVehicle and the firstiThe headway of +1 vehicle,
Figure 666606DEST_PATH_IMAGE003
is as followsiThe abscissa of the vehicle in the rectangular coordinate system,
Figure 390849DEST_PATH_IMAGE004
is as followsi+The abscissa of 1 vehicle in the rectangular coordinate system,
Figure 998547DEST_PATH_IMAGE005
as the length of the vehicle,
Figure 441030DEST_PATH_IMAGE006
is as followsi+Speed of 1 vehicle, n is the total number of vehicles.
5. The intelligent networking environment-based highway vehicle convergence method of claim 3, wherein the determining of the convergence point position, the time interval of the vehicle from the current time to the expected arrival time of the vehicle at the convergence point and the speed of the vehicle to be converged in according to the longitude and latitude position and the speed of the vehicle to be converged in on the ramp comprises:
when the current position of a vehicle to be merged is on a ramp and the speed reaches the maximum speed limit of an acceleration lane during merging, determining the time interval between the vehicle and the expected merging point at the current moment according to the longitude and latitude position, the speed and the first time interval determination formula of the vehicle to be merged on the ramp, determining the merging point position according to the time interval between the current moment and the expected merging point and the first merging point position formula, and determining the speed of the vehicle to be merged at the merging time according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula;
the first time interval is determined by the formula
Figure 159587DEST_PATH_IMAGE007
The formula of the first sink-in point position is
Figure 708643DEST_PATH_IMAGE008
The first input-time speed formula is
Figure 611877DEST_PATH_IMAGE009
Wherein, in the step (A),
Figure 151442DEST_PATH_IMAGE010
the time interval between the vehicle at the current time and the time at which the vehicle is expected to reach the point of entry,
Figure 532745DEST_PATH_IMAGE011
rear vehicles merging into the gap for candidate at the current momenttThe abscissa of the time-of-day,
Figure 434842DEST_PATH_IMAGE012
for the distance traveled by the vehicle to be merged in to accelerate on the acceleration lane with the recommended acceleration up to the speed limit,
Figure 384344DEST_PATH_IMAGE013
in order to accelerate the maximum speed limit of the lane,
Figure 771725DEST_PATH_IMAGE014
in order to keep the time interval from the constant speed running of the vehicle on the ramp to the starting point of the acceleration lane,
Figure 97664DEST_PATH_IMAGE015
for the time it takes for the acceleration to be recommended to the vehicle to the speed limit,
Figure 385426DEST_PATH_IMAGE016
in order to converge into a safe distance,
Figure 505828DEST_PATH_IMAGE017
rear vehicles merging into the gap for candidate at the current momenttThe speed of the time of flight or flight of the flight,
Figure 144620DEST_PATH_IMAGE018
the speed of the vehicle to be fed in at the time of the feed-in,
Figure 8671DEST_PATH_IMAGE019
for the vehicle to be merged at the current momenttThe speed of (2).
6. The intelligent networking environment-based highway vehicle convergence method of claim 5, wherein the determining of the convergence point position, the time interval of the vehicle from the current time to the expected arrival time of the vehicle at the convergence point and the speed of the vehicle to be converged in according to the longitude and latitude position and the speed of the vehicle to be converged in on the ramp comprises:
when the current position of a vehicle to be merged is on a ramp and the speed during merging does not reach the maximum speed limit of an acceleration lane, determining the merging point position according to the time interval from the current time to the expected merging point reaching time and a second merging point position formula, determining the time interval from the current time to the expected merging point reaching time according to the longitude and latitude position, the speed and the second time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and the first merging time speed formula; the second sink-in point position formula is
Figure 416519DEST_PATH_IMAGE020
The second time interval is determined by the formula
Figure 537184DEST_PATH_IMAGE021
。
7. The intelligent networking environment-based highway vehicle convergence method of claim 5, wherein the determining of the convergence point position, the time interval of the vehicle from the current time to the expected arrival time of the vehicle at the convergence point and the speed of the vehicle to be converged in according to the longitude and latitude position and the speed of the vehicle to be converged in on the ramp comprises:
when the current position of a vehicle to be merged is in an acceleration lane and the speed reaches the maximum speed limit of the acceleration lane during merging, determining the merging point position according to the time interval from the current time to the predicted merging point reaching time and a third merging point position formula, determining the time interval from the current time to the predicted merging point reaching time according to the longitude and latitude positions, the speed and the third time interval determination formula of the vehicle to be merged on a ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the third sink-in point position formula is
Figure 132113DEST_PATH_IMAGE022
Said third time interval is determined by the formula
Figure 534276DEST_PATH_IMAGE023
The second formula of the velocity at the time of entry is
Figure 62209DEST_PATH_IMAGE024
。
8. The intelligent networking environment-based highway vehicle convergence method of claim 5, wherein the determining of the convergence point position, the time interval of the vehicle from the current time to the expected arrival time of the vehicle at the convergence point and the speed of the vehicle to be converged in according to the longitude and latitude position and the speed of the vehicle to be converged in on the ramp comprises:
when the current position of the vehicle to be merged is in an acceleration lane and the speed during merging does not reach the maximum speed limit of the acceleration lane, determining the merging point position according to the time interval from the current time to the predicted time of reaching the merging point and a fourth merging point position formula, determining the time interval from the current time to the predicted time of reaching the merging point according to the longitude and latitude positions, the speed and the fourth time interval determination formula of the vehicle to be merged on the ramp, and determining the speed of the vehicle to be merged at the time of merging according to the speed of the vehicle to be merged on the ramp and a second merging time speed formula;
the fourth sink-in point position formula is
Figure 524414DEST_PATH_IMAGE025
Said fourth time interval is determined by the formula
Figure 606640DEST_PATH_IMAGE026
。
9. The method as claimed in claim 1, wherein the method for importing vehicles on a highway based on an intelligent networking environment comprises selecting one candidate importing gap from all candidate importing gaps, and if the position of the importing point, the time interval of the vehicle from the current time to the expected time of the importing point and the speed of the vehicle to be imported at the time of importing are determined according to the longitude and latitude position and the speed of the vehicle to be imported on the ramp, using the candidate importing gap as the importing gap, otherwise, selecting another candidate importing gap from all candidate importing gaps, and re-determining whether the position of the importing point, the time interval of the vehicle from the current time to the expected time of the importing point and the speed of the vehicle to be imported at the time of importing are determined until all candidate importing gaps are selected, the method specifically comprises:
and selecting a candidate merging gap with the largest headway time distance of the front vehicle and the rear vehicle from all candidate merging gaps, under the candidate merging gap, if the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude positions and the speeds of the vehicles to be merged on the ramp, taking the candidate merging gap as the merging gap, otherwise, selecting the next candidate merging gap from the headway time distances of the front vehicle and the rear vehicle from all candidate merging gaps, and judging whether the merging point position, the time interval of the vehicle from the current time to the predicted merging point time and the speed of the vehicle to be merged at the merging time can be determined again until all candidate merging gaps are selected.
10. A highway vehicle convergence system based on an intelligent internet environment is characterized by comprising a data acquisition module, a candidate convergence gap determination module, a vehicle convergence gap determination module and a vehicle convergence control module;
the data acquisition module is used for acquiring the longitude and latitude positions and the speed of vehicles to be imported into the outermost lane and the ramp of the highway;
the candidate import clearance determining module is used for determining at least one candidate import clearance according to the real-time longitude and latitude position and speed of the vehicle on the outermost lane of the highway;
the vehicle merging gap is used for selecting a candidate merging gap from all candidate merging gaps, under the candidate merging gap, if the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the merging point and the speed of the vehicle to be merged at the merging time can be determined according to the longitude and latitude positions and the speeds of the vehicles to be merged on the ramp, the candidate merging gap is used as the merging gap, otherwise, another candidate merging gap is selected from all candidate merging gaps to judge whether the position of the merging point, the time interval of the vehicle at the current moment from the expected arrival time of the merging point and the speed of the vehicle to be merged at the merging time can be determined again, and all candidate merging gaps are selected until the candidate merging gaps are completely selected;
the vehicle convergence control module is used for converging the vehicle to be converged into the outermost lane of the highway according to the convergence gap, the corresponding convergence point position, the time interval of the vehicle at the current moment from the expected arrival time of the vehicle at the convergence point, and the speed of the vehicle to be converged.
CN202110887375.4A 2021-08-03 2021-08-03 Highway vehicle importing method and system based on intelligent networking environment Pending CN113345240A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110887375.4A CN113345240A (en) 2021-08-03 2021-08-03 Highway vehicle importing method and system based on intelligent networking environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110887375.4A CN113345240A (en) 2021-08-03 2021-08-03 Highway vehicle importing method and system based on intelligent networking environment

Publications (1)

Publication Number Publication Date
CN113345240A true CN113345240A (en) 2021-09-03

Family

ID=77480539

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110887375.4A Pending CN113345240A (en) 2021-08-03 2021-08-03 Highway vehicle importing method and system based on intelligent networking environment

Country Status (1)

Country Link
CN (1) CN113345240A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114999160A (en) * 2022-07-18 2022-09-02 四川省公路规划勘察设计研究院有限公司 Vehicle safety confluence control method and system based on vehicle-road cooperative road
CN115131965A (en) * 2022-06-23 2022-09-30 重庆长安汽车股份有限公司 Vehicle control method, device, system, electronic device and storage medium
CN115578865A (en) * 2022-09-28 2023-01-06 东南大学 Automatic driving vehicle convergence gap selection optimization method based on artificial intelligence
CN115620541A (en) * 2022-09-09 2023-01-17 交通运输部公路科学研究所 Intelligent vehicle converging method and device and intelligent road information physical system
WO2024131384A1 (en) * 2022-12-23 2024-06-27 苏交科集团股份有限公司 Adaptive control method for expressway interchange

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007133672A (en) * 2005-11-10 2007-05-31 Toyota Motor Corp Traveling support device
CN104464317A (en) * 2014-12-03 2015-03-25 武汉理工大学 Expressway entrance ring road converging zone guiding control system and method
CN105931173A (en) * 2016-05-15 2016-09-07 吉林大学 Method for calculating traffic capacity in city expressway entrance interlacing region
CN108986492A (en) * 2018-07-27 2018-12-11 东南大学 A kind of fast road ramp wagon flow remittance bootstrap technique and system based on roadside device
CN111325975A (en) * 2020-02-19 2020-06-23 南京航空航天大学 Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007133672A (en) * 2005-11-10 2007-05-31 Toyota Motor Corp Traveling support device
CN104464317A (en) * 2014-12-03 2015-03-25 武汉理工大学 Expressway entrance ring road converging zone guiding control system and method
CN105931173A (en) * 2016-05-15 2016-09-07 吉林大学 Method for calculating traffic capacity in city expressway entrance interlacing region
CN108986492A (en) * 2018-07-27 2018-12-11 东南大学 A kind of fast road ramp wagon flow remittance bootstrap technique and system based on roadside device
CN111325975A (en) * 2020-02-19 2020-06-23 南京航空航天大学 Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
TONY Z.QIU 等: "Combining Variable Speed Limits with Ramp Metering for freeway traffic control", 《PROCEEDINGS OF THE 2010 AMERICAN CONTROL CONFERENCE》 *
夏银霞: "基于车路协同的高速公路入口匝道车辆汇入引导方法研究", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 *
张存保 等: "基于车路协同的高速公路入口匝道车辆汇入引导方法", 《武汉理工大学学报（交通科学与工程版）》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115131965A (en) * 2022-06-23 2022-09-30 重庆长安汽车股份有限公司 Vehicle control method, device, system, electronic device and storage medium
CN115131965B (en) * 2022-06-23 2023-07-07 重庆长安汽车股份有限公司 Vehicle control method, device, system, electronic equipment and storage medium
CN114999160A (en) * 2022-07-18 2022-09-02 四川省公路规划勘察设计研究院有限公司 Vehicle safety confluence control method and system based on vehicle-road cooperative road
CN115620541A (en) * 2022-09-09 2023-01-17 交通运输部公路科学研究所 Intelligent vehicle converging method and device and intelligent road information physical system
CN115578865A (en) * 2022-09-28 2023-01-06 东南大学 Automatic driving vehicle convergence gap selection optimization method based on artificial intelligence
CN115578865B (en) * 2022-09-28 2023-08-29 东南大学 Automatic driving vehicle converging gap selection optimization method based on artificial intelligence
WO2024131384A1 (en) * 2022-12-23 2024-06-27 苏交科集团股份有限公司 Adaptive control method for expressway interchange

Similar Documents

Publication Publication Date Title
CN113345240A (en) Highway vehicle importing method and system based on intelligent networking environment
CN107833454B (en) Vehicle-to-vehicle coordination for maintaining traffic order
CN109272748B (en) Ramp cooperative merging method and system under vehicle-vehicle communication combined auxiliary driving environment
CN111599194B (en) Highway entrance ramp heterogeneous traffic flow speed guiding system and guiding method
CN106991846B (en) Highway vehicle forced lane changing control method under Internet of vehicles environment
CN108986488B (en) Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment
US20190098471A1 (en) Method, devices and computer program for initiating or carrying out a cooperative driving maneuver
CN104299433B (en) Bus signal priority control method based on RFID vehicle carried electronic label
CN111469847B (en) Lane change path planning method and system
US20110130964A1 (en) Drive assist apparatus, method, and recording medium
CN109493593B (en) Bus running track optimization method considering comfort level
CN104412309B (en) Recommended-drive-pattern generation device and method
CN113470407B (en) Vehicle speed guiding method for multi-intersection passing, server and readable storage medium
CN108364486B (en) Multi-scene vehicle priority self-adaptive traffic signal control system and working method thereof
CN110930697A (en) Rule-based intelligent networked vehicle cooperative convergence control method
CN114944067B (en) Elastic bus lane implementation method based on vehicle-road cooperation
CN112750318B (en) Ramp confluence control method and system based on edge cloud
CN212276575U (en) Speed guiding system for heterogeneous traffic flow of expressway entrance ramp
CN114464002A (en) Emergency vehicle signalized intersection vehicle speed guiding system based on vehicle-road cooperation
KR20200096827A (en) Method and device for automatic control of vehicle longitudinal dynamic behavior
JP2969174B1 (en) Automatic merging control method and device for car
CN111477021B (en) Vehicle priority guidance method and priority guidance system
KR101241516B1 (en) A best passing route guiding system wherein tollgate using v2v communication
JPH10320691A (en) Automatic traveling vehicle
CN113793517A (en) Intelligent vehicle road cooperative left-turn vehicle passing guiding method for uncontrolled intersection

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination