CN114664103A - Dynamic control method for intersection entrance and exit lane direction under automatic driving - Google Patents

Dynamic control method for intersection entrance and exit lane direction under automatic driving Download PDF

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CN114664103A
CN114664103A CN202210352347.7A CN202210352347A CN114664103A CN 114664103 A CN114664103 A CN 114664103A CN 202210352347 A CN202210352347 A CN 202210352347A CN 114664103 A CN114664103 A CN 114664103A
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lane
exit
entrance
vehicle
intersection
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龙科军
张仲根
鲁宣廷
吴伟
刘洋
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Changsha University of Science and Technology
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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
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0133—Traffic data processing for classifying traffic situation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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Abstract

The invention discloses a dynamic control method for the directions of an entrance lane and an exit lane of an intersection under automatic driving, belonging to the field of intelligent traffic. In an autonomous driving environment, all lanes are free-steering lanes (straight, left, right shared lanes). The method comprises the steps of collecting the inlet and outlet channels, time and speed of vehicles entering the intersection area, calculating the average speed, the queuing length and the lane utilization rate of the vehicles in all directions, and judging whether the traffic states of the inlet and outlet lanes in different directions are congested or not according to the average speed, the queuing length and the lane utilization rate. If the entrance lane and the exit lane in the same direction are in idle and crowded states respectively, the traffic direction of the idle lane is changed. And calculating the number of the specific lane change and the lane direction change duration. The lane direction is kept as it is when the entrance and exit lane in one direction is in other states. And when the conversion duration is over, performing next dynamic control judgment. The method of the invention avoids the idle lane by changing the lane direction, improves the utilization efficiency of the lane and realizes the dynamic control of the lane to effectively distribute road resources.

Description

Dynamic control method for intersection entrance and exit lane direction under automatic driving
Technical Field
The invention belongs to the field of intelligent traffic systems, relates to the technical field of urban road lane direction dynamic management, and particularly relates to a dynamic control method for the directions of an entrance lane and an exit lane of an intersection under automatic driving.
Background
With the application of the 5G communication technology to the ground, instant communication between vehicles and between the vehicles and the edge computing unit becomes possible, and a foundation is provided for the ground of the Internet of vehicles. The country also establishes three national-level internet of vehicles pilot areas of Jiangsu province (Wuxi), Tianjin city (West Qing) and Hunan province (Changsha) in sequence, and accelerates the development of the self-driving vehicle in China.
Under the automatic driving environment, tidal communication congestion is more and more common due to the development of the urbanization process and the construction of an urban center, and a large amount of unilateral congestion exists on a road section. Resulting in the waste of space-time resources of the lanes and the serious influence on the running efficiency of the road network. In order to improve the one-way congestion phenomenon at one side, a lane-variable technology is provided, the direction of an intersection entrance/exit lane is changed based on the real-time traffic state, the utilization efficiency of road space-time resources is improved, and the safe and efficient traffic of vehicles in the intersection area is guaranteed.
The literature retrieval of the prior art finds that the existing literature for the automatic driving variable lane mainly judges whether lane changing is needed or not based on the flow, the traffic state of the lane is not considered comprehensively, the lane direction switching time is mostly fixed intervals, and the switching time is not calculated according to the actual situation.
Disclosure of Invention
The technical problem is as follows: the method aims to solve the problem of time and space resource waste of lanes caused by single-side congestion of a road network under the condition of unbalanced bidirectional road traffic flow. The invention aims to provide a dynamic control method for the direction of an entrance lane and an exit lane of an intersection under automatic driving, which judges whether lane direction change is needed or not and calculates the number of lanes needing to be changed and the lane direction change time by judging the traffic states of adjacent entrance lanes and adjacent exit lanes, thereby improving the problem of time-space resource waste of the lanes and leading vehicles to safely and efficiently pass in the intersection area.
The technical scheme is as follows: in order to solve the technical problem, the method for dynamically controlling the direction of the entrance/exit lane of the intersection comprises the following steps:
step 1: determining the physical characteristics of the number, the length, the width and the like of lanes of each inlet road and each outlet road of the intersection and numbering; collecting the number, turning direction and length of an entrance road where a vehicle is located and the number of a target exit road; collecting the flow of each inlet channel and outlet channel in the cross area; calculating the average speed of vehicles in all directions of an entrance lane and an exit lane at the intersection t;
and 2, step: discretizing an entrance and an exit road of an intersection area, dividing the entrance and the exit road into a plurality of square grids with the same size, judging whether each grid is occupied by a vehicle at the time t according to the position coordinates of the vehicle, and calculating the lane utilization rate; calculating the queuing length of each lane; judging the traffic state of the lane according to the average speed, the lane utilization rate and the lane queuing length;
and step 3: if the traffic states of the entrance and exit roads are idle and crowded respectively, the direction of the idle lane is changed, and the number of the changed lanes is calculated specifically; under other conditions, the direction of the inlet and outlet lane is kept unchanged; and calculating the duration of the lane direction change, judging the traffic state again after the duration is ended, and performing dynamic control.
In the invention, the steps of collecting physical parameters and vehicle information of the intersection environment and calculating the intersection area flow and average vehicle speed in step 1 comprise the following steps:
step 11: the intersection inlet direction is represented by a parameter O, and the intersection inlet direction has four directions of east, west, south and north, wherein O belongs to O, and O is { E, W, S, N }; the parameter D represents the exit direction of the intersection, and also comprises four directions of east, west, south and north, D belongs to D, and D is { e, w, s, n } to number the entrance and exit roads of the intersection from the inner side to the outer side of the road in sequence; the number of the lanes of the entrance way in the direction o is Ho; the lane widths of the intersection regions are all B; the length of each lane is L;
step 12: the method comprises the steps that a vehicle cannot stop in an intersection, and the number Z of the vehicle is determined according to the time when the vehicle enters an intersection area, wherein the Z belongs to the Z, and the Z represents the number of all vehicles; recording the direction of entry of the vehicle and the direction of exit of the object, oi-djRepresenting the path from the o-entry direction lane i to the d-exit direction lane j,with E1-s2For example, a vehicle is shown traveling from the eastern inboard 1 st entrance lane to the southern inboard 2 nd exit lane;
step 13: different vehicles on the road can be identified and tracked under the automatic driving environment; the same vehicle number z is the same vehicle data record
Figure BDA0003581192580000011
Acquiring the number of vehicles on the current road section by detecting the number of different 'z';
calculating the traffic flow of the vehicle at the entrance way in the direction i at the time t
Figure BDA0003581192580000012
Wherein, JiRepresenting the set of all vehicles in the direction of the intersection i:
Figure BDA0003581192580000013
the instantaneous speed of the vehicle on the road section at the moment t can be obtained under the automatic driving environment
Figure BDA0003581192580000014
Respectively calculating the average speed of vehicles in the entrance lane and the exit lane in each direction, and calculating the average speed of vehicles at the time t in the i direction
Figure BDA0003581192580000021
Represents:
Figure BDA0003581192580000022
in the invention, in the step 2, the intersection entrance and exit lanes are discretized, the lane utilization rate and the queuing length are calculated, and the traffic state is calculated, wherein the method comprises the following steps:
step 21: firstly, discretizing an inlet channel and an outlet channel of an intersection region, dividing the inlet channel and the outlet channel into a plurality of square grids with the same size, wherein the side length of each square grid is integral multiple of the lane width. Establishing a rectangular coordinate system, determining the coordinate boundary of the squares, and setting that all the squares can be occupied by only one vehicle at the same time:
dR＝dr/N,N∈N* (3)
in the formula: drIndicates the lane width, dRRepresenting the square side length in meters, N represents a constant, N*Represents a set of positive integers;
R(r,a,b)the numbers of the squares R in the region R corresponding to the x axis and the y axis are a, b, R is belonged to {1,2, …,8} respectively, and the squares in the region R are sequentially marked with R according to the clockwise sequence(1,a,b)、R(2,a,b)、R(3,a,b)、R(4,a,b)、R(5,a,b)、R(6,a,b)、R(7,a,b)、R(8,a,b)The coordinate ranges of the corresponding squares are expressed by formulas (4) - (11):
Figure BDA0003581192580000023
Figure BDA0003581192580000024
Figure BDA0003581192580000025
Figure BDA0003581192580000026
Figure BDA0003581192580000027
Figure BDA0003581192580000028
Figure BDA0003581192580000029
Figure BDA00035811925800000210
in the formula: a. theoRepresenting the maximum number of discretized grids of the inlet channel in the o direction; a. thedRepresenting the maximum number of discretization grids of the outlet channel in the direction d;
step 22:
Figure BDA00035811925800000211
for the variable 0-1, at time t, each cell is counted
Figure BDA00035811925800000212
Whether or not there is vehicle information in it, if there is vehicle information
Figure BDA00035811925800000213
Otherwise
Figure BDA00035811925800000214
Calculating the occupancy rate of the cells of the entrance passage in the o direction at the time t
Figure BDA00035811925800000215
G is a set of 8 regions divided clockwise, xLIs the total number of cell horizontal directions, xWThe total number of the longitudinal direction of the unit cell is as follows:
Figure BDA00035811925800000216
d exit direction cell occupancy
Figure BDA00035811925800000217
Figure BDA00035811925800000218
Step 23: calculating the maximum queuing length of the lane j in the direction i at the moment t
Figure BDA00035811925800000219
If the continuous k discrete cells have no vehicle information, the queuing length is output
Figure BDA00035811925800000220
Figure BDA00035811925800000230
Calculating the queuing lengths of all lanes in the i direction at the t moment
Figure BDA00035811925800000222
Figure BDA00035811925800000223
Step 24: at time t, the average speed of the vehicle over the road section
Figure BDA00035811925800000224
Road segment occupancy
Figure BDA00035811925800000225
And queue length
Figure BDA00035811925800000226
Average speed V of vehicles on road section in smooth running statefRoad segment occupancy pfAnd queue length MfComparing and judging the traffic state of the lane
Figure BDA00035811925800000227
Figure BDA00035811925800000228
In the step 3, when the direction of the entrance lane and the direction of the adjacent exit lane meet the condition, the number and duration of lane changing are calculated, and the method comprises the following steps:
step 31: at the time t, judging whether the current direction inlet channel and the adjacent outlet channel are jammed: when the entrance lane and the exit lane are both crowded and unblocked, the lanes do not change, and when the entrance lane and the exit lane are unblocked and crowded respectively, the unblocked lane is prepared for direction change:
Figure BDA00035811925800000229
step 32: when UO is equal to 1 and U isdWhen the number of the lanes is equal to 0, the entrance lane is smooth and the exit lane is blocked, and the number of the lanes provided by the entrance lane for the exit lane is calculated by a formula:
Figure BDA0003581192580000031
when U is turnedo0 and UdWhen the number of the lanes is 1, the exit lane is clear and the entrance lane is congested, and the number of the lanes provided by the exit lane for the entrance lane is calculated by a formula:
Figure BDA0003581192580000032
| is a floor rounding function.
After the number of the lane to be changed is determined, sequentially changing the direction of the lanes of the inner side with small lane numbers;
step 33: determining the shortest duration time T of lane change according to the traffic flow and the traffic capacity after lane changec：
Figure BDA0003581192580000033
Wherein, CiFor freely turning to lanes under real environmentThe row capability.
q is the flow; theta, gamma and delta are flow proportions of straight running, left turning and right turning of the vehicle respectively; λ is a constant, q/1-qtm；tmThe minimum value of the headway time is obtained; critical clearance t for straight running of vehiclec11Critical gap t for left turnc12Critical clearance t for right turnc13The time interval of each flow direction of the small vehicle is tf1；
Figure BDA0003581192580000034
Figure BDA0003581192580000035
Figure BDA0003581192580000036
The corrected i-direction lane traffic capacity;
Figure BDA0003581192580000037
the traffic capacity of a single lane j;
wherein, alThe lane traffic capacity reduction coefficient is that from the center line, the first lane reduction coefficient is 1, the second lane reduction coefficient is 0.98, the third lane reduction coefficient is 0.96, and the fourth lane reduction coefficient is 0.94.
awThe lane width is a lane width reduction factor, 3.50m, aw1.0, lane width 3.25m, aw0.94, lane width 3.00m, aw0.85, lane width 2.75m, aw 0.77.
axThe traffic capacity correction factor for automatic driving was taken to be 1.3.
Minimum duration
Figure BDA0003581192580000038
Time to clear from road section
Figure BDA0003581192580000039
And safety row in the intersection areaTime of travel TinsIs added.
Figure BDA00035811925800000310
The clearing time of the road section is determined by the ratio of the flow to the traffic capacity;
Figure BDA00035811925800000311
the safe driving time in the intersection area is determined by the longest path l in the areamaxWith smooth speed vfThe ratio of (A) to (B):
Tins＝lmax/vf (25)
step 34: when the lane does not change, the minimum time interval is judged to be T next timemin；
Figure BDA00035811925800000312
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of lane discretization according to the method of the present invention;
FIG. 3 is a schematic diagram of the queue length of the method of the present invention;
FIG. 4 is a schematic diagram of lane dynamics according to the method of the present invention.
Detailed Description
The technical scheme of the invention is explained in detail by combining the drawings and the embodiment as follows:
example (c): selecting a typical intersection of a city as a research object, and determining basic information of the intersection under an automatic driving environment, wherein the basic information comprises the number of lanes, the length of the lanes and the width of the lanes of the intersection; determining basic information of the vehicle, including: size, operating parameters, start and stop destination lanes. The embodiment of the invention selects the orthogonal crossroad with six bidirectional lanes, and the basic information of the crossroad in the initial state is that the number of lanes of the inlet lane and the outlet lane of the crossroad is 3, the length of each lane is set to 300m, and the width of each lane is set to 3 m. The length of the vehicle is 5 m.
The characteristics of the start and stop lane information of the vehicle in the intersection area are extracted as shown in tables 1 and 2 below.
Table 1 t time each entrance way flow direction vehicle number table
Figure BDA00035811925800000313
Figure BDA0003581192580000041
Table 2 t time each exit road flow direction vehicle number table
Exit lane e1 e2 e3 w1 w2 w3
Flow rate 39 43 40 21 38 30
Exit lane s1 s2 s3 n1 n2 n3
Flow rate 46 65 37 9 24 22
The vehicle flow rate in each direction is calculated according to equation 1, as shown in table 3 below.
TABLE 3T TIME VARIABLE-DIRECTION FLOW METER FOR VEHICLES
Figure BDA0003581192580000042
The average vehicle speed in each direction of the intersection is calculated according to the formula 2, and is shown in the following table 4:
TABLE 4T-TIME UNIVERSAL SPEED METER
Figure BDA0003581192580000043
And establishing a rectangular coordinate system, discretizing the intersection entrance and exit lane areas and numbering according to a clockwise sequence. The coordinate ranges corresponding to the grid numbers of different quadrants are calculated by formulas (4) - (11), and the discretization diagram is shown in fig. 2:
Figure BDA0003581192580000044
Figure BDA0003581192580000045
Figure BDA0003581192580000046
Figure BDA0003581192580000048
Figure BDA0003581192580000049
Figure BDA00035811925800000410
Figure BDA00035811925800000411
Figure BDA00035811925800000412
the lane cell occupancy in different directions at time t is calculated according to equations 12 and 13 as shown in the following table.
TABLE 5T TIME TABLE OF CANNEL CELL ACCUMULATION TABLE IN DIFFERENT DIRECTIONS
Figure BDA0003581192580000051
The average queue length per direction at time t is calculated according to equations 14 and 15, as shown in table 6 below.
TABLE 6 t-TIME METER FOR UNIFORM DIRECTIONS OF UNIFORM GROUPING LENGTH
Figure BDA0003581192580000052
According to the literature and related standards, the smooth speed VfSet as 10M/s, the open queuing length MfSet to 36m, open road segment occupancy PfThe setting was 60%.
According to the formula 16, the traffic state in each entrance and exit direction is determined as shown in table 7:
TABLE 7T TIME-DIFFERENT DIRECTION TRAFFIC STATE TABLE
Figure BDA0003581192580000053
At time t, according to formula 17, it is determined whether the current direction entrance lane and the adjacent exit lane are congested: when the entrance lane and the exit lane are both crowded and unblocked, the lanes do not change, and when the entrance lane and the exit lane are unblocked and crowded, respectively, the lanes in the unblocked direction are prepared for direction change.
According to the formulas 18 and 19, calculating the number of lanes respectively provided by the west-direction exit lane, the south-direction entrance lane and the north-direction exit lane in the open state when the lane direction is ready to be changed as 1, 1 and 2:
Figure BDA0003581192580000056
Figure BDA0003581192580000057
Figure BDA0003581192580000058
the lane changes specifically at time t, as shown in table 8:
TABLE 8T TIME TRAIN DIRECTION CHANGE TABLE
Inlet lane E1 E2 E3 W1 W2 W3
Direction change Is not changed Is not changed Is not changed Is not changed Is not changed Is not changed
Inlet lane S1 S2 S3 N1 N2 N3
Direction change Variations in Is not changed Is not changed Is not changed Is not changed Is not changed
Exit lane e1 e2 e3 w1 w2 w3
Direction change Is not changed Is not changed Is not changed Variations in Is not changed Is not changed
Exit lane s1 s2 s3 n1 n2 n3
Direction change Is not changed Is not changed Is not changed Variations in Variations in Is not changed
Determining the shortest duration T of the lane change according to equations (20) - (25)c. Determining C by equation (20)W,CsAnd CN
q is 1000. Theta, gamma and delta are respectively taken according to the table 1.λ is a constant, q/1-qtm. Reference is made to the relevant technical standards and literature tmThe value is 1.5. t is tc11A value of 2, tc12The value is 2.5, tc13A value of 1.75, tf1The value is 1.5:
Figure BDA0003581192580000054
Figure BDA0003581192580000055
Figure BDA0003581192580000061
CW、Csand CNCalculated as 1474/h, 1320/h and 1326/h respectively.
The corrected traffic capacity is calculated by taking the west-direction lane as an example by equation 21:
Figure BDA0003581192580000062
Figure BDA0003581192580000063
Figure BDA0003581192580000064
Figure BDA0003581192580000065
the corrected directional traffic capacity is calculated by equation 22:
Figure BDA0003581192580000066
when the lane needs to be changed, the lane change duration travel time is calculated by the formula 23-25:
Figure BDA0003581192580000067
Figure BDA0003581192580000068
Figure BDA0003581192580000069
if the next judgment time interval is calculated by equation 26 when the lane does not change:
Figure BDA00035811925800000610

Claims (3)

1. a dynamic control method for the direction of an entrance lane and an exit lane of an intersection under automatic driving is characterized by comprising the following steps:
step 1: determining physical characteristics such as the number, the length, the width and the like of lanes of each entrance lane and each exit lane at the intersection and numbering the physical characteristics; collecting the number, turning direction and length of an entrance road where a vehicle is located and the number of a target exit road; collecting the flow of each inlet channel and outlet channel in the crossing area at the time t; calculating the average speed of vehicles in all the directions of the inlet road and the direction of the outlet road of the intersection at the time t;
step 2: discretizing an inlet channel and an outlet channel of an intersection area, and dividing the inlet channel and the outlet channel into a plurality of square grids with the same size; judging whether each square is occupied by the vehicle at the moment t according to the position coordinates of the vehicle, and calculating the lane utilization rate; calculating the vehicle queuing length of each lane; judging the traffic state of the lane according to the average speed, the lane utilization rate and the vehicle queuing length;
and step 3: if the traffic states of the entrance and exit roads are idle and crowded respectively, the direction of the idle lane is changed, and the number of the changed lanes and the change duration of the lane direction are calculated specifically; under other conditions, keeping the directions of the entrance and exit lanes unchanged, and calculating the minimum time interval; after the duration time interval or the minimum time interval is finished, judging the traffic state again and dynamically controlling the lane;
the step 1 comprises the following steps:
step 11: the intersection inlet direction is represented by a parameter O, and the intersection inlet direction has four directions of east, west, south and north, wherein O belongs to O, and O is { E, W, S, N }; the parameter D represents the exit direction of the intersection, and also comprises four directions of east, west, south and north, D belongs to D, D is { e, w, s, n }, and the entrance and exit roads of the intersection are numbered from the inner side to the outer side of the road in sequence; the number of the lanes of the entrance way in the direction o is Ho; the lane widths of the intersection regions are all B; the length of each lane is L;
step 12: the method comprises the steps that a vehicle cannot stop in an intersection, and the number Z of the vehicle is determined according to the time when the vehicle enters an intersection area, wherein the Z belongs to the Z, and the Z represents the number of all vehicles; recording the direction of entry of the vehicle and the direction of exit of the object, oi-djThe path from the o-entry direction lane i to the d-exit direction lane j is shown as E1-s2For example, the vehicle is shown to be driven from the east to the 1 st entrance lane to the south to the 2 nd exit lane to the inner sideA mouth passage;
step 13: different vehicles on the road can be identified and tracked under the automatic driving environment; the same vehicle number z is the same vehicle data record
Figure FDA0003581192570000011
Acquiring the number of vehicles on the current road section by detecting the number of different 'z';
calculating the vehicle flow F at the entrance lane in the direction i at the time tit, wherein JiRepresenting the set of all vehicles in the direction of the intersection i:
Figure FDA0003581192570000012
the instantaneous speed of the vehicle on the road section at the moment t can be obtained under the automatic driving environment
Figure FDA0003581192570000013
Respectively calculating the average speed of vehicles in the entrance lane and the exit lane in each direction, and using V for the average speed of the vehicles at the time t in the i directioni tRepresenting;
Figure FDA0003581192570000014
2. the method for controlling the dynamic change of the lane direction of the automatic driving intersection according to claim 1, wherein in the step 2, the lane at the entrance and the exit of the intersection is discretized, the lane utilization rate and the queuing length are calculated, and the traffic state is estimated, and the method comprises the following steps:
step 21: firstly, discretizing an inlet channel and an outlet channel of a cross port area, dividing the inlet channel and the outlet channel into a plurality of square grids with the same size, wherein the side length of each square grid is integral multiple of the lane width; establishing a rectangular coordinate system, determining the coordinate boundary of the squares, and setting that all the squares can only be occupied by one vehicle at the same time;
dR＝dr/N,N∈N* (3)
in the formula: drIndicates the lane width, dRRepresenting the side length of a square grid, wherein the unit is meter, N represents a constant, and N represents a positive integer set;
R(r,a,b)the numbers of the squares R in the region R corresponding to the x axis and the y axis are a, b, R is belonged to {1,2, …,8} respectively, and the squares in the region R are sequentially marked with R according to the clockwise sequence(1,a,b)、R(2,a,b)、R(3,a,b)、R(4,a,b)、R(5,a,b)、R(6,a,b)、R(7,a,b)、R(8,a,b)Representing that the coordinate ranges of the corresponding squares are calculated by formulas (4) - (11);
Figure FDA0003581192570000015
Figure FDA0003581192570000016
Figure FDA0003581192570000017
Figure FDA0003581192570000018
Figure FDA0003581192570000019
Figure FDA00035811925700000110
Figure FDA00035811925700000111
Figure FDA00035811925700000112
in the formula: a. theoRepresenting the maximum number of discretized grids of the inlet channel in the o direction; a. thedRepresenting the maximum number of discretized squares of the exit way in the d direction
Step 22:
Figure FDA00035811925700000113
for the variable 0-1, at time t, each cell is counted
Figure FDA00035811925700000114
Whether or not there is vehicle information in it, if there is vehicle information
Figure FDA00035811925700000115
Otherwise
Figure FDA00035811925700000116
Calculating the occupancy rate of the cells of the entrance passage in the o direction at the time t
Figure FDA00035811925700000117
G is a set of 8 regions divided clockwise, xLIs the total number of cell horizontal directions, xWTotal number of cells in longitudinal direction:
Figure FDA0003581192570000021
d exit direction cell occupancy
Figure FDA0003581192570000022
Figure FDA0003581192570000023
Step 23: calculating the maximum queuing length of the lane j in the direction i at the moment t
Figure FDA0003581192570000024
If the continuous k discrete cells have no vehicle information, the queuing length is output
Figure FDA0003581192570000025
Figure FDA0003581192570000026
Calculating the queuing lengths of all lanes in the i direction at the t moment
Figure FDA0003581192570000027
Figure FDA0003581192570000028
Step 24: at time t, the average speed V of the vehicle over the road sectioni tRoad segment occupancy rate
Figure FDA0003581192570000029
And queue length
Figure FDA00035811925700000210
Average speed V of vehicles on road section in smooth running statefRoad segment occupancy pfAnd queue length MfComparing and judging the traffic state of the lane
Figure FDA00035811925700000211
Figure FDA00035811925700000212
3. The method for controlling the dynamic change of the lane direction at the automatic driving intersection according to claim 2, wherein in the step 3, when the directions of the entrance lane and the adjacent exit lane meet the condition, the number and the duration of the lane change are calculated, and the method comprises the following steps:
step 31: at the time t, judging whether the current direction inlet channel and the adjacent outlet channel are jammed: when the entrance lane and the exit lane are both crowded and open, the lane is not changed, and when the entrance lane and the exit lane are respectively open and crowded, the open direction lane is prepared to change the direction:
Figure FDA00035811925700000213
when U is turnedo1 and UdWhen the number of the lanes is equal to 0, the entrance lane is smooth and the exit lane is blocked, and the number of the lanes provided by the entrance lane for the exit lane is calculated by a formula
Figure FDA00035811925700000214
When U is turnedo0 and UdWhen the number of the lanes is 1, the exit lane is unblocked and the entrance lane is blocked, and the number of the lanes provided by the exit lane for the entrance lane is calculated by a formula
Figure FDA00035811925700000215
| · | is a downward rounding function;
after the number of the lane to be changed is determined, sequentially changing the direction of the lanes of the inner side with small lane numbers;
step 33: determining the shortest lane change according to the traffic flow and the traffic capacity after lane changeDuration Tc：
Figure FDA00035811925700000216
Wherein, CiThe traffic capacity of freely turning lanes in a real environment;
q is the flow; theta, gamma and delta are flow proportions of straight running, left turning and right turning of the vehicle respectively; λ is a constant, λ q/1-qtm；tmThe minimum value of the headway time is obtained; critical clearance t for straight running of vehiclec11Critical gap t for left turnc12Critical clearance t for right turnc13The time interval of each flow direction of the small vehicle is tf1；
Figure FDA00035811925700000217
Figure FDA00035811925700000218
Ci ～The corrected direction traffic capacity;
Figure FDA00035811925700000219
the traffic capacity of the single lane j; a islThe traffic capacity reduction coefficient of the first lane is 1, the traffic capacity reduction coefficient of the second lane is 0.98, the traffic capacity reduction coefficient of the third lane is 0.96 and the traffic capacity reduction coefficient of the fourth lane is 0.94 from the center line; a iswThe lane width is a lane width reduction factor, 3.50m, aw1.0, lane width 3.25m, aw0.94, lane width 3.00m, aw0.85, lane width 2.75m, awIs 0.77; a isxTaking 1.3 as a traffic capacity correction coefficient under the condition of automatic driving;
minimum duration Ti CTime T cleared from road sectioni WAnd safe driving time T in the intersection areainsAdding of (a);
Ti C＝Ti W+Tins,i∈{o,d} (23)
the clearing time of the road section is determined by the ratio of the flow to the traffic capacity;
Figure FDA00035811925700000220
the safe driving time in the intersection area is determined by the longest path l in the areamaxWith smooth speed vfThe ratio of (A) to (B);
Tins＝lmax/vf (25)
step 34: when the lane does not change, the minimum time interval is judged to be T next timemin：
Figure FDA00035811925700000221
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115731727A (en) * 2022-11-18 2023-03-03 云控智行科技有限公司 Expressway regulating and controlling method, device and equipment
CN116229765A (en) * 2023-05-06 2023-06-06 贵州鹰驾交通科技有限公司 Vehicle-road cooperation method based on digital data processing

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115731727A (en) * 2022-11-18 2023-03-03 云控智行科技有限公司 Expressway regulating and controlling method, device and equipment
CN116229765A (en) * 2023-05-06 2023-06-06 贵州鹰驾交通科技有限公司 Vehicle-road cooperation method based on digital data processing

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