CN113628460B - Real-time highway vehicle management and control method based on edge calculation - Google Patents

Real-time highway vehicle management and control method based on edge calculation Download PDF

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CN113628460B
CN113628460B CN202110812044.4A CN202110812044A CN113628460B CN 113628460 B CN113628460 B CN 113628460B CN 202110812044 A CN202110812044 A CN 202110812044A CN 113628460 B CN113628460 B CN 113628460B
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lane
speed
vehicle
suggested
highway
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CN113628460A (en
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洪盛
周义程
黄瑶佳
毛思捷
崔优凯
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Zhejiang Shuzhijiaoyuan Technology Co Ltd
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Zhejiang Shuzhijiaoyuan Technology Co Ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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

Abstract

The invention discloses a real-time highway vehicle management and control method based on edge calculation. The method aims to solve the problems that in the prior art, the way for issuing the induction information after the highway accident or congestion is incomplete, and the traffic dredging efficiency is low; the invention comprises the following steps: s1: constructing a real-time management and control system for vehicles on the expressway, and arranging a group of management and control units on the expressway at a rated distance; s2: the control unit monitors the vehicle running speed of different section areas of the highway in real time, judges the road traffic state of the different section areas and obtains the suggested vehicle speed through edge calculation; s3: and each group of control units correspondingly issues suggested vehicle speeds of different lanes above the expressway. The suggested speed is calculated by monitoring different section areas in real time, the suggested speed is displayed on different lanes above the highway, and the suggested speed is communicated with vehicles to guide speed change and lane change, so that the guidance information issuing way is perfected.

Description

Real-time highway vehicle management and control method based on edge calculation
Technical Field
The invention relates to the field of highway vehicle management and control, in particular to a highway vehicle real-time management and control method based on edge calculation.
Background
At present, information perception of traffic events such as road traffic jam, accidents and the like on a highway is mainly realized by watching, monitoring and finding by personnel, reporting to traffic police or highway management related departments after the personnel find the events to cause information lag, and taking measures through the highway management related departments to dredge traffic, easily causing adverse effects such as secondary accidents and the like; meanwhile, under the conditions that the current expressway information is not timely prompted, the guidance information issuing way is incomplete and the like, the information such as road conditions, vehicle speed and the like cannot be accurately sent to subsequent vehicles in real time, the traveling experience of a driver is influenced, and the accident risk is improved.
For example, a public Chinese patent document discloses a road traffic accident prevention and control internet of things and a method thereof, wherein the publication number CN102291420A comprises a management center processing module, a vehicle entrance and exit processing module and a vehicle-mounted wireless sensing processing module, wherein the latter comprises a vehicle distance, a vehicle speed, an abnormal parking calculation and processing module, a collision sensing and processing module, a voice and display reminding module, an information module mutually transmitting and the like. According to the scheme, after the vehicle is collided, the rear vehicle is warned, and a manager is informed; the traffic dispersion means is not perfect, the guidance information issuing way is imperfect, and the dredging efficiency is low.
Disclosure of Invention
The invention mainly solves the problems of incomplete guidance information issuing way and low traffic dredging efficiency after highway accidents or congestion in the prior art; the real-time management and control method for the vehicles on the expressway based on the edge calculation is provided, an information issuing way is perfected, the travel demand of expressway users is met, the event handling efficiency is improved, the basic service intellectualization and digitization of the expressway are realized, and the safety, efficiency and service level of the expressway are improved.
The technical problem of the invention is mainly solved by the following technical scheme:
an edge calculation-based real-time management and control method for vehicles on a highway comprises the following steps:
s1: constructing a real-time management and control system for vehicles on the expressway, arranging a group of management and control units on the expressway at a rated distance, and connecting the management and control units through optical fiber communication;
s2: the control unit monitors the vehicle running speed of different section areas of the highway in real time, judges the road traffic state of the different section areas and obtains the suggested vehicle speed through edge calculation;
s3: and each group of control units correspondingly issues suggested vehicle speeds of different lanes above the expressway respectively, communicates with vehicles in corresponding areas, and guides speed change and lane change.
The recommended speed is calculated by monitoring different section areas in real time, the recommended speed is displayed on different lanes above the highway, an induced information issuing way is perfected, the traveling requirements of highway users are met, the event handling efficiency is improved, the basic highway service intellectualization and digitization are realized, and the safety, efficiency and service level of the highway are improved.
Preferably, the control unit includes:
the roadside sensing module comprises a video and a radar and is used for monitoring the vehicle running speed and the interval density of the vehicles in different section areas of the expressway in real time;
the roadside server receives the information monitored by the roadside sensing module in real time, judges the road traffic state and obtains the suggested vehicle speeds of different roads through edge calculation; roadside servers of adjacent management and control units are connected through optical fiber communication;
the portal identification module is used for setting lane LED signs above different roads of the expressway through a portal and displaying the suggested speed calculated by the roadside server;
the early warning lamp modules are arranged along two sides of the highway, receive control instructions of the roadside server and achieve same-frequency flicker at different positions; and the vehicle-mounted communication module is in wireless communication with vehicles in the communication area and transmits the traffic running state and the driving suggestion of the current area.
The road side sensing module is used for monitoring road condition information in real time, the road side server is used for calculating a suggested vehicle speed and judging the traffic running state of the current area according to the road condition information, the portal identification module is used for displaying the suggested vehicle speed of a non-stop road, and the early warning lamp module is used for informing a vehicle of carrying out traffic incident reminding; the vehicle-mounted communication module informs the current traffic state of vehicles in the area, and informs a driver of changing lanes, suggesting vehicle speed driving behavior adjustment and the like. And improving the way of issuing the induction information.
Preferably, the step S2 specifically includes the following steps:
s21: acquiring a section area according to the driving direction of the vehicle; the section area comprises a section area of a single lane and section areas of two adjacent lanes;
s22: judging the road traffic state according to the speeds of different section areas; the road traffic states comprise congestion and slow running, lane-level accidents and smooth passing;
s23: obtaining a suggested vehicle speed through edge calculation;
Figure BDA0003167260840000021
wherein, VWSuggesting a vehicle speed for the lane level;
V1the driving speed in the section areas of two adjacent lanes is adopted;
V2the driving speed in the section area of the single lane is obtained;
K1the interval density of the section areas of two adjacent lanes is shown;
K2the interval density of the section area of the single lane is shown;
V1the cross section flow in the cross section area of two adjacent lanes is adopted;
V2the cross-sectional flow rate in the cross-sectional area of the single lane is shown.
The suggested speeds of different lanes are calculated and respectively displayed on the lane-level LED marks to remind the coming vehicle to control the speed, so that the guidance mechanism information issuing way is perfected, and the management and control efficiency of high-speed traffic is improved.
Preferably, the road traffic state is judged when the vehicle driving speed of all lanes is not 0;
when the vehicle is running at speed V1-V2Not less than 20km/h, and the speed difference of each lane meets V1-V2When the speed is more than or equal to 20km/h, judging V2The corresponding single lane section is jammed and slowly driven;
when the running speed V of the vehicle on a certain lanei0km/h and vehicle speed V of other lanes1-V2When the speed is more than or equal to 20km/h, judging that a lane-level accident happens to the lane;
judging the traffic to be smooth in other situations;
and when the number N of vehicles passing through the one-way upper section area of the expressway per hour is less than or equal to 750pcu/h, displaying the suggested vehicle speed for the real-time driving speed of the rear vehicle through the lane level LED mark.
And judging the road traffic state according to the information of the different section areas.
Preferably, when the road traffic state is judged to be a lane-level accident, determining a control unit corresponding to a lane-level accident place;
the control unit issues the suggested vehicle speed to a control unit in the reverse direction of the vehicle running direction through an optical fiber;
Figure BDA0003167260840000031
s.t.Vmin≤Vwi≤Vmax
wherein, VminThe lowest speed limit of the lane of the expressway is set;
Vmaxthe highest speed limit of the lane of the expressway is set;
Vwcalculating the suggested vehicle speed of the lane for a control unit corresponding to a lane-level accident site;
VLto suggest a speed increase;
Vwiand the recommended speed of the lane at the ith control unit which is the place where the lane-level accident happens and is along the reverse direction of the driving direction of the vehicle.
When a lane-level accident occurs, different suggested vehicle speeds are calculated according to different distances of the coming vehicle in different directions, the closer the coming vehicle speed is to the accident occurrence place, the slower the suggested vehicle speed is, the coming vehicle is reminded through the change of the suggested vehicle speed, soft control is implemented, and the highway management and control efficiency is improved.
Preferably, the management and control unit records the time stamp t when monitoring the information of different sections1；
Inquiring current time t when issuing suggested vehicle speed2；
According to the current time t2Performing timestamp verification; when t is2-t1And when the speed is less than or equal to 1s, issuing a suggested speed, otherwise, notifying related personnel to alarm.
And the timestamp verification ensures that the alarm information is timely and effective, and avoids the influence caused by time lag.
Preferably, the roadside sensing module uses the initial frequency f1Sampling and uploading information of different section areas obtained by monitoring to a roadside server;
setting the maximum value f of the frequencymaxAnd a minimum value fminInitial frequency f1＝fmin；
Maximum value f of frequencymaxAnd a minimum value fminSet n frequency modulation levels in between；
Adjusting the frequency f' of sampling and uploading in real time according to the vehicle running speed of the current lane;
Figure BDA0003167260840000041
Figure BDA0003167260840000042
s.t.fmin≤f′≤fmax
wherein, VNIs the driving speed of the lane;
Vwa suggested vehicle speed for the lane;
e is the rated vehicle speed difference;
[] Is a rounding operation;
epsilon is the frequency spacing of one frequency modulation order.
And adjusting the sampling frequency according to the vehicle speed, wherein the larger the difference between the vehicle speed and the recommended vehicle speed is, the larger the possibility of the existence of adverse road traffic state is, the information acquisition frequency needs to be improved, so that important data can be prevented from being missed, and the acquisition of useless data can be reduced.
The invention has the beneficial effects that:
1. the method has the advantages that the suggested vehicle speed is calculated by monitoring different section areas in real time, the suggested vehicle speed is displayed on different lanes above the highway, the communication with the vehicle guides speed change and lane change, an induced information issuing way is perfected, the traveling requirements of highway users are met, the event handling efficiency is improved, the basic service intellectualization and digitization of the highway are realized, and the safety, the efficiency and the service level of the highway are improved.
2. When a lane-level accident occurs, different suggested vehicle speeds are calculated according to different distances of the coming vehicle in different directions, the closer the coming vehicle speed is to the accident occurrence place, the slower the suggested vehicle speed is, the coming vehicle is reminded through the change of the suggested vehicle speed, soft control is implemented, and the highway management and control efficiency is improved.
3. And the timestamp verification ensures that the alarm information is timely and effective, and avoids the influence caused by time lag.
4. The sampling frequency is adjusted according to the vehicle speed, so that important data can be prevented from being missed, the acquisition of useless data can be reduced, and the efficiency is improved.
Drawings
FIG. 1 is a flow chart of a real-time highway vehicle management and control method of the invention.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example (b):
the method for real-time management and control of highway vehicles based on edge calculation in the embodiment is shown in fig. 1, and includes the following steps: s1: constructing a real-time management and control system for vehicles on the expressway, arranging a group of management and control units on the expressway at a rated distance, and connecting the management and control units through optical fiber communication; .
The management and control unit includes:
the roadside sensing module comprises a video and a radar, and the driving speed of vehicles in different section areas of the expressway and the interval density of the vehicles are monitored in real time. The roadside sensing module monitors information such as traffic volume of a vehicle section on the highway, average speed and the like in real time through equipment such as videos, radars and the like, and senses traffic accidents such as traffic accidents, vehicle parking, sprinkled objects, personnel entry and the like.
The roadside sensing system acquires the data of cross section traffic volume, speed and other information and uploads the data every 500ms, and the accuracy rate reaches 95%; the accuracy rate of collecting the traffic emergency information reaches 90%, the alarm time after detecting the event is less than or equal to 300ms, and the shared traffic emergency information is automatically transmitted and updated at regular time.
The roadside server receives information monitored by the roadside sensing module in real time, judges the road traffic state and obtains the suggested vehicle speeds of different roads through edge calculation; and the roadside servers of the adjacent management and control units are connected through optical fiber communication. The roadside server is responsible for receiving real-time monitoring information of the roadside sensing module, determining a control strategy of vehicle suggested speed by utilizing the real-time updating of the average speed and road conditions of each lane, and sending instruction information to the portal controller, the roadside communication unit and the early warning lamp controller in real time.
And the portal identification module comprises a portal controller and lane LED marks, the lane LED marks are arranged above different roads of the expressway through the portal, and the suggested vehicle speed calculated by the roadside server is displayed.
The early warning lamp module comprises a red and blue early warning lamp and an early warning lamp controller, is arranged along two sides of the expressway, receives control instructions of the roadside server, and realizes same-frequency flashing at different positions. The arrangement scheme of the red and blue early warning lamps is 220 meters per group, and the number of the red and blue early warning lamps is preferably 3 per group.
And the vehicle-mounted communication module comprises a road side communication unit and a vehicle-mounted communication unit, is in wireless communication with vehicles in a communication area, and transmits the traffic operation state and the driving suggestion of the current area. When the vehicle-mounted communication unit (OBU) receives information such as traffic events, suggested vehicle speeds and the like of the road side communication unit, the shortest distance is not less than 300 meters, and the success rate of receiving the information is not less than 90%.
The roadside communication unit and the vehicle-mounted communication unit share information through special short-range communication (C-V2X technology), and functions of vehicle identification, information distribution and the like are realized; the roadside server and the roadside sensing module are communicated by adopting an optical cable so as to transmit a large amount of radar and video information; the roadside server, the portal controller, the early warning lamp controller and the roadside communication unit are transmitted by a wired/wireless network.
When the roadside server uploads sensing information and issues a control instruction, data resource transmission needs to follow the same standard, and efficient data sharing of the roadside sensing system, the roadside server, the portal controller, the early warning lamp controller and the roadside communication unit is achieved.
The lane-level LED signs transmit and receive a portal controller control instruction through a wired network and display the vehicle suggested running speed; the vehicle-mounted communication unit receives the traffic running state information transmitted by the road side communication unit and informs a driver of carrying out adjustment on driving behaviors such as lane change, suggested vehicle speed and the like; the red and blue early warning lamps transmit and receive the control instruction of the early warning lamp controller through a wired network, so that the same-frequency flickering at different positions is realized, and the traffic incident is reminded.
The road side server calculates the suggested speed according to the road condition information and judges the traffic running state of the current area, the suggested speed of the road is displayed through the portal frame identification module, and the vehicle is informed of carrying out traffic incident reminding through the early warning lamp module; the vehicle-mounted communication module informs the current traffic state of vehicles in the area, and informs a driver of changing lanes, suggesting vehicle speed driving behavior adjustment and the like. And improving the way of issuing the induction information.
In the information transmission process, the recommended lane driving speed is not more than 1s when the roadside sensing system acquires the information distribution end, and the safety early warning information is not more than 500ms when the roadside sensing system acquires the information distribution end.
The road side sensing module uses an initial frequency f1And sampling and uploading the information of different section areas obtained by monitoring to a roadside server.
Setting the maximum value f of the frequencymaxAnd a minimum value fminInitial frequency f1＝fmin；
Maximum value f of frequencymaxAnd a minimum value fminN frequency modulation levels are set;
adjusting the frequency f' of sampling and uploading in real time according to the vehicle running speed of the current lane;
Figure BDA0003167260840000061
Figure BDA0003167260840000062
s.t.fmin≤f′≤fmax
wherein, VNIs the driving speed of the lane;
Vwa suggested vehicle speed for the lane;
e is the rated vehicle speed difference;
[] Is a rounding operation;
epsilon is the frequency interval of one frequency modulation order.
The sampling frequency is adjusted according to the vehicle speed, when the difference between the vehicle speed and the recommended vehicle speed is larger, the possibility that a bad road traffic state exists is larger, the information acquisition frequency needs to be improved, important data can be prevented from being missed, and the acquisition of useless data can be reduced.
S2: the control unit monitors the vehicle running speed of different section areas of the highway in real time, judges the road traffic state of the different section areas and obtains the suggested vehicle speed through edge calculation.
S21: acquiring a section area according to the driving direction of the vehicle; the section area comprises a section area of a single lane and a section area of two adjacent lanes.
S22: judging the road traffic state according to the speeds of different section areas; road traffic conditions include congestion, slow traffic, lane-level accidents, and smooth traffic.
And judging the road traffic state under the condition that the vehicle driving speed of all lanes is not 0.
When the vehicle is running at a speed V1-V2Not less than 20km/h, and the speed difference of each lane meets V1-V2When the speed is more than or equal to 20km/h, judging V2And the corresponding single lane section is blocked and slowly driven.
When the running speed V of the vehicle on a certain lanei0km/h and vehicle running speed V of other lanes1-V2And when the speed is more than or equal to 20km/h, judging that the lane grade accident happens to the lane.
Otherwise, the traffic is determined to be smooth.
And when the number N of vehicles passing through the one-way upper section area of the expressway per hour is less than or equal to 750pcu/h, displaying the suggested vehicle speed on the real-time running speed of the rear vehicle through the lane LED mark.
S23: obtaining a suggested vehicle speed through edge calculation;
Figure BDA0003167260840000071
wherein, VwSuggesting a vehicle speed for the lane level;
V1the driving speed in the section areas of two adjacent lanes is adopted;
V2the driving speed in the section area of the single lane is obtained;
K1the interval density of the section areas of two adjacent lanes is shown;
K2the interval density of the section area of the single lane is shown;
V1is the section flow in the section area of two adjacent lanes;
V2the cross-sectional flow rate in the cross-sectional area of the single lane is shown.
S3: and each group of control units correspondingly issues suggested vehicle speeds of different lanes above the expressway.
When the road traffic state is judged to be a lane-level accident, determining a control unit corresponding to a lane-level accident place;
the control unit issues the suggested vehicle speed to the control unit in the reverse direction of the vehicle driving direction through an optical fiber;
Figure BDA0003167260840000072
s.t.Vmin≤Vwi≤Vmax
wherein, VminThe lowest speed limit of the lane of the expressway is set;
Vmaxthe highest speed limit of the lane of the expressway is set;
Vwcalculating the suggested vehicle speed of the lane for a control unit corresponding to a lane-level accident place;
VLto suggest a speed increase;
Vwiand the recommended speed of the lane at the ith control unit which is the place where the lane-level accident occurs and is along the reverse direction of the driving direction of the vehicle.
Recording time stamp t when monitoring information of different sections by control unit1；
Inquiring current time t when issuing suggested vehicle speed2；
According toCurrent time t2Performing timestamp verification; when t is2-t1And when the speed is less than or equal to 1s, issuing a suggested speed, otherwise, notifying related personnel to alarm.
And the timestamp verification ensures that the alarm information is timely and effective, and avoids the influence caused by time lag.
When a lane-level accident occurs, different suggested vehicle speeds are calculated according to different distances of the coming vehicle in different directions, the closer the coming vehicle speed is to the accident occurrence place, the slower the suggested vehicle speed is, the coming vehicle is reminded through the change of the suggested vehicle speed, soft control is implemented, and the highway management and control efficiency is improved.
The proposal of the embodiment calculates the suggested speed by monitoring different section areas in real time, displays the suggested speed on different lanes above the highway, and communicates with vehicles to guide speed change and lane change, thereby perfecting the way of information release guidance, meeting the trip demand of highway users, improving the efficiency of event handling, realizing the intellectualization and digitization of highway basic service, and improving the safety, efficiency and service level of the highway.
It should be understood that the examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.

Claims (6)

1. A real-time highway vehicle management and control method based on edge calculation is characterized by comprising the following steps:
s1: constructing a real-time highway vehicle management and control system, arranging a group of management and control units on a highway at a rated distance, and connecting the management and control units through optical fiber communication;
s2: the control unit monitors the vehicle running speed of different section areas of the highway in real time, judges the road traffic state of the different section areas and obtains the suggested vehicle speed through edge calculation;
the road side sensing module uses the initial frequency
Figure DEST_PATH_IMAGE002
Sampling and uploading information of different section areas obtained by monitoring to a roadside server;
setting the maximum value of the frequency
Figure DEST_PATH_IMAGE004
And minimum value
Figure DEST_PATH_IMAGE006
Initial frequency of
Figure DEST_PATH_IMAGE008
；
Maximum value of frequency
Figure 723126DEST_PATH_IMAGE004
And minimum value
Figure 171425DEST_PATH_IMAGE006
N frequency modulation levels are set;
adjusting sampling and uploading frequency in real time according to vehicle running speed of current lane
Figure DEST_PATH_IMAGE010
；
Figure DEST_PATH_IMAGE012
Figure DEST_PATH_IMAGE014
Figure DEST_PATH_IMAGE016
Wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE018
is the driving speed of the lane;
Figure DEST_PATH_IMAGE020
a suggested vehicle speed for the lane;
e is the rated vehicle speed difference;
[] Is a rounding operation;
Figure DEST_PATH_IMAGE022
a frequency interval of one frequency modulation order;
s3: and each group of control units correspondingly issues suggested vehicle speeds of different lanes above the expressway respectively, communicates with vehicles in corresponding areas, and guides speed change and lane change.
2. The method as claimed in claim 1, wherein the management and control unit comprises:
the roadside sensing module comprises a video and a radar, and is used for monitoring the vehicle running speed and the interval density of the vehicles in different section areas of the expressway in real time;
the roadside server receives the information monitored by the roadside sensing module in real time, judges the road traffic state and obtains the suggested vehicle speeds of different roads through edge calculation; roadside servers of adjacent management and control units are connected through optical fiber communication;
the portal identification module is used for setting lane LED signs above different roads of the expressway through a portal and displaying the suggested speed calculated by the roadside server;
the early warning lamp modules are arranged along two sides of the highway, receive control instructions of the roadside server and achieve same-frequency flashing at different positions;
and the vehicle-mounted communication module is in wireless communication with vehicles in the communication area and transmits the traffic running state and the driving suggestion of the current area.
3. The method for real-time management and control of highway vehicles based on edge calculation as claimed in claim 1 or 2, wherein said step S2 comprises the following steps:
s21: acquiring a section area according to the driving direction of the vehicle; the section area comprises a section area of a single lane and section areas of two adjacent lanes;
s22: judging the road traffic state according to the speeds of different section areas; the road traffic state comprises congestion and slow running, lane-level accidents and smooth running;
s23: obtaining a suggested vehicle speed through edge calculation;
Figure DEST_PATH_IMAGE024
wherein the content of the first and second substances,
Figure 184118DEST_PATH_IMAGE020
suggesting a vehicle speed for the lane level;
Figure DEST_PATH_IMAGE026
the driving speed in the section areas of two adjacent lanes is adopted;
Figure DEST_PATH_IMAGE028
the driving speed in the section area of the single lane is obtained;
Figure DEST_PATH_IMAGE030
the interval density of the section areas of two adjacent lanes is shown;
Figure DEST_PATH_IMAGE032
the interval density of the section area of the single lane is shown;
Figure DEST_PATH_IMAGE034
is at the same timeThe section flow of the section areas of two adjacent lanes;
Figure DEST_PATH_IMAGE036
the cross-sectional flow rate in the cross-sectional area of the single lane is shown.
4. The real-time highway vehicle management and control method based on edge calculation as claimed in claim 3, wherein the road traffic state is judged under the condition that the driving speeds of all lane vehicles are not 0;
when the vehicle is running
Figure DEST_PATH_IMAGE038
And the speed difference of each lane is satisfied
Figure 61550DEST_PATH_IMAGE038
Time, judge
Figure 672660DEST_PATH_IMAGE028
The corresponding single lane section is jammed and slowly driven;
when the vehicle runs on a certain lane
Figure DEST_PATH_IMAGE040
And the vehicle running speed of the other lane
Figure 291860DEST_PATH_IMAGE038
Judging that the lane level accident occurs in the lane;
judging the traffic to be smooth in other situations;
and when the number N of vehicles passing through the one-way upper section area of the expressway per hour is less than or equal to 750pcu/h, displaying the suggested vehicle speed for the real-time driving speed of the rear vehicle through the lane level LED mark.
5. The real-time highway vehicle management and control method based on edge calculation as claimed in claim 3, wherein when the road traffic state is determined as a lane-level accident, a management and control unit corresponding to a lane-level accident place is determined;
the control unit issues the suggested vehicle speed to a control unit in the reverse direction of the vehicle running direction through an optical fiber;
Figure DEST_PATH_IMAGE042
Figure DEST_PATH_IMAGE044
wherein the content of the first and second substances,
Figure DEST_PATH_IMAGE046
the lowest speed limit of the lane of the expressway is set;
Figure DEST_PATH_IMAGE048
the highest speed limit of the lane of the expressway is set;
Figure 840785DEST_PATH_IMAGE020
calculating the suggested vehicle speed of the lane for a control unit corresponding to a lane-level accident site;
Figure DEST_PATH_IMAGE050
to suggest a speed increase;
Figure DEST_PATH_IMAGE052
and the recommended speed of the lane at the ith control unit which is the place where the lane-level accident happens and is along the reverse direction of the driving direction of the vehicle.
6. The real-time highway vehicle management and control method based on edge calculation according to claim 5,the control unit records time stamps when monitoring information of different sections
Figure DEST_PATH_IMAGE054
；
Inquiring current time when issuing suggested vehicle speed
Figure DEST_PATH_IMAGE056
；
According to the current time
Figure 256329DEST_PATH_IMAGE056
Performing timestamp verification; when in use
Figure DEST_PATH_IMAGE058
And if not, informing related personnel to alarm.
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