CN113744539A - Dynamic regulation and control method for network connection vehicle special lane based on permeability - Google Patents
Dynamic regulation and control method for network connection vehicle special lane based on permeability Download PDFInfo
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Abstract
The invention discloses a permeability-based dynamic regulation and control method for a lane special for internet connection, which comprises the following steps of: 1, collecting the total number of vehicles entering each lane and the number of networked vehicles in the current time period; 2, judging whether a special lane for the internet connection vehicle needs to be set in the current time period; judging the lane number serving as a special lane for the internet connection vehicle in the current time period through an algorithm; 4, sending the serial number of the special lane of the internet vehicle to the internet vehicle on the road section, and simultaneously controlling the intelligent light-emitting spike on the corresponding lane marking to emit light; and 5, circulating the steps, and judging the lane number of the special lane for the internet vehicle in the next time period. The invention can dynamically select the position of the special lane of the internet connection vehicle according to the internet connection vehicle permeability of each lane in real time, reduce the necessary lane changing times of vehicles, reduce the lane changing conflicts among the vehicles and improve the safety of traffic flow operation and the traffic flow operation efficiency.
Description
Technical Field
The invention belongs to the field of intelligent networking driving application, and particularly relates to a permeability-based dynamic regulation and control method for a special lane of a networking vehicle.
Background
With the realization of 5G and the development of the networking automatic driving technology, road traffic is in the process of complete intelligent development of traditional traffic access traffic, the occupied proportion of networking vehicles is gradually increased in future traffic composition, but due to the influence of objective conditions, the mixed running state of the networking vehicles and human-driven vehicles exists in a certain time in the future, and the advantages of the networking automatic driving technology are difficult to embody in a short time. In a mixed traffic environment, due to frequent interaction between the networked vehicles and the people driving vehicles, on one hand, the performance of the networked vehicles is influenced, and the expected traffic capacity is reduced; on the other hand, a great amount of conflicts exist between the networked vehicles and the people driving vehicles due to lane changing, and the incidence rate of traffic accidents is increased.
The special lane is through keeping apart the networking vehicle and people drive the vehicle, has reduced the conflict between the networking vehicle and people drive the vehicle, has improved the security of traffic operation, and the special lane of networking vehicle can the full play networking vehicle's advantage simultaneously, and the networking vehicle keeps littleer locomotive interval when comparing people and driving the vehicle with the car, helps improving the whole current ability of road.
At present, most of the setting of the special lane for the internet connection vehicle is static, the position of the special lane for the static internet connection vehicle cannot be dynamically selected according to the permeability of the internet connection vehicle in real time, and on one hand, when the permeability of the internet connection vehicle is low, the setting of the special lane for the internet connection vehicle easily causes waste of road resources; on the other hand, when the positions of the special lanes for the internet connection vehicles do not match the current internet connection vehicle permeability of each lane, the increase of vehicle lane change conflicts is easily caused, and the safety of traffic flow operation is reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a permeability-based dynamic regulation and control method for a network connection vehicle lane, so that the position of the network connection vehicle lane is expected to be dynamically selected according to the permeability of the network connection vehicle of each lane in real time, the necessary lane change times of vehicles are reduced, and the lane change conflict among the vehicles is reduced, thereby improving the safety of traffic flow operation and the traffic flow operation efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a permeability-based dynamic regulation and control method for a special lane of an internet vehicle, which is characterized by comprising the following steps of:
step 3, judging whether a special network connection lane needs to be set in the current time period by using the formula (1), if the formula (1) is established, indicating that the special network connection lane needs to be set in the current time period, and executing the step 4; otherwise, indicating that the special lane for the internet connection vehicle is not required to be set in the current time period, and executing the step 7;
in the formula (1), the reaction mixture is,
representing the overall permeability of the networked vehicles on all lanes,δthe lower limit of the permeability of the internet connection vehicle when the special lane of the internet connection vehicle needs to be set is shown,
representing the upper limit of the permeability of the internet connection vehicle when a special lane for the internet connection vehicle needs to be set;
step 4, judging lane numbers of the special lanes for the internet connection vehicles in the current time period;
step 4.1, initializing a lane number k to be 1, setting the necessary lane changing frequency f of the vehicle to be + ∞, and setting the lane number m of the special lane for the internet connection to be 0; the number of necessary lane changes of the vehicle is the sum of the number of lane changes of the human-driven vehicle from the special lane of the internet vehicle to other lanes and the number of lane changes of the internet vehicle from other lanes to the special lane of the internet vehicle;
step 4.2, calculating the necessary lane changing times f of all vehicles in the upstream road section of all lanes when the kth lane is taken as the special lane for internet connection by using the formula (2)k：
In the formula (2), QkRepresenting the total number of vehicles entering the k-th lane, q, in the current time periodkRepresenting the number of the networked vehicles entering the kth lane in the current time period;
step 4.3 judging fkIf < f is true, executing step 4.4; otherwise, executing step 4.5;
step 4.4 changing f to fkM ═ k, updating the values of f and m;
step 4.5, judging whether k is more than n, if so, executing step 4.6; otherwise, executing step 4.7;
step 4.6, after k +1 is assigned to k, returning to the step 4.2 for sequential execution;
step 4.7, outputting lane number m of the special lane for the internet connection vehicle;
step 5, establishing the total quantity of the networked vehicles entering all lanes in the current time period by using the formula (3)
And the relation between the maximum traffic capacity S of the special lane for the internet vehicle in unit time is as follows:
if the formula (3) is established, sending the lane number m of the internet vehicle special lane to all internet vehicles in the upstream road sections of all lanes through the intelligent road side equipment, so that all the internet vehicles drive into the internet vehicle special lane m; otherwise, the lane number m value of the network connection special lane is sent to the front S.T close to the lane number m in the upstream road section of all lanes by the intelligent road side equipment0Connecting vehicles in a network, so that S.T0The vehicle of the vehicle network connection drives into the special lane m of the vehicle network connection, and other vehicle network connection continues to drive on the original lane;
step 6, controlling the intelligent luminous spike on the special lane m for the internet to emit light in the current time period, and prompting the person driving the vehicle on the lane to exit the lane m and the person driving the vehicle on other lanes to avoid entering the lane m;
step 7 returns to step 1 for sequential execution, thereby continuing to collect at T0The total number of vehicles entering each lane and the number of networked vehicles in the next time period of a fixed time interval are determined, and lane numbers of the networked special lanes in the next time period are judged.
The method for dynamically regulating and controlling the internet-connected vehicle-dedicated lane based on the permeability is also characterized in that the geomagnetic vehicle detectors are uniformly arranged on the upstream road section of each lane.
The intelligent road side equipment is uniformly distributed on two sides of a road and interacts with a vehicle-road communication system arranged on the internet through a short-range wireless communication mode.
The intelligent luminous spike in the step 6 is uniformly distributed on the traffic marking line of each lane, and comprises: the device comprises a solar power supply module, a spike WiFi module, an LED light-emitting module and a controller;
the solar power supply module is used for supplying power to the intelligent luminous spike nail by receiving solar energy;
the spike WiFi module receives lane numbers of the lanes special for the internet connection and sends the lane numbers to the controller, so that the LED light-emitting module is controlled to emit light.
Compared with the prior art, the beneficial technical effects of the invention are as follows:
1. the invention provides a dynamic regulation and control method of a special lane for internet vehicles based on permeability by utilizing a vehicle-road cooperation technology under the environment that the internet vehicles and human-driven vehicles run in a mixed manner, which can dynamically select the position of the special lane according to the permeability of the internet vehicles in real time, and on one hand, avoids the waste of road resources caused by arranging the special lane for internet vehicles when the permeability of the internet vehicles is lower; on the other hand, the increase of vehicle lane change conflicts caused when the positions of the special lanes of the internet connection vehicle are not matched with the current internet connection vehicle permeability of each lane is avoided. The lane change conflict among vehicles is reduced by reducing the necessary lane change times of the vehicles, the traffic flow operation safety is improved, and the traffic capacity of roads is improved by reducing the vehicle delay caused by frequent lane change of the vehicles.
2. Compared with the prior art, the method and the device have the advantages that the necessary lane changing times of the vehicle when each lane is used as the special lane for the internet connection vehicle are calculated by obtaining the real-time internet connection vehicle permeability of each lane, so that a scheme with the least necessary lane changing times of the vehicle is selected as the special lane for the internet connection vehicle at the stage, the performance of the special lane for the internet connection vehicle can be better exerted, and meanwhile, the method for acquiring and processing the required data is more convenient and has practical engineering application value.
3. Compared with the prior art, the dynamic position information of the special lane for the internet connection vehicle is transmitted to the driving vehicles by the intelligent luminous spikes uniformly arranged on the traffic marking of each lane, so that the driving vehicles running on the lane can more intuitively and timely receive the dynamic position of the special lane for the internet connection vehicle, the mutual interference between the internet connection vehicle and the driving vehicles caused by untimely and inaccurate information transmission is avoided, and the traffic flow operation safety and the traffic flow operation efficiency are improved.
4. Compared with the prior art, the invention can achieve the isolation effect by arranging the special lane, thereby reducing the conflict and improving the safety of traffic operation, solving the conflict problem between the human driving vehicle and the internet vehicle, fully playing the advantages of the internet vehicle and improving the overall traffic capacity of the road.
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FIG. 1 is a general flow diagram of the present invention;
FIG. 2 is a flow chart of a decision method of the present invention;
fig. 3 is a schematic diagram of dynamic regulation and control of the lane dedicated for the internet vehicle.
Detailed Description
In this embodiment, as shown in fig. 1, a method for dynamically regulating a lane dedicated for internet connection based on permeability is performed according to the following steps:
uniformly installing geomagnetic vehicle detectors at the positions of the upstream road sections of all the lanes and the setting area L of the network-connected special lane, and collecting the data with T through the geomagnetic vehicle detectors0The total number of vehicles entering each lane in the current time period of a fixed time interval is marked as { Q i1,2, …, n, where i denotes the number of lanes, n denotes the total number of lanes, QiRepresenting the total number of vehicles entering the ith lane in the current time period;
step 3, judging whether a special network connection lane needs to be set in the current time period by using the formula (1), if the formula (1) is established, indicating that the special network connection lane needs to be set in the current time period, and executing the step 4; otherwise, indicating that the special lane for the internet connection vehicle is not required to be set in the current time period, and executing the step 7;
in the formula (1), the reaction mixture is,
representing the overall permeability of the networked vehicles on all lanes,δthe lower limit of the permeability of the internet connection vehicle when the special lane of the internet connection vehicle needs to be set is shown,
representing the upper limit of the permeability of the internet connection vehicle when a special lane for the internet connection vehicle needs to be set;
step 4, as shown in fig. 2, the method calculates the necessary lane changing times of the vehicle when each lane is used as the dedicated lane for the internet connection vehicle by obtaining the real-time internet connection vehicle permeability of each lane, thereby selecting a scheme with the least necessary lane changing times of the vehicle as the dedicated lane for the internet connection vehicle at this stage, and specifically judging the lane number of the dedicated lane for the internet connection vehicle in the current time period as follows;
step 4.1, initializing a lane number k to be 1, setting the necessary lane changing frequency f of the vehicle to be + ∞, and setting the lane number m of the special lane for the internet connection to be 0; the number of necessary lane changes of the vehicle is the sum of the number of lane changes of the human-driven vehicle from the special lane of the internet vehicle to other lanes and the number of lane changes of the internet vehicle from other lanes to the special lane of the internet vehicle;
step 4.2, calculating the necessary lane changing times f of all vehicles in the upstream road section of all lanes when the kth lane is taken as the special lane for internet connection by using the formula (2)k：
In the formula (2), QkRepresenting the total number of vehicles entering the k-th lane, q, in the current time periodkRepresenting the number of the networked vehicles entering the kth lane in the current time period;
step 4.3 judging fkIf < f is true, executing step 4.4; otherwise, executing step 4.5;
step 4.4 changing f to fkM ═ k, updating the values of f and m;
step 4.5, judging whether k is more than n, if so, executing step 4.6; otherwise, executing step 4.7;
step 4.6, after k +1 is assigned to k, returning to the step 4.2 for sequential execution;
step 4.7, outputting lane number m of the special lane for the internet connection vehicle;
step 5, establishing the total quantity of the networked vehicles entering all lanes in the current time period by using the formula (3)
And the relation between the maximum traffic capacity S of the special lane for the internet vehicle in unit time is as follows:
if the formula (3) is established, sending the lane number m of the internet vehicle special lane to all internet vehicles in the upstream road sections of all lanes through the intelligent road side equipment, so that all the internet vehicles drive into the internet vehicle special lane m; otherwise, the lane number m of the network connection special lane is sent to the S.T close to the lane number m in the upstream road section of all lanes by the intelligent road side equipment0Connecting vehicles in a network, so that S.T0The vehicle of the vehicle network connection drives into the special lane m of the vehicle network connection, and other vehicle network connection continues to drive on the original lane;
step 6, the spike WiFi module receives the lane number of the network connection special lane and sends the lane number to the controller, so that the intelligent luminous spike on the network connection special lane m in the current time period is controlled to emit light to prompt a person driving on the lane to drive the vehicle out of the lane m and prompt persons driving on other lanes to drive the vehicle to avoid driving into the lane m;
step 7 returns to step 1 for sequential execution, thereby continuing to collect at T0The total number of vehicles entering each lane and the number of networked vehicles in the next time period of a fixed time interval are determined, and lane numbers of the networked special lanes in the next time period are judged.
As shown in fig. 3, the present embodiment exemplifies a unidirectional three-lane, and detects T by a geomagnetic vehicle detector installed at 500 meters upstream of each lane, L0The total number of vehicles entering each lane in the current time period with a fixed time interval of 0.5h is Q1630, Q2400 pieces of Q3510 pieces of the vehicle; through intelligent roadside equipment collection of evenly distributed in road both sides with T0The number of the networked vehicles entering each lane in the current time period with the fixed time interval being 0.5h is q1180 pieces q2160, q395 pieces of the powder; the lower limit of permeability when the special lane for the internet connection vehicle needs to be set according to the traffic conditions and the traffic management requirements of the one-way three-laneδ25%, if necessaryUpper limit of permeability when setting up special lane for internet connection vehicle
The maximum traffic capacity S of the special lane of the internet vehicle is 2000 vehicles/hour.
Then judging whether a special lane for internet connection is needed to be set in the current time;
the total permeability of the networked vehicles on all lanes in the current time period is satisfied
Therefore, a special lane for internet connection needs to be set in the current time period.
Then judging lane numbers which are used as special lanes for the internet vehicles in the current time period;
at this time, three special lane setting schemes can be selected:
the first scheme is as follows: selecting a first lane as a special lane of the internet vehicle, wherein the necessary changing times of the vehicle are as follows:
scheme II: and selecting a second lane as a special lane of the internet connection vehicle, wherein the necessary change times of the vehicle are as follows:
the third scheme is as follows: and selecting a third lane as a special lane of the internet connection vehicle, wherein the necessary change times of the vehicle are as follows:
at this moment f3＞f1＞f2Therefore, the second scheme is selected, namely, the second lane is selected as the special lane for the internet connection vehicle.
Due to the fact that
A vehicle; S.T01000 pieces of the powder 2000 × 0.5; satisfy the requirement of
And sending the information of the second lane serving as the special lane for the internet connection to all internet connection vehicles on the road section through the intelligent roadside device, controlling all the internet connection vehicles to enter the second lane, and simultaneously controlling the intelligent luminous spikes on the second lane to emit light in the current time period to prompt the person driving on the lane to drive the vehicle to exit the lane and the person driving on other lanes to avoid driving into the lane.
In this example, T00.5h, 500 m,δ＝25％、
S-2000/hr represents only data in the lane arrangement condition, and T is actually used0、L、δ、
The specific values of the parameters such as S and the like also need to be determined according to the influence factors such as actual road traffic conditions and the like.
Claims (4)
1. A permeability-based dynamic regulation and control method for a lane special for a networked vehicle is characterized by comprising the following steps:
step 1 acquisition by geomagnetic vehicle detector with T0The total number of vehicles entering each lane in the current time period of a fixed time interval is marked as { Qi1,2, …, n, where i denotes the number of lanes, n denotes the total number of lanes, QiIndicating entry into the ith bar during the current time periodTotal number of vehicles of the lane;
step 2, acquiring the number of the networked vehicles entering each lane in the current time period through the intelligent road side equipment, and recording the number as { qi1,2, …, n, where q isiRepresenting the number of the networked vehicles entering the ith lane in the current time period; with qiAnd QiThe ratio is used as the permeability of the internet of the ith lane;
step 3, judging whether a special network connection lane needs to be set in the current time period by using the formula (1), if the formula (1) is established, indicating that the special network connection lane needs to be set in the current time period, and executing the step 4; otherwise, indicating that the special lane for the internet connection vehicle is not required to be set in the current time period, and executing the step 7;
in the formula (1), the reaction mixture is,
representing the overall permeability of the networked vehicles on all lanes,δthe lower limit of the permeability of the internet connection vehicle when the special lane of the internet connection vehicle needs to be set is shown,
representing the upper limit of the permeability of the internet connection vehicle when a special lane for the internet connection vehicle needs to be set;
step 4, judging lane numbers of the special lanes for the internet connection vehicles in the current time period;
step 4.1, initializing a lane number k to be 1, setting the necessary lane changing frequency f of the vehicle to be + ∞, and setting the lane number m of the special lane for the internet connection to be 0; the number of necessary lane changes of the vehicle is the sum of the number of lane changes of the human-driven vehicle from the special lane of the internet vehicle to other lanes and the number of lane changes of the internet vehicle from other lanes to the special lane of the internet vehicle;
step 4.2, calculating the necessary lane changing times f of all vehicles in the upstream road section of all lanes when the kth lane is taken as the special lane for internet connection by using the formula (2)k：
In the formula (2), QkRepresenting the total number of vehicles entering the k-th lane, q, in the current time periodkRepresenting the number of the networked vehicles entering the kth lane in the current time period;
step 4.3 judging fkIf < f is true, executing step 4.4; otherwise, executing step 4.5;
step 4.4 changing f to fkM ═ k, updating the values of f and m;
step 4.5, judging whether k is more than n, if so, executing step 4.6; otherwise, executing step 4.7;
step 4.6, after k +1 is assigned to k, returning to the step 4.2 for sequential execution;
step 4.7, outputting lane number m of the special lane for the internet connection vehicle;
step 5, establishing the total quantity of the networked vehicles entering all lanes in the current time period by using the formula (3)
And the relation between the maximum traffic capacity S of the special lane for the internet vehicle in unit time is as follows:
if the formula (3) is established, sending the lane number m of the internet vehicle special lane to all internet vehicles in the upstream road sections of all lanes through the intelligent road side equipment, so that all the internet vehicles drive into the internet vehicle special lane m; otherwise, the lane number m value of the network connection special lane is sent to the front S.T close to the lane number m in the upstream road section of all lanes by the intelligent road side equipment0Connecting vehicles in a network, so that S.T0The vehicle connected to the Internet drives into the lane for the vehicle connected to the Internet, and other vehicles connected to the Internet continue to be on the original laneDriving;
step 6, controlling the intelligent luminous spike on the special lane m for the internet to emit light in the current time period, and prompting the person driving the vehicle on the lane to exit the lane m and the person driving the vehicle on other lanes to avoid entering the lane m;
step 7 returns to step 1 for sequential execution, thereby continuing to collect at T0The total number of vehicles entering each lane and the number of networked vehicles in the next time period of a fixed time interval are determined, and lane numbers of the networked special lanes in the next time period are judged.
2. The method for dynamically regulating the internet vehicle-dedicated lane according to claim 1, wherein the geomagnetic vehicle detector is uniformly installed on an upstream section of each lane.
3. The method for dynamically regulating and controlling the internet-connected vehicle-dedicated lane according to claim 1, wherein the intelligent road-side equipment is uniformly distributed on two sides of a road and interacts with a vehicle-road communication system arranged on the internet-connected vehicle in a short-range wireless communication mode.
4. The method as claimed in claim 1, wherein the intelligent light-emitting spikes in step 6 are uniformly distributed on the traffic lane of each lane, and the intelligent light-emitting spikes include: the device comprises a solar power supply module, a spike WiFi module, an LED light-emitting module and a controller;
the solar power supply module is used for supplying power to the intelligent luminous spike nail by receiving solar energy;
the spike WiFi module receives lane numbers of the lanes special for the internet connection and sends the lane numbers to the controller, so that the LED light-emitting module is controlled to emit light.
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| CN116092308B (en) * | 2022-11-28 | 2023-11-24 | 合肥工业大学 | Vehicle collaborative lane change control method for upstream and downstream of road bottleneck section in network environment |
| CN116013077A (en) * | 2023-01-06 | 2023-04-25 | 合肥工业大学 | Dynamic control method for expressway special road under hybrid networking environment |
| CN116013077B (en) * | 2023-01-06 | 2023-12-22 | 合肥工业大学 | Dynamic control method for expressway special road under hybrid networking environment |
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