CN113538936B - Signal cooperative control method and device under vehicle-road cooperative environment and storage medium - Google Patents
Signal cooperative control method and device under vehicle-road cooperative environment and storage medium Download PDFInfo
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- CN113538936B CN113538936B CN202110593493.4A CN202110593493A CN113538936B CN 113538936 B CN113538936 B CN 113538936B CN 202110593493 A CN202110593493 A CN 202110593493A CN 113538936 B CN113538936 B CN 113538936B
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Abstract
The invention discloses a signal cooperative control method under a vehicle-road cooperative environment, which comprises the following steps: acquiring traffic facility information of an entrance way of a target intersection; acquiring running state information of an intelligent networked vehicle fleet; if the distance between the intelligent networked motorcade and an intersection entrance lane stop line is preset intersection information interaction time, the driving direction of the intelligent networked motorcade is green light, the minimum residual time of the intelligent networked motorcade, which can pass through the intersection, is calculated, and the final green light duration is determined according to the minimum residual time; and if the distance between the intelligent networked fleet and the stop line of the intersection entrance lane is the preset intersection information interaction time, the driving direction of the intelligent networked fleet is the red light, the shortest time which the green light of the next period needs to meet is calculated, and the final green light duration of the next period is determined according to the shortest time.
Description
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a signal cooperative control method under a vehicle-road cooperative environment.
Background
With the breakthrough and continuous promotion of core technologies in the fields of computers, vehicle engineering, wireless communication and the like, intelligent networked automobiles and unmanned automobiles have profound influence on the automobile industry and the transportation industry as the future development direction of automobiles, scientific researchers continuously realize breakthrough technically, continuously improve various performance indexes of intelligent automobiles, and continuously improve road traffic safety and traffic efficiency.
In the running process of the intelligent network connection vehicle, in order to achieve higher running efficiency, the intelligent network connection vehicle can run in the form of a single vehicle team in the road, the invention discusses the condition that the intelligent network connection vehicle team passes through the intersection under the cooperation of the vehicle and the road, in order to ensure that the intelligent network connection vehicle team can completely pass through the intersection in the shortest possible time, the invention needs to research from two angles of space and time, in space, if the intelligent network connection vehicle team reaches the intersection, the running direction of the vehicle team is red light, the intelligent network connection vehicle team needs to be scattered to each lane of the running direction of the vehicle team at the entrance road, and if the running direction of the vehicle team is green light, the single vehicle team form of the intelligent network connection vehicle is kept when the vehicle team passes through the intersection; in terms of time, if the intelligent internet motorcade arrives at the intersection, the running direction of the motorcade is red, the green light time of the running direction of the intelligent internet motorcade in the next period needs to be adjusted, so that the intelligent internet motorcade can completely pass through the intersection in the next period, and if the running direction of the motorcade is green, whether the green light time of the phase needs to be prolonged is judged, so that the intelligent internet motorcade can completely pass through the intersection in the current phase. In the existing research, chinese patent CN201410500292.5 proposes a method for avoiding bus collision at signal intersection by vehicle-road coordination, which gives a special phase for the bus to pass preferentially by the vehicle-road coordination control signal lamp, thereby avoiding the occurrence of collision; chinese patent CN201910445327.2 proposes a cooperative optimization method for continuous intersections based on vehicle-road communication, which takes an intersection group as a control research object of vehicle-road cooperation, and analyzes disturbance of an intersection control scheme to a coordination relation of adjacent intersection groups under the vehicle-road cooperation environment, thereby realizing optimal traffic efficiency of the intersection group. Generally, the existing vehicle path collaborative research aiming at the intelligent network connection vehicle mostly focuses on realizing the optimal operation efficiency of a single intelligent network connection vehicle from the angle of signal timing optimization, and the vehicle path collaborative optimization of an intelligent network connection vehicle team consisting of a plurality of intelligent network connection vehicles in different modes from two angles of lane distribution and signal timing is rarely considered so as to realize the optimal efficiency of the intelligent network connection vehicle passing through an intersection.
Disclosure of Invention
The invention aims to: in order to overcome the defects of the prior art, the invention aims to provide a signal cooperative control method under a vehicle-road cooperative environment, which is based on the existing signal timing and lane division of an intersection and the running state information of an intelligent networked fleet, takes an intelligent networked fleet and a signal timing scheme as research objects, and takes red light time length, lane number, locomotive head time distance, fleet length and large vehicle proportion as the basis to calculate the shortest time which should be met by green light time in the running direction of the intelligent networked fleet in the signal timing scheme so as to ensure that the intelligent networked fleet can completely pass through the intersection at least in the next period, and then determines the final green light time length of the phase after adjustment according to the shortest time and executes the determined intersection signal cooperative control method. The running efficiency of the intelligent networked vehicle fleet at the intersection is greatly improved, and the passing efficiency of the intelligent networked vehicles is further improved.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows: a signal cooperative control method under a vehicle-road cooperative environment comprises the following steps:
(1) acquiring traffic facility information of an entrance lane of a target intersection, wherein the traffic facility information comprises an intersection signal timing scheme and entrance lane division;
(2) the method comprises the steps that operation state information when the time from an intelligent network connection motorcade to a stop line of an intersection entrance way is t seconds is obtained, the operation state information of the intelligent network connection motorcade comprises the number of vehicles, the proportion of large vehicles, the time interval of vehicle heads and the delay time of small vehicle lane changing of the intelligent network connection motorcade, and the intelligent network connection motorcade is supposed to run in a single motorcade form, wherein t is preset intersection information interaction time;
(3) if the signal lamp of the intelligent networked motorcade in the driving direction is green for t seconds away from the stop line of the intersection entrance lane, calculating the theoretical minimum remaining time of the green lamp of the phase, which can be passed by the intelligent networked motorcade, and if the actual remaining time of the green lamp is less than the theoretical minimum remaining time, prolonging the green lamp time of the phase to the theoretical minimum green lamp time;
theory of calculating the phase green lightMinimum remaining time Gmin：
Gmin＝t+ρ×N×thc+(1-ρ)×N×thv
Wherein N is the number of vehicles in the intelligent networked fleet, rho is the proportion of large vehicles in the intelligent networked fleet, and thcIs the average head time distance, t, of the large-sized vehicles in the intelligent networked fleethvThe average headway time of the medium and small-sized vehicles in the intelligent networked fleet is obtained;
(3) if the signal lamp of the intelligent networked motorcade in the driving direction is a red lamp t seconds away from the stop line of the intersection entrance lane, calculating the shortest green lamp time to be met in the next period, and if the green lamp time in the next period is less than the shortest green lamp time to be met, prolonging the green lamp time in the next period to the shortest green lamp time to be met;
when the intelligent internet motorcade is t seconds away from a stop line of an intersection entrance lane, the remaining time of a red light is R;
if the remaining time R of the red light is less than t, namely before the intelligent networked motorcade arrives at the stop line of the entrance lane, the signal light of the driving direction of the intelligent networked motorcade is changed into the green light, and the shortest time G which the green light time should meet is calculatedmin：
Gmin＝(t+ρ×N×thc+(1-ρ)×N×thv)-R
If the remaining time R of the red light is more than or equal to t, the intelligent networked motorcade is scattered before driving into the entrance lane and is uniformly distributed to all lanes in the driving direction, when the green light in the driving direction is turned on in the next period, the intelligent networked motorcade starts to sequentially pass through the intersection, and the shortest time G which is required by the green light time is calculatedmin：
Gmin＝max{G1,min,G2,min}
Wherein n is the number of lanes in the driving direction of the intelligent networked fleet, dAIs the total delay time t when the intelligent networked motorcade breaks uphIs the average headway of the intelligent networked fleet, d is the average delay time when the small cars are scattered, theta is the conversion coefficient of the large cars when the intelligent networked fleet is scattered, d is the average headway of the intelligent networked fleetBIs the starting loss time of the intelligent networked vehicle fleet, wherein d, theta, dBThe method is obtained by presetting an intelligent Internet vehicle experiment.
The invention provides a device for determining a signal cooperative control method in a vehicle-road cooperative environment, which comprises the following modules:
the intersection information sensing module is used for acquiring an intersection signal timing scheme, dividing lanes of an entrance road and obtaining the color of a signal lamp head of the running direction of the intelligent internet fleet when the distance between the intelligent internet fleet and the stop line of the entrance road of the intersection is t seconds;
the intelligent internet connection fleet status sensing module is used for acquiring running status information of the intelligent internet connection fleet when a distance from a stop line of an intersection entrance lane is t seconds, wherein the running status information of the intelligent internet connection fleet comprises the number of vehicles, a ratio of large vehicles, a time interval of vehicle heads and preset delay time of lane changing of small vehicles;
the signal cooperative control method calculation module is used for calculating the shortest green light time required for ensuring that the intelligent networked fleet can completely pass through the intersection in at least the next period;
and the signal cooperative control method implementation module is used for implementing the intersection signal cooperative control method determined by the signal cooperative control method calculation module.
The invention provides a computing device, which comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein the computer program realizes the steps of the signal cooperative control method under the vehicle-road cooperative environment when being executed by the processor.
The invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the signal cooperative control method in the vehicle and road cooperative environment.
Has the advantages that: compared with the prior art, the technical scheme of the invention has the following beneficial effects:
the invention provides a signal cooperative control method under a vehicle-road cooperative environment, which is based on the existing signal timing and lane division of an intersection and the running state information of an intelligent networked fleet, takes an intelligent networked fleet and signal timing scheme as research objects, and calculates the shortest time that the green light time of the running direction of the intelligent networked fleet in the signal timing scheme should meet on the basis of the red light time, the number of lanes, the locomotive time interval of the intelligent networked fleet, the fleet length and the ratio of a large vehicle so as to ensure that the intelligent networked fleet can completely pass through the intersection in at least the next period, thereby determining the final green light time of the phase after adjustment and executing the determined intersection signal cooperative control method. The method provided by the invention introduces the large-scale vehicle into the intelligent networked fleet, comprehensively considers the green light phase time calculation method under different signal lamp head colors, and simultaneously obtains the running state data of the intelligent networked fleet, wherein the running state data comprises the following steps: the length of the vehicle fleet, the proportion of the big vehicle and the like are introduced into the signal timing of the intersection as parameters, so that the signal cooperative control of the intelligent networked vehicle fleet under the vehicle-road cooperative environment is realized, the intelligent networked vehicle fleet can completely pass through the intersection in at least the next period, the running efficiency of the intelligent networked vehicle fleet at the intersection is greatly improved, and the passing efficiency of the intelligent networked vehicle is further improved.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic traffic condition before an intelligent Internet fleet enters an intersection in an example of an embodiment of the invention;
fig. 3 is a schematic structural diagram of an apparatus according to an embodiment of the present invention.
Detailed Description
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings and specific examples.
The invention provides a signal cooperative control method and a signal cooperative control device under a vehicle-road cooperative environment, which comprise the following steps:
(1) acquiring traffic facility information of an entrance way of a target intersection, wherein the traffic facility information comprises an intersection signal timing scheme and entrance way lane division;
(2) the method comprises the steps that operation state information when the time of an intelligent networked fleet from a stop line of an intersection entrance way is t seconds is obtained, the operation state information of the intelligent networked fleet comprises the number of vehicles, the ratio of big vehicles, the time interval of vehicle heads and the delay time of lane changing of small vehicles of the intelligent networked fleet, the intelligent networked fleet is supposed to run in a single fleet mode, and t is preset intersection information interaction time;
(3) if the intelligent networked motorcade is away from a stop line of an intersection entrance lane for t seconds, a signal lamp in the driving direction of the intelligent networked motorcade is a green lamp, calculating the theoretical minimum residual time of the green lamp of the phase, which can be passed by the intelligent networked motorcade, and if the actual residual time of the green lamp is less than the theoretical minimum residual time, prolonging the green lamp time of the phase to the theoretical minimum green lamp time;
calculating the theoretical minimum residual time G of the phase green lightmin：
Gmin＝t+ρ×N×thc+(1-ρ)×N×thv
Wherein N is the number of vehicles in the intelligent networked fleet, rho is the ratio of the big vehicles in the intelligent networked fleet, and thcIs the average head time distance, t, of the large-sized vehicles in the intelligent networked fleethvThe average headway time of the small and medium-sized vehicles in the intelligent networked motorcade.
(3) B, if the signal lamp of the intelligent networked motorcade is red for t seconds away from the stop line of the intersection entrance lane, calculating the shortest time which should be met by the green light time of the phase in the next period, and if the green light time of the next period is less than the shortest time which should be met, prolonging the green light time of the next period to the shortest time which should be met;
enabling the remaining time of the red light to be R when the intelligent networked motorcade is t seconds away from a stop line of an intersection entrance lane;
if the remaining time R of the red light is less than t, namely before the intelligent networked motorcade arrives at the stop line of the entrance lane, the signal light of the driving direction of the intelligent networked motorcade is changed into the green light, and the shortest time G which the green light time should meet is calculatedmin：
Gmin＝(t+ρ×N×thc+(1-ρ)×N×thv)-R
Wherein each symbol has the same meaning as the above formula
If the red light remaining time R is more than or equal to t, the intelligent networked motorcade is scattered before driving into the entrance lane and is uniformly distributed to all lanes in the driving direction, when a green light in the driving direction is turned on in the next period, the intelligent networked motorcade starts to sequentially pass through the intersection, and the shortest time G which is required by the green light time is calculatedmin：
Gmin＝max{G1,min,G2,min}
Wherein n is the number of lanes in the driving direction of the intelligent networked fleet, dAIs the total delay time t when the intelligent networked motorcade breaks uphIs the average headway of the intelligent networked fleet, d is the average delay time when the small cars are scattered, theta is the conversion coefficient of the big cars when the intelligent networked fleet is scattered, d is the average headway of the intelligent networked fleetBIs the starting loss time of the intelligent networked vehicle fleet, wherein d, theta, dBThe method is obtained by presetting an intelligent Internet vehicle experiment;
(4) and (3) executing the intersection signal cooperative control method determined by the method in the step (3) in the claim 1, and adjusting the green light time length of the next period or the current period to the specified time length according to the requirement so as to ensure that the intelligent internet fleet can completely pass through the intersection at least in the next period.
The invention will be further elucidated below on the basis of a traffic example.
Traffic example: one intelligent networked motorcade runs on a four-lane road and needs to go straight through a front intersection, the intelligent networked motorcade consists of 8 intelligent networked motorcades, wherein two intelligent networked motorcades are large vehicles, the rest are small vehicles, a target intersection entrance lane is a left-turn special lane, a straight lane and a straight right lane from left to right in sequence, the preset intersection information interaction time t is 4 seconds, it is known that when the intelligent networked motorcade is 4 seconds away from the front intersection, a straight-going direction signal lamp is a red light, the remaining red light time length R is 8 seconds, in other parameters, the average delay time d when the small vehicles are scattered is 2 seconds, the conversion coefficient theta of the large vehicles is 1.5, and the starting loss time d of the intelligent networked motorcade is 1.5BIs 2s, the average time interval t of the intelligent networked fleethIs 2 s.
The following method for determining the risk level of the intelligent lane changing behavior provided by the invention comprises the following steps:
because the red light remaining time R is more than or equal to t, the intelligent networked fleet can be scattered before driving into the entrance lane and uniformly distributed to all lanes in the driving direction, when the green light in the driving direction is turned on in the next period, the intelligent networked fleet starts to sequentially pass through the intersection, and the shortest time G which is required by the green light time is calculatedmin：
Gmin＝max{G1,min,G2,min}
＝max{3.6,7.3}
＝7.3s
According to the calculation result, in order to ensure that the intelligent internet motorcade can completely release the next green light phase, the shortest time of the green light phase is determined to be 7.3s, and the signal timing scheme of the intersection is adjusted according to the shortest time.
As shown in fig. 3, a device for determining a signal cooperative control method in a vehicle-road cooperative environment disclosed in the embodiment of the present invention includes: the system comprises an intersection information sensing module, an intelligent internet fleet state sensing module, a signal cooperative control method computing module and a signal cooperative control method implementation module; the intersection information sensing module is used for acquiring an intersection signal timing scheme and entrance lane division, and the color of a signal lamp head of the running direction of the intelligent internet fleet when the distance from the intelligent internet fleet to an intersection entrance lane stop line is t seconds; the intelligent networked fleet state sensing module is used for acquiring running state information of the intelligent networked fleet when the distance from a stop line of an intersection entrance road is t seconds, and the running state information of the intelligent networked fleet comprises the number of vehicles of the intelligent networked fleet, a ratio of large vehicles, a time interval of vehicle heads and preset delay time for changing lanes of small vehicles; a signal cooperative control method calculating module, configured to calculate a signal timing scheme for an intersection according to the method in step (3) of claim 1; a cooperative intersection signal control method implementation module for implementing the cooperative intersection signal control method determined according to the method of step (3) of claim 1.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (3)
1. A signal cooperative control method under a vehicle-road cooperative environment is characterized by comprising the following steps:
(1) acquiring traffic facility information of an entrance lane of a target intersection, wherein the traffic facility information comprises an intersection signal timing scheme and entrance lane division;
(2) the method comprises the steps that operation state information when the time of an intelligent network connection motorcade from a stop line of an intersection entrance road is t seconds is obtained, the operation state information of the intelligent network connection motorcade comprises the number of vehicles of the intelligent network connection motorcade, the proportion of large vehicles, the time interval of vehicle heads and the delay time of small vehicle lane changing, the intelligent network connection motorcade is supposed to run in a single motorcade form, wherein t is preset intersection information interaction time;
(3) if the signal lamp in the driving direction of the intelligent networked fleet is green when the intelligent networked fleet is t seconds away from the stop line of the intersection entrance lane, calculating the theoretical minimum remaining time of the phase green lamp which can be passed by the intelligent networked fleet, and if the actual remaining time of the green lamp is less than the theoretical minimum remaining time, prolonging the phase green lamp time to the theoretical minimum green lamp time;
calculating the theoretical minimum remaining time G of the phase green lightmin：
Gmin＝t+ρ×N×thc+(1-ρ)×N×thv
Wherein N is the number of vehicles in the intelligent networked fleet, rho is the proportion of large vehicles in the intelligent networked fleet, and thcIs the average head time distance, t, of the large-sized vehicles in the intelligent network connection fleethvThe average headway time of the medium and small-sized vehicles in the intelligent networked motorcade;
if the signal lamp of the intelligent networked motorcade in the driving direction is a red lamp when the intelligent networked motorcade is t seconds away from the stop line of the intersection entrance lane, calculating the shortest green lamp time to be met in the next period, and if the green lamp time in the next period is less than the shortest green lamp time to be met, prolonging the green lamp time in the next period to the shortest green lamp time to be met;
when the intelligent internet motorcade is t seconds away from a stop line of an intersection entrance lane, the remaining time of a red light is R;
if the remaining time R of the red light is less than t, namely before the intelligent networked motorcade arrives at the stop line of the entrance lane, the signal light of the driving direction of the intelligent networked motorcade is changed into the green light, and the shortest time G which the green light time should meet is calculatedmin：
Gmin＝(t+ρ×N×thc+(1-ρ)×N×thv)-R
If the remaining time R of the red light is more than or equal to t, the intelligent networked motorcade is scattered before driving into the entrance lane and is uniformly distributed to all lanes in the driving direction, when the green light in the driving direction is turned on in the next period, the intelligent networked motorcade starts to sequentially pass through the intersection, and the shortest time G which is required by the green light time is calculatedmin：
Gmin＝max{G1,min,G2,min}
Wherein n is the number of lanes in the driving direction of the intelligent Internet fleet, dAIs the total delay time t when the intelligent networked motorcade breaks uphIs the average headway of the intelligent networked fleet, d is the average delay time when the small cars are scattered, theta is the conversion coefficient of the large cars when the intelligent networked fleet is scattered, d is the average headway of the intelligent networked fleetBIs the starting loss time of the intelligent networked fleet, wherein d, theta, dBThe method is obtained by presetting an intelligent Internet vehicle experiment.
2. A computing device comprising a processor, a memory, and a computer program stored in the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for cooperative control of signals in a vehicle-road cooperative environment of claim 1.
3. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program implements the steps of the method for cooperative control of signals in a vehicle-road cooperative environment according to claim 1.
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