CN113554886A - Traffic flow conflict resolution method for cooperative intersection of vehicle and road - Google Patents
Traffic flow conflict resolution method for cooperative intersection of vehicle and road Download PDFInfo
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Abstract
The invention discloses a traffic flow conflict resolution method for a lane-road cooperative intersection, which is characterized in that full-time and space-time dynamic traffic information of the intersection is collected in real time through a vehicle-mounted unit and a road side unit, a control center of the intersection performs fusion processing on the received traffic data information to provide driving behavior suggestions for vehicles, so that the vehicles adjust driving states in a regulation and control area in advance, the distance between the vehicles and the front vehicles is controlled to be an optimal gap, the vehicles and the front vehicles are kept in the optimal gap, and the vehicles in the conflict direction can alternately penetrate through an intersection conflict area by utilizing the gap, thereby realizing conflict resolution. The invention can enable the vehicle not to be limited by the control of the traditional signal lamp, reduce the fixed delay of the traffic signal control on the vehicle, greatly improve the traffic capacity and the traffic efficiency of the intersection on the premise of ensuring the driving safety, and realize the full utilization of the time-space resources of the intersection.
Description
Technical Field
The invention relates to the technical field of vehicle control at road intersections, in particular to a method for resolving traffic conflict at a cooperative intersection of a vehicle and a road.
Background
The intersection is used as a junction node for collecting, turning and evacuating traffic flows, is a concentrated part of road traffic conflicts, and is also a key point of urban road traffic design and organization management. Therefore, the efficient and reasonable intersection traffic flow conflict resolution strategy is a key place for solving the problem of urban traffic jam and is also a bottleneck for restricting the urban traffic operation efficiency and the traffic capacity of the road intersection.
In the prior art, in order to ensure the safety of vehicles and smooth driving, a signal lamp control mode of 'stopping at a red light and driving at a green light' is generally adopted at an intersection to guide the vehicles to pass orderly in all directions. Under the control mode, one party in the intersection conflict traffic flow provides a safe passing space for the other party through parking avoidance, so that the purpose of conflict resolution is achieved. Obviously, the conflict resolution method cannot achieve the conflict of minutes and seconds in signal timing and the conflict of earth and earth in traffic canalization, so that certain idle time and idle area exist in the intersection, and the waste of time and space resources of the intersection is caused.
Under the cooperative environment of the vehicle and the road, the intelligent vehicle and the intelligent road can carry out real-time information interaction, and the full-time and space-time dynamic traffic information of the road is widely collected and fused. On the basis of the technical support, vehicles in the intersection area can be actively controlled and cooperatively managed on roads through information perception and interaction sharing, so that more intelligent and autonomous traffic flow conflict resolution is realized, all vehicles at the intersection can be in an ordered and efficient running state all the time, and the management and control effects of guaranteeing driving safety and improving traffic efficiency are achieved.
Disclosure of Invention
In order to solve the technical problem, the invention discloses a traffic flow conflict resolution method for a vehicle-road cooperative intersection, which enables vehicles at the intersection to control the distance between the vehicles and the front vehicle to be an optimal gap by adjusting the driving state in advance, so that traffic flows in conflict directions can alternately penetrate through an intersection conflict area to achieve conflict resolution.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for clearing traffic flow conflicts at a vehicle-road cooperative intersection comprises the steps of dividing a road intersection connection section into three functional areas, namely a lane changing area, a regulating area and a buffer area according to different distances, and respectively executing corresponding information interaction by a vehicle-mounted unit, a road side unit and an intersection control center in different functional area ranges;
the lane change area is internally provided with left-turn, straight-going and right-turn road marking lines, and each vehicle is changed to a corresponding guide lane in advance according to the driving requirement after entering the lane change area;
all vehicles in the regulation and control area are prohibited from changing lanes and overtaking, and each vehicle receives an instruction signal sent by the intersection control center when entering the regulation and control area, adjusts the current driving speed and controls the distance between the vehicle and the front vehicle to be the optimal clearance;
all vehicles in the buffer area keep running in a constant speed state, all vehicles reach a running state required by the intersection control center instruction after entering the buffer area, and a specific optimal gap is kept between the vehicles and the front vehicles;
the vehicle-mounted unit transmits vehicle information and running state information to the intersection control center in real time, wherein the vehicle information and the running state information comprise vehicle size, vehicle position, running time, running speed, acceleration and running direction, and meanwhile receives instruction information sent by the intersection control center to regulate and control the running state of the vehicle;
the road side unit carries out real-time sensing monitoring on road environment conditions in each functional area and transmits relevant data information to an intersection control center in real time, wherein the relevant data information comprises traffic flow, lane occupancy, vehicle driving track, lane width and road surface slippery state of each lane;
the intersection control center receives all traffic data information collected by the vehicle-mounted unit and the road side unit, performs information fusion processing, determines the position of a collision area of the vehicle at the intersection according to the traveling directions of different vehicles, calculates the range of each collision area of the vehicle at the intersection, calculates the optimal clearance required to be kept between the vehicle and the front vehicle by combining the traveling state information of the vehicle and the vehicles in the collision directions, and sends the optimal clearance instruction information to the vehicle-mounted unit of each vehicle in real time.
As a further optimization of the invention, the left-turn lanes, the straight lanes and the right-turn lanes at the intersection are all independent lanes, the vehicles are not allowed to merge and shunt before and after entering the intersection, and the vehicles all run along the center lines of all the lanes in the passing process at the intersection; the length of the lane changing area of the intersection connection road section is set to be 300m, the length of the regulating area is set to be 500m, the length of the buffer area is set to be 200m, the length range of each functional area can be planned and adjusted according to actual traffic conditions of different intersections, and corresponding driving operation of vehicles in each functional area is guaranteed; the roadside units are uniformly distributed on the two sides of the road and the surrounding area of the intersection in each functional area at intervals of 10m, so that all passing vehicles at the intersection can be subjected to full-time-space, low-delay and high-reliability real-time information sensing.
As a further preferable aspect of the present invention, the method for resolving the traffic conflict at the cooperative intersection of the vehicle and the road specifically comprises:
and after the vehicle enters the intersection lane change area, the vehicle is changed to a corresponding guide lane in advance according to the driving requirement of the vehicle, and the control center judges whether the vehicle has traffic conflict in the intersection according to the driving track directions of the vehicle and other vehicles. If no conflict exists, the vehicle in the regulation and control area rapidly moves according to the instruction of the control center and safely passes through the intersection under the condition of no conflict interference; if the conflict exists, the control center identifies and senses the position of the conflict area of the vehicle in the intersection, respectively calculates the corresponding running clearance of the vehicle in each conflict area, takes the maximum running clearance value as the optimal clearance to be kept between the vehicle and the front vehicle, and feeds the optimal clearance value back to the vehicle-mounted unit of the vehicle. After receiving the command information of the control center, the vehicle adjusts the current driving speed in the regulation and control area, controls the distance between the vehicle and the front vehicle to the optimal gap, and keeps the state to drive into a buffer area and an intersection at a constant speed. When the vehicles enter the intersection at the optimal clearance, the vehicles in the conflict directions of the vehicles can safely pass through the conflict area by using the clearance, so that conflict resolution is realized.
As a further preferable aspect of the present invention, the method for determining the position of the conflict area of the vehicle in the intersection specifically includes:
taking the WL direction as an example, the guidance lanes in the intersection where there is a collision relationship with the vehicle in the WL direction are respectively SL, NS, ES, NL; taking the WS direction as an example, the guide lanes in the intersection where the vehicle collides with the WS direction are NS, SL, EL, and SS, respectively. When a vehicle enters a corresponding guide lane in a lane change area, the control center judges whether the guide lane of the vehicle collision direction has the vehicle in the lane change area to a crossing area according to the received traffic data information, if the vehicle exists, the overlapping area of the collision direction and the vehicle driving track is the collision area, and therefore the geographic position information of the collision area can be determined by using GPS positioning identification and an electronic map.
As a further preferable aspect of the present invention, the method of calculating the optimum clearance to be maintained between the vehicle and the preceding vehicle is as follows:
suppose a vehicle ViAnd a vehicle Vi+1For passing vehicles in direction D1, vehicle VjAnd a vehicle Vj+1For a passing vehicle in direction D2 that conflicts with direction D1, the order in which the vehicles pass through the conflict zone is: vehicle Vi→ vehicle Vj→ vehicle Vi+1→ vehicle Vj+1And when the vehicle ViVehicles V in conflicting directions when completely driven away from conflicting zonesjJust start entering the conflict area; when the vehicle VjVehicles V in conflicting directions when completely driven away from conflicting zonesi+1And (3) entering the conflict area right at the beginning, namely vehicles in two traffic flows in the conflict direction can alternately penetrate through the conflict area, so that conflict resolution at the intersection is realized.
Setting: u shapei-i+1Indicating a vehicle V in a direction D1iAnd a vehicle Vi+1BetweenThe running clearance to be maintained; u shapej-j+1Indicating vehicle V in conflicting directions D2jAnd a vehicle Vj+1The running clearance required to be kept; l1Indicating the distance traveled by the collision zone to the vehicle in direction D1; l2Represents the distance of action of the collision zone on the vehicle in the collision direction D2; s represents a vehicle length; v represents a vehicle running speed.
And the intersection control center analyzes and predicts the traffic flow conflict of the intersection according to the vehicle running state information and the road condition information, respectively calculates the driving clearance required to be kept when the vehicle passes through each conflict area after determining the position information of the running vehicle in each conflict area in the intersection, and takes the maximum value as the optimal clearance required to be kept between the vehicle and the front vehicle when the vehicle passes through the intersection.
As a further preferable aspect of the present invention, the driving state of the vehicle in the control area is adjusted as follows:
after calculating the optimal clearance required to be kept between the vehicle and the front vehicle, the intersection control center feeds back the optimal clearance instruction information to the vehicle-mounted unit of each vehicle. After the vehicle receives the instruction information, the vehicle running state is adjusted in the regulation and control area, and the distance between the vehicle and the front vehicle is controlled to be the optimal gap, which is as follows:
when a traffic flow W of an entrance way in a certain direction of the intersection enters the intersection control area, the control center divides the traffic flow W into a plurality of continuous sub-fleets W1、W2、…、WmAnd adjusting the vehicle state by taking the sub-fleet as a unit. The collision conditions of all vehicles in each sub-fleet in the crossing passing area are the same, so that the vehicles belonging to the same sub-fleet travel at the same optimal interval at the same speed.
Suppose WkThe sub-fleet comprises n vehicles, and after the vehicles in the fleet enter the intersection regulation and control area section, the vehicles need to be regulated from the current driving state A to the target state B, so that the optimal gap is kept between each vehicle and the front vehicle. Setting: x is the number ofai、 vai、aai、tai、uaiRespectively representing vehicles V of sub-fleetsiThe initial position, the running speed, the acceleration, the time for driving into the regulation and control area and the clearance distance between the front vehicles at the intersection regulation and control area; x is the number ofbi、vb、ubRespectively representing the position, the running speed and the optimal clearance kept between the vehicle and the front vehicle in the intersection regulation and control area under the vehicle target state; t is tbiIndicating the time after the state adjustment is completed; ladjustIndicating the length of the intersection regulatory region.
The adjustment process is as follows:
the vehicle state adjustment time Deltat is determined according to the fact that the vehicle performs the uniform acceleration/deceleration running in the state adjustment of the current stageiComprises the following steps:
because the vehicle needs to complete state adjustment within the length range of the intersection regulation and control area, the constraint conditions of the state adjustment time are as follows:
the invention has the beneficial effects that:
(1) the method for clearing traffic flow conflicts at the intersection in cooperation with the vehicle and the road can enable the vehicle not to be limited by the control of a traditional signal lamp, reduce the fixed delay of the traffic signal control on the vehicle, greatly improve the traffic capacity and the traffic efficiency of the intersection on the premise of ensuring the driving safety, and relieve traffic jam.
(2) By adopting a 'fluid type' space-time separation method, fragmented and discretized safe passing space gaps are provided for vehicles at the intersection, so that conflict traffic flows alternately penetrate through an intersection conflict area by utilizing the traffic gaps, the purpose of conflict resolution is achieved, and the full utilization of space-time resources at the intersection is realized.
Drawings
FIG. 1 is a schematic diagram of a road intersection in a vehicle-road coordination environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of traffic conflict resolution in an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle condition adjustment according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a position of an intersection conflict zone in an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of traffic flow conflict resolution in an intersection conflict area according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Under the vehicle-road collaborative environment, real-time information interaction can be carried out between clever car and the intelligent road, on-board unit and road side unit are used for collecting traffic information of intersection full space-time dynamic state in real time, intersection control center can carry out fusion processing on received effective information, thereby providing driving behavior suggestion for the vehicle, making the intersection vehicle adjust driving state in advance, controlling the distance between the vehicle and the front vehicle to the optimal clearance, making the traffic flow of conflict direction alternately alternate and alternate through intersection conflict area, realizing conflict resolution.
A traffic flow conflict resolution method for a vehicle-road cooperative intersection divides a road intersection connection section into three functional areas, namely a lane changing area, a regulation area and a buffer area according to different distances, and within the range of the different functional areas, a vehicle-mounted unit, a road side unit and an intersection control center respectively execute corresponding information interaction.
And after the vehicle enters the intersection lane change area, the vehicle is changed to a corresponding guide lane in advance according to the driving requirement of the vehicle, and the control center judges whether the vehicle has traffic conflict in the intersection according to the driving track directions of the vehicle and other vehicles. If no conflict exists, the vehicle in the regulation and control area rapidly moves according to the instruction of the control center and safely passes through the intersection under the condition of no conflict interference; if the conflict exists, the control center identifies and senses the position of the conflict area of the vehicle in the intersection, respectively calculates the corresponding running clearance of the vehicle in each conflict area, takes the maximum running clearance value as the optimal clearance to be kept between the vehicle and the front vehicle, and feeds the optimal clearance value back to the vehicle-mounted unit of the vehicle.
Taking the WL direction as an example, the guidance lanes in the intersection where there is a collision relationship with the vehicle in the WL direction are respectively SL, NS, ES, NL; taking the WS direction as an example, the guide lanes in the intersection where the vehicle collides with the WS direction are NS, SL, EL, and SS, respectively. When a vehicle enters a corresponding guide lane in a lane change area, the control center judges whether the guide lane of the vehicle collision direction has the vehicle in the lane change area to a crossing area according to the received traffic data information, if the vehicle exists, the overlapping area of the collision direction and the vehicle driving track is the collision area, and therefore the geographic position information of the collision area can be determined by using GPS positioning identification and an electronic map.
Suppose a vehicle ViAnd a vehicle Vi+1For passing vehicles in direction D1, vehicle VjAnd a vehicle Vj+1For a passing vehicle in direction D2 that conflicts with direction D1, the order in which the vehicles pass through the conflict zone is: vehicle Vi→ vehicle Vj→ vehicle Vi+1→ vehicle Vj+1And when the vehicle ViVehicles V in conflicting directions when completely driven away from conflicting zonesjJust start entering the conflict area; when the vehicle VjVehicles V in conflicting directions when completely driven away from conflicting zonesi+1And (3) entering the conflict area right at the beginning, namely vehicles in two traffic flows in the conflict direction can alternately penetrate through the conflict area, so that conflict resolution at the intersection is realized.
Setting: u shapei-i+1Indicating a vehicle V in a direction D1iAnd a vehicle Vi+1The running clearance required to be kept; u shapej-j+1Indicating vehicle V in conflicting directions D2jAnd a vehicle Vj+1The running clearance required to be kept; l1Indicating the distance traveled by the collision zone to the vehicle in direction D1; l2Represents the distance of action of the collision zone on the vehicle in the collision direction D2; s represents a vehicle length; v represents a vehicle running speed.
And the intersection control center analyzes and predicts the traffic flow conflict of the intersection according to the vehicle running state information and the road condition information, respectively calculates the driving clearance required to be kept when the vehicle passes through each conflict area after determining the position information of the running vehicle in each conflict area in the intersection, and takes the maximum value as the optimal clearance required to be kept between the vehicle and the front vehicle when the vehicle passes through the intersection.
After calculating the optimal clearance required to be kept between the vehicle and the front vehicle, the intersection control center feeds back the optimal clearance instruction information to the vehicle-mounted unit of each vehicle. After the vehicle receives the instruction information, the vehicle running state is adjusted in the regulation and control area, and the distance between the vehicle and the front vehicle is controlled to be the optimal gap, which is as follows:
when a traffic flow W of an entrance way in a certain direction of the intersection enters the intersection control area, the control center divides the traffic flow W into a plurality of continuous sub-fleets W1、W2、…、WmAnd thenAnd adjusting the vehicle state by taking the fleet as a unit. The collision conditions of all vehicles in each sub-fleet in the crossing passing area are the same, so that the vehicles belonging to the same sub-fleet travel at the same optimal interval at the same speed.
Suppose WkThe sub-fleet comprises n vehicles, and after the vehicles in the fleet enter the intersection regulation and control area section, the vehicles need to be regulated from the current driving state A to the target state B, so that the optimal gap is kept between each vehicle and the front vehicle. Setting: x is the number ofai、 vai、aai、tai、uaiRespectively representing vehicles V of sub-fleetsiThe initial position, the running speed, the acceleration, the time for driving into the regulation and control area and the clearance distance between the front vehicles at the intersection regulation and control area; x is the number ofbi、vb、ubRespectively representing the position, the running speed and the optimal clearance kept between the vehicle and the front vehicle in the intersection regulation and control area under the vehicle target state; t is tbiIndicating the time after the state adjustment is completed; ladjustIndicating the length of the intersection regulatory region.
The adjustment process is as follows:
the vehicle state adjustment time Deltat is determined according to the fact that the vehicle performs the uniform acceleration/deceleration running in the state adjustment of the current stageiComprises the following steps:
because the vehicle needs to complete state adjustment within the length range of the intersection regulation and control area, the constraint conditions of the state adjustment time are as follows:
after receiving the command information of the control center, the vehicle adjusts the current driving speed in the regulation and control area, controls the distance between the vehicle and the front vehicle to the optimal gap, and keeps the state to drive into a buffer area and an intersection at a constant speed. When the vehicles enter the intersection at the optimal clearance, the vehicles in the conflict directions of the vehicles can safely pass through the conflict area by using the clearance, so that conflict resolution is realized. It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (6)
1. A method for eliminating traffic conflict at a vehicle-road cooperative intersection is characterized in that a road intersection connecting section is divided into three functional areas, namely a lane changing area, a regulation area and a buffer area according to different distances, and a vehicle-mounted unit, a road side unit and an intersection control center respectively execute corresponding information interaction in the range of the different functional areas;
the lane change area is internally provided with left-turn, straight-going and right-turn road marking lines, and each vehicle is changed to a corresponding guide lane in advance according to the driving requirement after entering the lane change area;
all vehicles in the regulation and control area are prohibited from changing lanes and overtaking, and each vehicle receives an instruction signal sent by the intersection control center when entering the regulation and control area, adjusts the current driving speed and controls the distance between the vehicle and the front vehicle to be the optimal clearance;
all vehicles in the buffer area keep running in a constant speed state, all vehicles reach a running state required by the intersection control center instruction after entering the buffer area, and a specific optimal gap is kept between the vehicles and the front vehicles;
the vehicle-mounted unit transmits vehicle information and running state information to the intersection control center in real time, wherein the vehicle information and the running state information comprise vehicle size, vehicle position, running time, running speed, acceleration and running direction, and meanwhile receives instruction information sent by the intersection control center to regulate and control the running state of the vehicle;
the road side unit carries out real-time sensing monitoring on road environment conditions in each functional area and transmits relevant data information to an intersection control center in real time, wherein the relevant data information comprises traffic flow, lane occupancy, vehicle driving track, lane width and road surface slippery state of each lane;
the intersection control center receives all traffic data information collected by the vehicle-mounted unit and the road side unit, performs information fusion processing, determines the position of a collision area of the vehicle at the intersection according to the traveling directions of different vehicles, calculates the range of each collision area of the vehicle at the intersection, calculates the optimal clearance required to be kept between the vehicle and the front vehicle by combining the traveling state information of the vehicle and the vehicles in the collision directions, and sends the optimal clearance instruction information to the vehicle-mounted unit of each vehicle in real time.
2. The method for resolving traffic flow conflicts at the cooperative intersection of the vehicle and the road as claimed in claim 1, wherein the left-turn lane, the straight-going lane and the right-turn lane of the intersection are all independent lanes, the vehicles are not allowed to merge and split before and after entering the intersection, and the vehicles all travel along the center line of each lane in the passing process of the intersection; the length of the lane changing area of the intersection connection road section is set to be 300m, the length of the regulating area is set to be 500m, the length of the buffer area is set to be 200m, the length range of each functional area can be planned and adjusted according to actual traffic conditions of different intersections, and corresponding driving operation of vehicles in each functional area is guaranteed; the roadside units are uniformly distributed on the two sides of the road and the surrounding area of the intersection in each functional area at intervals of 10m, so that all passing vehicles at the intersection can be subjected to full-time-space, low-delay and high-reliability real-time information sensing.
3. The method for resolving the traffic conflict at the cooperative intersection of the vehicle and the road as claimed in claim 1, wherein after the vehicle enters the intersection lane change area, the vehicle is changed to the corresponding guide lane in advance according to the driving requirement of the vehicle, and the control center judges whether the vehicle has traffic conflict in the intersection according to the driving track direction of the vehicle and other vehicles. If no conflict exists, the vehicle in the regulation and control area rapidly moves according to the instruction of the control center and safely passes through the intersection under the condition of no conflict interference; if the conflict exists, the control center identifies and senses the position of the conflict area of the vehicle in the intersection, respectively calculates the corresponding running clearance of the vehicle in each conflict area, takes the maximum running clearance value as the optimal clearance to be kept between the vehicle and the front vehicle, and feeds the optimal clearance value back to the vehicle-mounted unit of the vehicle. After receiving the command information of the control center, the vehicle adjusts the current driving speed in the regulation and control area, controls the distance between the vehicle and the front vehicle to the optimal gap, and keeps the state to drive into a buffer area and an intersection at a constant speed. When the vehicles enter the intersection at the optimal clearance, the vehicles in the conflict directions of the vehicles can safely pass through the conflict area by using the clearance, so that conflict resolution is realized.
4. The method for resolving the traffic flow conflict at the cooperative intersection of the vehicle and the road as claimed in claim 3, wherein the method for determining the conflict position of the vehicle in the intersection is specifically as follows:
taking the WL direction as an example, the guidance lanes in the intersection where there is a collision relationship with the vehicle in the WL direction are respectively SL, NS, ES, NL; taking the WS direction as an example, the guide lanes in the intersection where the vehicle collides with the WS direction are NS, SL, EL, and SS, respectively. When a vehicle enters a corresponding guide lane in a lane change area, the control center judges whether the guide lane of the vehicle collision direction has the vehicle in the lane change area to a crossing area according to the received traffic data information, if the vehicle exists, the overlapping area of the collision direction and the vehicle driving track is the collision area, and therefore the geographic position information of the collision area can be determined by using GPS positioning identification and an electronic map.
5. The method for resolving the traffic flow conflict at the cooperative intersection of the vehicle and the road as claimed in claim 3, wherein the method for calculating the optimal gap required to be kept between the vehicle and the front vehicle is as follows:
suppose a vehicle ViAnd a vehicle Vi+1For passing vehicles in direction D1, vehicle VjAnd a vehicle Vj+1For a passing vehicle in direction D2 that conflicts with direction D1, the order in which the vehicles pass through the conflict zone is: vehicle Vi→ vehicle Vj→ vehicle Vi+1→ vehicle Vj+1And when the vehicle ViVehicles V in conflicting directions when completely driven away from conflicting zonesjJust start entering the conflict area; when the vehicle VjVehicles V in conflicting directions when completely driven away from conflicting zonesi+1And (3) entering the conflict area right at the beginning, namely vehicles in two traffic flows in the conflict direction can alternately penetrate through the conflict area, so that conflict resolution at the intersection is realized.
Setting: u shapei-i+1Indicating a vehicle V in a direction D1iAnd a vehicle Vi+1The running clearance required to be kept; u shapej-j+1Indicating vehicle V in conflicting directions D2jAnd a vehicle Vj+1The running clearance required to be kept; l1Indicating the distance traveled by the collision zone to the vehicle in direction D1; l2Represents the distance of action of the collision zone on the vehicle in the collision direction D2; s represents a vehicle length; v represents a vehicle running speed.
And the intersection control center analyzes and predicts the traffic flow conflict of the intersection according to the vehicle running state information and the road condition information, respectively calculates the driving clearance required to be kept when the vehicle passes through each conflict area after determining the position information of the running vehicle in each conflict area in the intersection, and takes the maximum value as the optimal clearance required to be kept between the vehicle and the front vehicle when the vehicle passes through the intersection.
6. The method for resolving the traffic flow conflict at the cooperative intersection of the vehicle and the road as claimed in claim 3, wherein the process of adjusting the driving state of the vehicle in the regulation area is as follows:
after calculating the optimal clearance required to be kept between the vehicle and the front vehicle, the intersection control center feeds back the optimal clearance instruction information to the vehicle-mounted unit of each vehicle. After the vehicle receives the instruction information, the vehicle running state is adjusted in the regulation and control area, and the distance between the vehicle and the front vehicle is controlled to be the optimal gap, which is as follows:
when a traffic flow W of an entrance way in a certain direction of the intersection enters the intersection control area, the control center divides the traffic flow W into a plurality of continuous sub-fleets W1、W2、…、WmAnd adjusting the vehicle state by taking the sub-fleet as a unit. The collision conditions of all vehicles in each sub-fleet in the crossing passing area are the same, so that the vehicles belonging to the same sub-fleet travel at the same optimal interval at the same speed.
Suppose WkThe sub-fleet comprises n vehicles, and after the vehicles in the fleet enter the intersection regulation and control area section, the vehicles need to be regulated from the current driving state A to the target state B, so that the optimal gap is kept between each vehicle and the front vehicle. Setting: x is the number ofai、vai、aai、tai、uaiRespectively representing vehicles V of sub-fleetsiThe initial position, the running speed, the acceleration, the time for driving into the regulation and control area and the clearance distance between the front vehicles at the intersection regulation and control area; x is the number ofbi、vb、ubRespectively representing the position, the running speed and the optimal clearance kept between the vehicle and the front vehicle in the intersection regulation and control area under the vehicle target state; t is tbiIndicating the time after the state adjustment is completed; ladjustIndicating the length of the intersection regulatory region.
The adjustment process is as follows:
according to the condition of the vehicle in the current stage, the vehicle is in uniform acceleration/deceleration running and the condition of the vehicle is adjustedTime delta tiComprises the following steps:
because the vehicle needs to complete state adjustment within the length range of the intersection regulation and control area, the constraint conditions of the state adjustment time are as follows:
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| CN115440062A (en) * | 2022-08-25 | 2022-12-06 | 苏州摩卡智行信息科技有限公司 | Station node traffic coordination method and system based on intelligent networking environment |
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