CN113808436A - Motorcade control method for off-ramp vehicles to leave intelligent internet dedicated lane - Google Patents

Motorcade control method for off-ramp vehicles to leave intelligent internet dedicated lane Download PDF

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CN113808436A
CN113808436A CN202111008693.5A CN202111008693A CN113808436A CN 113808436 A CN113808436 A CN 113808436A CN 202111008693 A CN202111008693 A CN 202111008693A CN 113808436 A CN113808436 A CN 113808436A
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CN113808436B (en
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董长印
王昊
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Southeast University
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Abstract

本发明公开了一种下匝道车辆驶离智能网联专用道的车队控制方法，所述方法包括：分车道采集道路交通流信息，包括流量、速度、下匝道车辆比例、车头时距等数据，计算智能网联车队内下匝道头车的起始距离，并计算目标车道内换道间隙的平均容纳车辆数，接着确定智能网联专用道下匝道车辆的配对规模，最后计算智能网联车队内不同类型车辆的车头时距。该方法充分考虑多类型车道的属性特征和交通流特征，在保证智能网联车队有序平稳运行的同时，提高下匝道车辆的换道效率，减少对其他车流的影响，有效保障了下匝道瓶颈路段交通系统的服务水平。

Figure 202111008693

The invention discloses a fleet control method for off-ramp vehicles leaving an intelligent network-connected dedicated lane. The method includes: collecting road traffic flow information by lane, including data such as flow rate, speed, vehicle ratio off-ramp, headway distance and the like; Calculate the starting distance of the off-ramp head vehicle in the intelligent networked fleet, and calculate the average number of vehicles accommodated in the lane-changing gap in the target lane. Headway for different types of vehicles. This method fully considers the attribute characteristics and traffic flow characteristics of multiple types of lanes. While ensuring the orderly and stable operation of the intelligent networked fleet, the lane-changing efficiency of off-ramp vehicles is improved, the impact on other traffic flows is reduced, and the bottleneck of off-ramp is effectively guaranteed. The level of service of the road traffic system.

Figure 202111008693

Description

Motorcade control method for off-ramp vehicles to leave intelligent internet dedicated lane
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a motorcade control method for a vehicle on a lower ramp to drive away from an intelligent internet dedicated road.
Background
The intelligent internet traffic is a necessary trend for the future traffic technology development. Taking a road-vehicle-road cooperative system as an example, the purpose of the intelligent network connection special road is to reduce the time interval of the vehicle head through controlling the intelligent network connection vehicles under the condition of not influencing the stability of traffic flow so as to improve the passing efficiency of a traffic system, reduce energy consumption and guarantee safety. The bottleneck road section of the lower ramp of the expressway is a typical road section with multiple accidents and low traffic efficiency, and when a vehicle-road cooperation technology is applied, particularly how to control the vehicles on the lower ramp in a motorcade in an intelligent networking dedicated road to enable the vehicles to stably, safely and efficiently drive away from a current lane and converge into a target lane, the bottleneck road section is one of traffic management and control core technologies facing to an intelligent networking environment.
The patent "an intelligent networking electric automobile queue control method giving consideration to stability and energy conservation" (CN202011267689.6) mainly solves the problems of vehicle motor models and vehicle distance strategies facing to electric automobile queues; the patent "intelligent networking electric automobile queue optimization control method based on adaptive weight" (CN201910702422.6) obtains the optimal control variable and the optimal state variable corresponding to the current state based on the real-time optimization of the weight matrix; the patent 'a card motorcade column longitudinal hierarchical control method based on 5G-V2X and unmanned aerial vehicle' (CN202110026119.6) is based on the assistance of internet unmanned aerial vehicles, and solves the problem of stable cruise control of a truck motorcade. Therefore, neither the published literature nor the patent relates to the problem of how a down-ramp vehicle can travel away from a fleet of intelligent internet-dedicated lanes near an exit ramp, and does not relate to the associated control method.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects of the prior art, the invention aims to provide a motorcade control method for driving off the vehicles on the lower ramp from the intelligent network connection dedicated road. The method fully considers the attribute characteristics and traffic flow characteristics of multiple types of lanes, improves the lane changing efficiency of vehicles on the lower ramp, reduces the influence on other traffic flows and effectively ensures the traffic flow passing efficiency and driving safety level of the bottleneck section of the lower ramp while ensuring the orderly and stable operation of the intelligent internet motorcade.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
(1) collecting road traffic flow information of an intelligent network connection special road and a target lane, wherein the target lane is a lane into which vehicles on a lower ramp in the intelligent network connection special road merge;
(2) calculating the initial distance of the head car in the lower ramp vehicle in the intelligent networked fleet;
(3) calculating the average number of accommodated vehicles in the lane change gap in the target lane;
(4) determining the matching scale of the vehicles on the lower ramp in the intelligent network connection dedicated road, wherein the matching scale refers to the number of vehicles changing lanes simultaneously in the vehicles on the lower ramp in the intelligent network connection dedicated road;
(5) calculating the headway time of the vehicles in the intelligent networked fleet;
(6) and (5) controlling the lane change of the vehicles on the lower ramp in the special lane for the intelligent network connection and the headway of the vehicles in the fleet of the intelligent network connection according to the matching scale in the step (4) and the headway in the step (5).
Preferably, in step (1), the road traffic flow information includes a traffic flow Q dedicated to intelligent internet connection1Average speed V of vehicle in intelligent network connection special lane1Proportion P of lower ramp vehicles in special road for intelligent network connection1Intelligent internet special-purpose in-road intelligent internet fleet vehicle head time interval THWTarget lane flow rate Q2Average speed V of vehicle in target lane2The proportion P of the vehicles on the lower ramp in the target lane2And average vehicle length L in the intelligent network connection dedicated road and the target lanevehWherein the units of the flow, the speed, the headway and the vehicle length are respectively vehicle/hour (veh/h), meter/second (m/s), second(s) and meter (m).
Preferably, in the step (2), the initial distance of the head car of the lower ramp vehicle in the intelligent internet fleet refers to a minimum length L from the exit ramp when the head car of the lower ramp vehicle in the intelligent internet fleet starts to find the lane change gap in the target lane, and the calculation method is as follows:
Figure BDA0003238035300000021
in the formula L0Is a critical length, k1、k2For the set flow subentry coefficient (the default value in the invention is k)1＝0.25、k20.5), L and L0In kilometers (km).
Preferably, in step (3), the calculation of the average number of accommodated vehicles of the lane change clearance in the target lane is as follows:
theoretical length L of lane change gap in target laneLC：
Figure BDA0003238035300000022
In the formula k3The calculation method is that the proportionality coefficient of the vehicles on the lower ramp in the target lane is as follows:
Figure BDA0003238035300000023
the average number of accommodated vehicles N of the lane change clearance in the target lane:
Figure BDA0003238035300000031
in the formula k4Is a set vehicle length equivalent coefficient (default value k in the invention)4＝4)。
Preferably, in the step (4), the pairing scale N of the vehicle on the off-ramp of the intelligent networking dedicated road isLC：
Figure BDA0003238035300000032
In the formula, N is the average number of accommodated vehicles in the lane change clearance in the target lane.
Preferably, in the step (5), the headway of the vehicles in the intelligent networked fleet is divided into the following three categories:
the first type: when the rear vehicle of a certain ramp vehicle in the intelligent network connection special road is a straight-going vehicle, the straight-going vehicleHeadway TZ＝(1+P1)THW；
The second type: when a certain lower ramp vehicle in the intelligent network connection special road is an intelligent network connection motorcade head vehicle or a front vehicle is a straight-going vehicle, the head time interval T of the lower ramp vehicle
Figure BDA0003238035300000033
In the third category: besides the two types, other vehicles in the intelligent networked fleet keep the original running state, and the head time interval T of the vehiclesQ＝THW。
Has the advantages that: the invention discloses a motorcade control method for a vehicle running off a special intelligent internet road on a lower ramp, which fully considers the attribute characteristics and traffic flow characteristics of the special intelligent internet road on the current lane and a target lane, scientifically and reasonably determines the matching scale and the headway time of the vehicle on the lower ramp in the motorcade of the special intelligent internet road, improves the lane changing efficiency of the vehicle on the lower ramp while ensuring the orderly and stable running of the motorcade of the intelligent internet, reduces the influence on other traffic flows, and effectively ensures the traffic flow passing efficiency and the driving safety level of a bottleneck road section of the lower ramp.
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FIG. 1 is a flow chart of the method of the present invention.
FIG. 2 is a schematic diagram of an embodiment of the present invention.
Detailed Description
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description taken in conjunction with the accompanying drawings and specific examples.
In one embodiment, as shown in fig. 1, a method for controlling a vehicle fleet of off-ramp vehicles to drive away from an intelligent internet dedicated road is provided, road traffic flow information is collected by lane, the starting distance of the off-ramp head vehicles in the intelligent internet fleet and the average number of accommodated vehicles in a lane change gap in a target lane are calculated, then the pairing scale of the off-ramp vehicles in the intelligent internet dedicated road is determined, and finally the headway time of different types of vehicles in the intelligent internet fleet are calculated.
In one embodiment, the fleet control device for the off-ramp vehicle to leave the intelligent internet dedicated road comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the fleet control method for the off-ramp vehicle to leave the intelligent internet dedicated road when executing the computer program.
In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, which, when being executed by a processor, implements the steps of the above-described fleet control method for off-ramp vehicles to travel off an intelligent internet-dedicated roadway.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
In one embodiment as shown in fig. 2, a certain road segment has 3 lanes, the left lane is the dedicated intelligent internet lane, and the middle lane is the target lane. The target fleet is a fleet A, No. 1, No. 4, No. 5, No. 8 and No. 11 vehicles in the current fleet A are off-ramp vehicles, the rest vehicles are straight-going vehicles, and a fleet control scheme under the scene needs to be determined.
(1) Collecting road traffic flow information by lane
Intelligent network connection dedicated channel flow Q11000veh/h, average speed V130m/s, lower ramp vehicle ratio P120% of the target fleetHW1.0s, target lane flow Q2800veh/h, average speed V220m/s, lower ramp vehicle ratio P230%, and an average vehicle length Lveh＝5m。
(2) Calculating the initial distance of the head car in the lower ramp vehicle in the intelligent network connection fleet
The initial distance of the head car of the lower ramp in the intelligent network platoon refers to the minimum length L from the exit ramp when the head car of the lower ramp in the intelligent network platoon starts to find the lane change gap, and the calculation method is as follows:
since 0 < P2< 1, available
Figure BDA0003238035300000051
In the formula L0＝1.5km，k1＝0.25、k20.5, therefore:
Figure BDA0003238035300000052
(3) calculating an average number of accommodated vehicles for a lane change clearance in a target lane
Theoretical length L of lane change gap in target laneLC：
Figure BDA0003238035300000053
In the formula k3The calculation method is that the proportionality coefficient of the vehicles on the lower ramp in the target lane is as follows:
Figure BDA0003238035300000054
since L > 2.5, k30.6, therefore:
Figure BDA0003238035300000055
the average number of accommodated vehicles N of the lane change clearance in the target lane:
Figure BDA0003238035300000056
in the formula k4The default value is 4 for the equivalent coefficient of the vehicle length.
(4) Determining pairing scale of intelligent networking special-purpose off-road ramp vehicles
The number of the vehicles which are averagely accommodated is more than 5 and less than or equal to 7, and the pairing scale N of the vehicles on the ramp under the intelligent network connection special road is obtained according to the following formulaLC＝3。
(5) Calculating the headway time of different types of vehicles in the intelligent networked fleet
The first type: when the rear vehicle of the lower ramp vehicle in the motorcade is a straight-going vehicle, the head time interval T of the straight-going vehicleZ＝(1+P1)THW＝(1+20％)·1.0＝1.2s，
The second type: when the lower ramp vehicle is the head vehicle of the motorcade or the front vehicle is the straight-going vehicle, the head time distance of the lower ramp vehicle
Figure BDA0003238035300000057
In the third category: other vehicles of the fleet keep the original running state, and the head time interval T of the other vehiclesQ＝THW＝1.0s。
Thus, the final control scheme is: every 3 cars constitute a lower ramp fleet, namely, the 1 st, 4 th and 5 th cars constitute a first lower ramp fleet, and the 8 th and 11 th cars constitute a second lower ramp fleet, wherein the headway time interval of the 2 nd, 6 th and 9 th cars is 1.2s, the headway time interval of the 1 st, 4 th, 8 th and 11 th cars is 1.82s, and the headway time interval of the 3 rd, 5 th, 7 th and 10 th cars is 1.0 s.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.

Claims (8)

1.一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，包括如下步骤：1. a convoy control method for off-ramp vehicle driving away from intelligent network-connected dedicated lane, is characterized in that, comprises the steps: (1)采集智能网联专用道和目标车道的道路交通流信息，所述目标车道为智能网联专用道内下匝道车辆换道汇入的车道；(1) Collect the road traffic flow information of the intelligent networked dedicated lane and the target lane, and the target lane is the lane where the off-ramp vehicles merge into the intelligent connected dedicated lane; (2)计算智能网联车队内下匝道车辆中头车的起始距离；(2) Calculate the starting distance of the leading vehicle in the off-ramp vehicle in the intelligent networked fleet; (3)计算目标车道内换道间隙的平均容纳车辆数；(3) Calculate the average number of vehicles accommodated in the lane change gap in the target lane; (4)确定智能网联专用道内下匝道车辆的配对规模，所述配对规模指的是智能网联专用道内下匝道车辆中同时换道的车辆数；(4) Determine the pairing scale of off-ramp vehicles in the dedicated intelligent networked lane, where the pairing scale refers to the number of vehicles that change lanes at the same time among the off-ramp vehicles in the dedicated intelligent networked lane; (5)计算智能网联车队内车辆的车头时距；(5) Calculate the headway of vehicles in the intelligent networked fleet; (6)根据步骤(4)中的配对规模以及步骤(5)中的车头时距，控制智能网联专用道内下匝道车辆换道以及智能网联车队内车辆的车头时距。(6) According to the pairing scale in step (4) and the headway in step (5), control the lane change of off-ramp vehicles in the intelligent networked dedicated lane and the headway of vehicles in the intelligent networked fleet. 2.根据权利要求1所述的一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，步骤(1)中，所述道路交通流信息包括智能网联专用道流量Q1、智能网联专用道内车辆的平均速度V1、智能网联专用道内下匝道车辆所占比例P1、智能网联专用道内智能网联车队的车头时距THW，目标车道流量Q2、目标车道内车辆的平均速度V2、目标车道内下匝道车辆所占比例P2，以及智能网联专用道和目标车道内的平均车辆长度Lveh。2 . The convoy control method for off-ramp vehicles leaving the intelligent networked dedicated lane according to claim 1 , wherein in step (1), the road traffic flow information includes the intelligent connected dedicated lane flow Q . 3 . 1. The average speed V 1 of the vehicles in the dedicated lane for intelligent connectivity, the proportion of off-ramp vehicles in the dedicated lane for intelligent connectivity P 1 , the headway T HW of the intelligent connectivity fleet in the dedicated lane for intelligent connectivity, the target lane flow Q 2 , The average speed V 2 of vehicles in the target lane, the proportion of off-ramp vehicles in the target lane P 2 , and the average vehicle length L veh in the intelligent networked dedicated lane and the target lane. 3.根据权利要求1所述的一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，步骤(2)中，所述智能网联车队内下匝道车辆中头车的起始距离是智能网联车队内下匝道车辆中头车开始寻找目标车道内换道间隙时距离出口匝道的最小长度L，其计算方法如下：3. The convoy control method for off-ramp vehicles according to claim 1, characterized in that, in step (2), the leading vehicle in the off-ramp vehicle in the intelligent network convoy The starting distance is the minimum length L from the exit ramp when the leading vehicle in the off-ramp vehicle in the intelligent networked fleet starts to find the lane-changing gap in the target lane. The calculation method is as follows:
Figure FDA0003238035290000011
Figure FDA0003238035290000011
 式中L0为临界长度，k1、k2为设定的流量分项系数。In the formula, L 0 is the critical length, and k 1 and k 2 are the set flow sub-item coefficients. 4.根据权利要求1所述的一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，步骤(3)中，所述目标车道内换道间隙的平均容纳车辆数N，其计算方法如下：4. The convoy control method of a kind of off-ramp vehicle according to claim 1, it is characterized in that, in step (3), the average number of accommodating vehicles N in the lane-changing gap in the target lane , which is calculated as follows:
Figure FDA0003238035290000012
Figure FDA0003238035290000012
 式中，LLC为目标车道内换道间隙的理论长度，
Figure FDA0003238035290000013
k3为目标车道内下匝道车辆的比例系数，
Figure FDA0003238035290000021
k4为设定的车长等效系数。where L LC is the theoretical length of the lane change gap in the target lane,
Figure FDA0003238035290000013
k 3 is the proportional coefficient of off-ramp vehicles in the target lane,
Figure FDA0003238035290000021
k 4 is the set vehicle length equivalent coefficient. 5.根据权利要求1所述的一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，步骤(4)中，所述智能网联专用道下匝道车辆的配对规模NLC，其计算方法如下：5 . The method for controlling a fleet of off-ramp vehicles according to claim 1 , wherein in step (4), the pairing scale N of the off-ramp vehicles on the intelligent network-connected dedicated lane is N. 6 . LC , which is calculated as follows:
Figure FDA0003238035290000022
Figure FDA0003238035290000022
 式中，N为目标车道内换道间隙的平均容纳车辆数。In the formula, N is the average number of vehicles accommodated in the lane change gap in the target lane. 6.根据权利要求1所述的一种下匝道车辆驶离智能网联专用道的车队控制方法，其特征在于，步骤(5)中，所述智能网联车队内车辆的车头时距分为以下三类：6. The convoy control method for off-ramp vehicles driving off the intelligent network-connected dedicated lane according to claim 1, wherein in step (5), the head-to-head distance of vehicles in the intelligent network-connected fleet is divided into: The following three categories: 第一类：智能网联专用道内某一下匝道车辆的后车为直行车辆时，该直行车辆的车头时距为TZ＝(1+P1)THW；The first category: when the vehicle behind a vehicle on an off-ramp in the intelligent network-connected dedicated lane is a straight vehicle, the headway of the straight vehicle is T Z =(1+P 1 )T HW ; 第二类：智能网联专用道内某一下匝道车辆为智能网联车队头车或前车为直行车辆时，该下匝道车辆的车头时距为
Figure FDA0003238035290000023
Category 2: When an off-ramp vehicle in the dedicated intelligent networked lane is the lead vehicle of the intelligent networked fleet or the vehicle in front is a straight vehicle, the headway of the off-ramp vehicle is
Figure FDA0003238035290000023
 第三类：除上述两类外，智能网联车队内其他车辆保持原有行驶状态，其车头时距为TQ＝THW。The third category: In addition to the above two categories, other vehicles in the intelligent networked fleet maintain the original driving state, and their headway is T Q =T HW . 7.一种下匝道车辆驶离智能网联专用道的车队控制设备，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至6中任一所述的下匝道车辆驶离智能网联专用道的车队控制方法的步骤。7. A fleet control device for off-ramp vehicles to leave an intelligent network-connected dedicated lane, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the claims when executing the computer program The steps of any one of 1 to 6 of the method for controlling a fleet of off-ramp vehicles to leave an intelligent network-connected dedicated lane. 8.一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至6中任一所述的下匝道车辆驶离智能网联专用道的车队控制方法的步骤。8. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the off-ramp vehicle of any one of claims 1 to 6 can be driven off the intelligent network connection Steps of a fleet control method for a dedicated lane.
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CN115083140A (en) * 2022-04-18 2022-09-20 同济大学 Special intelligent network-connected automobile expressway road management and control method, system and storage medium
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