CN113808436B - 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 PDFInfo
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- CN113808436B CN113808436B CN202111008693.5A CN202111008693A CN113808436B CN 113808436 B CN113808436 B CN 113808436B CN 202111008693 A CN202111008693 A CN 202111008693A CN 113808436 B CN113808436 B CN 113808436B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The invention discloses a motorcade control method for a vehicle on a lower ramp to leave an intelligent internet dedicated road, which comprises the following steps: collecting road traffic flow information including data such as flow, speed, lower ramp vehicle proportion, headway and the like by lane division, calculating the initial distance of lower ramp headway vehicles in an intelligent network connection motorcade, calculating the average number of accommodated vehicles in a lane change gap in a target lane, determining the matching scale of the lower ramp vehicles of the intelligent network connection special lane, and finally calculating the headway of different types of vehicles in the intelligent network connection motorcade. 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 service level of a traffic system on the bottleneck road section of the lower ramp while ensuring the orderly and stable operation of the intelligent internet motorcade.
Description
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 both stability and energy saving" (CN 202011267689.6) mainly solves the problems of a vehicle motor model and a vehicle distance strategy facing an electric automobile queue; the patent "intelligent networking electric automobile queue optimization control method based on adaptive weight" (CN 201910702422.6) 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' (CN 202110026119.6) is based on the assistance of an internet unmanned aerial vehicle, and solves the problem of stable cruise control of a truck motorcade. Therefore, neither the published documents nor the patent relate to the problem of how a down-ramp vehicle drives off a fleet of vehicles within an intelligent internet-dedicated lane near an exit ramp, and do not relate to a related 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 network connection motorcade;
(3) Calculating the average number of the accommodated vehicles in the lane changing 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 the step (1),the road traffic flow information comprises a special road flow Q for intelligent network connection 1 Average speed V of vehicles in intelligent network connection special road 1 Proportion P of lower ramp vehicles in special road for intelligent network connection 1 Intelligent internet special-purpose in-road intelligent internet fleet vehicle head time interval T HW Target lane flow rate Q 2 Average speed V of vehicle in target lane 2 The proportion P of vehicles on the lower ramp in the target lane 2 And average vehicle length L in the intelligent network connection dedicated road and the target lane veh Wherein 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:
in the formula L 0 Is a critical length, k 1 、k 2 For the set flow subentry coefficient (the default value in the invention is k) 1 ＝0.25、k 2 = 0.5), L and L 0 In 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 lane LC ：
In the formula k 3 The calculation method is that the proportionality coefficient of the vehicles on the lower ramp in the target lane is as follows:
the average number of accommodated vehicles N of the lane change clearance in the target lane:
in the formula k 4 Is 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 internet dedicated road is LC ：
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 head time distance T of the straight-going vehicle Z ＝(1+P 1 )T HW ；
The second type: when a certain lower ramp vehicle in the intelligent internet connection special road is an intelligent internet connection motorcade head vehicle or a front vehicle is a straight-going vehicle, the head time distance T of the lower ramp vehicle
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 vehicles Q ＝T HW 。
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.
Drawings
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 vehicle 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 vehicle 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 (Rambus) direct RAM (RDRAM), direct memory 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 networking dedicated channel flow Q 1 =1000veh/h, average speed V 1 =30m/s, ratio of vehicles on the off-ramp P 1 =20%, the headway T of the target fleet HW =1.0s, target lane flow Q 2 =800veh/h, average speed V 2 =20m/s, ratio of vehicles on the off-ramp P 2 =30%, and average vehicle length L veh ＝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 connection motorcade refers to the minimum length L from the exit ramp when the head car of the lower ramp in the intelligent network connection motorcade starts to find the lane change gap, and the calculation method comprises the following steps:
since 0 < P 2 < 1, available
In the formula L 0 ＝1.5km，k 1 ＝0.25、k 2 =0.5, so:
(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 lane LC ：
In the formula k 3 The calculation method is that the proportionality coefficient of the vehicles on the lower ramp in the target lane is as follows:
since L > 2.5, k 3 =0.6, so:
the average number of accommodated vehicles N of the lane change clearance in the target lane:
in the formula k 4 The default value is 4 for the equivalent coefficient of the vehicle length.
(4) Determining pairing scale of vehicle on ramp under intelligent network connection special road
Because the average number of the accommodated vehicles is more than 5 and N is less than or equal to 7 according to the following formula, the intelligent network connection special-purpose on-ramp vehicles under the roadPair size N LC ＝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 vehicle Z ＝(1+P 1 )T HW ＝(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
In the third category: other vehicles of the fleet keep the original running state, and the head time interval T of the other vehicles Q ＝T HW ＝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 1.0s.
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 derived therefrom are intended to be within the scope of the invention.
Claims (3)
1. A motorcade control method for vehicles on a lower ramp to leave an intelligent internet dedicated road is characterized by comprising the following steps:
(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; wherein, the road traffic flow information comprises the traffic flow Q special for intelligent network connection 1 And intelligenceAverage speed V of vehicle in network connection special road 1 Proportion P of lower ramp vehicles in special road for intelligent network connection 1 Intelligent internet special-purpose in-road intelligent internet fleet vehicle head time interval T HW Target lane flow rate Q 2 Average speed V of vehicle in target lane 2 The proportion P of the vehicles on the lower ramp in the target lane 2 And average vehicle length L in the intelligent network connection dedicated road and the target lane veh ；
(2) Calculating the initial distance of the head car in the lower ramp vehicle in the intelligent networked fleet; the initial distance of the head car in the lower ramp vehicle in the intelligent network platoon is the minimum length L from the exit ramp when the head car in the lower ramp vehicle in the intelligent network platoon starts to find the lane change gap in the target lane, and the calculation method is as follows:
in the formula L 0 Is a critical length, k 1 、k 2 Is a set flow rate polynomial coefficient;
(3) Calculating the average number of the accommodated vehicles in the lane changing gap in the target lane; the average number N of the accommodated vehicles in the lane changing gap in the target lane is calculated by the following method:
in the formula, L LC For the theoretical length of the lane change gap in the target lane,
k 3 is the proportionality coefficient of the vehicles on the lower ramp in the target lane,
k 4 the set vehicle length equivalent coefficient;
(4) Determining intelligent networkingThe pairing scale of the vehicles on the lower ramp in the special road refers to the number of vehicles which are simultaneously changed in the vehicles on the lower ramp in the intelligent network connection special road; the pairing size N LC The calculation method of (2) is as follows:
in the formula, N is the average number of accommodated vehicles in the lane change gap in the target lane;
(5) Calculating the headway time of the vehicles in the intelligent networked fleet; the time headway of the vehicles in the intelligent networked fleet is divided into the following three types:
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 time interval of the head of the straight-going vehicle is T Z ＝(1+P 1 )T HW ；
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 of the lower ramp vehicle is
In the third category: besides the two types, other vehicles in the intelligent networked fleet keep the original running state, and the time interval of the locomotive is T Q ＝T HW ；
(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).
2. A fleet control device for a off-ramp vehicle to leave an intelligent internet dedicated road, comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the fleet control method for the off-ramp vehicle to leave the intelligent internet dedicated road according to claim 1.
3. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method for controlling a fleet of off-ramp vehicles to travel off an intelligent internet dedicated roadway of claim 1.
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| CN114495556B (en) * | 2022-01-19 | 2023-03-10 | 华中科技大学 | Method for setting optimal formation length for automatic driving under constraint of ramp spacing of highway |
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| CN115578849B (en) * | 2022-09-28 | 2023-08-29 | 东南大学 | Optimization method for centralized formation of automatic driving vehicles in special lane environment |
| CN116311867B (en) * | 2023-01-18 | 2024-03-19 | 东南大学 | Multi-vehicle collaborative lane changing method based on intelligent network vehicle linkage queue control |
| CN116129627B (en) * | 2023-01-18 | 2023-12-01 | 东南大学 | Collaborative lane changing strategy in front of intelligent network connected vehicle under ramp |
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