CN114694392A - Intelligent traffic light intersection efficient passing method based on vehicle-road cooperation - Google Patents
Intelligent traffic light intersection efficient passing method based on vehicle-road cooperation Download PDFInfo
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- CN114694392A CN114694392A CN202210318786.6A CN202210318786A CN114694392A CN 114694392 A CN114694392 A CN 114694392A CN 202210318786 A CN202210318786 A CN 202210318786A CN 114694392 A CN114694392 A CN 114694392A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention discloses an intelligent traffic light intersection efficient passing method based on vehicle-road cooperation, which comprises the following steps: collecting BSM information of all vehicles in a preset range of the distance of the road section from the intersection through intelligent traffic light road side equipment; filtering irrelevant vehicles according to the BSM information; after filtering the irrelevant vehicles, calculating the traffic flow density of the road section to be passed through the traffic light intersection within a preset range from the intersection, and dividing the traffic flow density into a first lane traffic flow rho 1 and a second lane traffic flow rho 2 according to lanes; comparing rho 1 and rho 2 with a vehicle flow density threshold value pref respectively, and judging that the intersection of the corresponding lane is a congested intersection when rho 1 is not less than rho ref or rho 2 is not less than rho ref; when a congested intersection exists, comparing the sizes of rho 1 and rho 2, and increasing the green light duration of a road with higher traffic flow density according to the traffic flow density of two lanes. The invention improves the passing efficiency of the vehicle at the intersection, improves the fuel efficiency and ensures the passing safety.
Description
Technical Field
The invention belongs to the technical field of V2X, and particularly relates to an intelligent traffic light intersection efficient passing method based on vehicle-road cooperation.
Background
V2I indicates that the OBU communicates with road-side infrastructure (such as traffic lights, traffic cameras, road-side units, etc.), and the road-side infrastructure can also acquire information of vehicles in the vicinity and distribute various real-time information. The intelligent traffic light can intelligently adjust the time interval of the traffic light according to the traffic flow condition of the current traffic light intersection.
V2V means that the vehicle-mounted terminals are used for communication among vehicles, the vehicle-mounted terminals can real-timely communicate information such as speed, position and driving condition of surrounding vehicles, and the vehicles can form an interactive platform for real-timely exchanging information such as characters, pictures and videos.
The existing scheme is as follows: when a vehicle approaches a traffic light intersection, the vehicle receives light phase and time information transmitted by a traffic light RSU, and a reasonable driving speed interval is calculated according to the phase and the time, so that the vehicle can pass through the traffic light intersection without stopping.
However, the prior art has the following problems: 1. only the acceleration and deceleration of the vehicle are recommended according to the color and the time of the traffic light, but specific acceleration values are not given, or a specific calculation method is not given, and the speed range or the acceleration range in which the vehicle should operate is not described; 2. only suitable for the interaction between the bicycle and the traffic lights, if the vehicle in front of the vehicle runs too slowly, the recommended acceleration or speed is no longer suitable; 3. the situation of crossing congestion is not considered.
Disclosure of Invention
The invention aims to provide an intelligent traffic light intersection efficient passing method based on vehicle-road cooperation, so that the passing efficiency of vehicles at the intersection is improved, the fuel efficiency is also improved, and the passing safety is guaranteed.
In order to solve the technical problems, the technical scheme of the invention is as follows: an intelligent traffic light intersection efficient passing method based on vehicle-road cooperation comprises the following steps:
collecting BSM information of all vehicles in a preset range of the distance between the road section and the intersection through intelligent traffic light roadside equipment, wherein the BSM information at least comprises the positions, the speeds, the turn-on conditions and the course angles of the vehicles;
filtering the irrelevant vehicles according to the BSM information, wherein the irrelevant vehicles at least comprise vehicles which pass through the intersection and right-turning vehicles;
after filtering the irrelevant vehicles, calculating the traffic flow density of the road section to be passed through the traffic light intersection within a preset range from the intersection, and dividing the traffic flow density into a first lane traffic flow rho 1 and a second lane traffic flow rho 2 according to lanes;
respectively comparing rho 1 and rho 2 with a vehicle flow density threshold pref, and judging that the corresponding lane intersection is a congested intersection when rho 1 is not less than rho ref or rho 2 is not less than rho ref; when both rho 1 and rho 2 are smaller than pref, judging that the road section is free of congestion, and not adjusting the time length of a traffic light;
when a congested intersection exists, comparing the rho 1 with the rho 2, and increasing the green light time length of a road with higher traffic flow density according to the traffic flow density of the two lanes.
The specific method for increasing the green light duration of the road with higher traffic flow density comprises the following steps: when ρ 1 is greater than or equal to ρ 2, ρ 1 corresponds to an increase of Δ T (ρ 1 — ρ 2) in the green time in the lane direction; when ρ 1< ρ 2, the green time in the ρ 2 lane direction increases by Δ T — K (ρ 2 — ρ 1); where K is the gain factor.
Further comprising the steps of:
after judging that the road section has the congested intersection, the intelligent traffic light updates the time length information of the traffic light and sends the time length information to vehicles which are about to pass through the traffic light intersection within a preset range from the intersection in the road section;
and calculating to obtain the recommended vehicle speed according to the updated traffic light duration information.
The calculation method of the recommended vehicle speed comprises the following steps:
the intelligent traffic light roadside device screens out a first vehicle which is about to pass through a corresponding lane intersection in each lane, defaults that the speed of the first vehicle is set as a preset maximum recommended vehicle speed, and calculates the time T1 when the first vehicle reaches the intersection according to the distance L1 between the first vehicle and the intersection;
judging whether the intelligent traffic light is a green light at the moment according to T1, and if so, setting the recommended speed of the first vehicle to be a preset maximum recommended speed; if the vehicle is in the red light, calculating the time T2 of the current distance of the first vehicle to the next green light, and giving the recommended vehicle speed of the first vehicle as L1/T2.
The recommended vehicle speed of the first vehicle is taken as the recommended vehicle speed for the following vehicles following the first vehicle.
When the road section is a T-shaped intersection road section, the traffic flow on two sides of the straight-going lane traffic light intersection is rho (1,1) and rho (1,2), rho 1 is [ rho (1,1) + rho (1,2) ] per 2, and the traffic flow on the turning lane is rho 2;
when the road section is an intersection road section, the traffic flow on two sides of a straight-way traffic light intersection is respectively rho (1,1) and rho (1,2), rho 1 is rho (1,1) + rho (1,2), the traffic flow on two sides of another straight-way traffic light intersection is respectively rho (2,1) and rho (2,2), and rho 2 is rho (2,1) + rho (2, 2).
After the intelligent traffic light updates the time length information of the traffic light, the information is sent to vehicles which are about to pass through the traffic light intersection within a preset range from the intersection in the road section through broadcasting.
The maximum recommended vehicle speed is 30 km/h.
The preset range is 500 m.
Compared with the prior art, the invention has the beneficial effects that:
the invention utilizes the V2X technology, intelligently controls the time interval of the traffic lights according to the traffic flow, feeds back the updated traffic light time to the vehicle through the V2X, gives the recommended speed of the vehicle passing through the traffic light intersection efficiently, improves the passing efficiency of the vehicle at the intersection, improves the fuel efficiency and ensures the passing safety at the same time.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention;
fig. 2 is an exemplary diagram of an application scenario according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and 2, the scenario implementation describes:
1. the intelligent traffic light RSU receives BSM information of all vehicles near the intersection, wherein the BSM information comprises positions, speeds, steering lights, course angles and the like;
2. the intelligent traffic light RSU filters out vehicles (such as right-turning vehicles, vehicles which pass through the traffic light and the like) which are not influenced by the traffic light according to the BSM information of the vehicles;
3. calculating the traffic flow density rho (1,1), rho (1,2), rho (2,1) and rho (2,2) of each road section to pass through the traffic light intersection within a certain range (such as 500m) away from the intersection by the intelligent traffic light RSU;
4. let ρ 1 be ρ (1,1) + ρ (1,2), and ρ 2 be ρ (2,1) + ρ (2,2), and represent the traffic flow densities of two routes at an intersection, respectively;
5. judging whether the traffic light intersection is a congested intersection or not according to the traffic flow density, wherein when rho 1 is larger than or equal to rho ref or rho 2 is larger than or equal to rho ref, the intersection is a congested traffic intersection;
6. when the traffic intersection is judged to be a congested intersection, comparing the rho 1 with the rho 2, and increasing the green light duration of a road with higher traffic flow density according to the traffic flow density of two lanes, wherein the steps are as follows:
when rho 1 is larger than or equal to rho 2, increasing the green time in the rho 1 lane direction by delta T (rho 1-rho 2);
when ρ 1< ρ 2, the green time in the ρ 2 lane direction increases by Δ T — K (ρ 2 — ρ 1);
wherein K is a gain factor;
7. the intelligent traffic light updates the traffic light time information and broadcasts the traffic light time information to nearby vehicles, and the nearby vehicles calculate a recommended vehicle speed according to the updated traffic light time information so that the vehicles can pass through the traffic light intersection without stopping;
8. firstly, screening out a head vehicle (a first vehicle) which is about to pass through a traffic light intersection on each road by the intelligent traffic light;
9. generally, the speed of a crossroad does not exceed 30km/h, firstly, the recommended speed of a head car is set to be 30km/h (because the head car is judged to be a congested crossroad and is generally close to the crossroad of a traffic light, the situation that the head car is accelerated and then decelerated is eliminated), and the time T1 when the head car reaches the crossroad is calculated according to the distance L1 between the head car and the traffic light;
10. the intelligent traffic light judges whether the traffic light is a green light at the moment according to the time T1, if so, the recommended speed of the vehicle is 30 km/h; if the vehicle is in a red light, the time T2 from the initial time to the next green light is obtained first, and the recommended speed of the vehicle at the initial time is L1/T2 (the value is less than 30 km/h);
11. for the following vehicles behind the head vehicle, firstly, the following vehicles are not recommended for specific speed, only the fact that the following vehicles are recommended to be driven is prompted, the head vehicle recommended speed V head sent by the head vehicle through broadcasting of V2V is received from the second vehicle, and then the driver drives the following vehicles according to the head vehicle recommended speed;
12. meanwhile, each vehicle calculates the time T3 when the vehicle reaches the traffic light through the distance L2 between the vehicle and the traffic light and the current actual speed V real of the vehicle;
13. the intelligent traffic light judges whether the vehicle is green when arriving at the traffic light according to the time T3, if so, the recommended vehicle speed is the current vehicle speed (the vehicle passes through the traffic light in the same queue with the head vehicle), if so, the intelligent traffic light waits for the next green light (another head vehicle), the recommended vehicle speed is according to the time of the next traffic light and the distance between the vehicle and the traffic light, and the steps are sequentially circulated.
The invention utilizes the V2X technology, intelligently controls the time interval of the traffic lights according to the traffic flow, feeds back the updated traffic light time to the vehicle through the V2X, gives the recommended speed of the vehicle passing through the traffic light intersection efficiently, improves the passing efficiency of the vehicle at the intersection, improves the fuel efficiency and ensures the passing safety at the same time.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An intelligent traffic light intersection efficient passing method based on vehicle-road cooperation is characterized by comprising the following steps:
collecting BSM information of all vehicles in a preset range of the distance between the road section and the intersection through intelligent traffic light road side equipment, wherein the BSM information at least comprises the position, the speed, the turn-on condition of a steering light and a course angle of the vehicle;
filtering irrelevant vehicles according to the BSM information, wherein the irrelevant vehicles at least comprise vehicles which pass through the intersection and right-turning vehicles;
after filtering the irrelevant vehicles, calculating the traffic flow density of the road section to be passed through the traffic light intersection within a preset range from the intersection, and dividing the traffic flow density into a first lane traffic flow rho 1 and a second lane traffic flow rho 2 according to lanes;
respectively comparing rho 1 and rho 2 with a vehicle flow density threshold pref, and judging that the corresponding lane intersection is a congested intersection when rho 1 is not less than rho ref or rho 2 is not less than rho ref; when both rho 1 and rho 2 are smaller than pref, judging that the road section is free of congestion, and not adjusting the time length of a traffic light;
when a congested intersection exists, comparing the sizes of rho 1 and rho 2, and increasing the green light duration of a road with higher traffic flow density according to the traffic flow density of two lanes.
2. The intelligent traffic light intersection efficient passing method based on the vehicle-road cooperation as claimed in claim 1, wherein the specific method for increasing the green light duration of the road with higher traffic flow density comprises: when ρ 1 is greater than or equal to ρ 2, ρ 1 corresponds to an increase of Δ T (ρ 1 — ρ 2) in the green time in the lane direction; when ρ 1< ρ 2, the green time in the ρ 2 lane direction increases by Δ T — K (ρ 2 — ρ 1); where K is the gain factor.
3. The intelligent traffic light intersection efficient traffic method based on vehicle-road cooperation according to claim 1, characterized by further comprising the steps of:
after judging that the road section has the congested intersection, the intelligent traffic light updates the time length information of the traffic light and sends the time length information to vehicles which are about to pass through the traffic light intersection within a preset range from the intersection in the road section;
and calculating to obtain the recommended vehicle speed according to the updated traffic light duration information.
4. The intelligent traffic light intersection efficient simultaneous traveling method based on vehicle-road cooperation according to claim 3, characterized in that the calculation method of the recommended vehicle speed is as follows:
the intelligent traffic light roadside device screens out a first vehicle which is about to pass through a corresponding lane intersection in each lane, defaults that the speed of the first vehicle is set as a preset maximum recommended vehicle speed, and calculates the time T1 when the first vehicle reaches the intersection according to the distance L1 between the first vehicle and the intersection;
judging whether the intelligent traffic light is a green light at the moment according to T1, and if so, setting the recommended speed of the first vehicle to be a preset maximum recommended speed; if the vehicle is in the red light, calculating the time T2 of the current distance of the first vehicle to the next green light, and giving the recommended vehicle speed of the first vehicle as L1/T2.
5. The method as claimed in claim 4, wherein the recommended speed of the first vehicle is taken as the recommended speed for following vehicles behind the first vehicle.
6. The method for intelligent traffic light intersection efficient traffic based on vehicle-road cooperation according to claim 1, wherein when the current road section is a t-junction road section, the traffic flow at two sides of the traffic light intersection of the straight-going lane is ρ (1,1) and ρ (1,2), respectively, ρ 1 ═ ρ (1,1) + ρ (1,2) ] 2, and the traffic flow of the turning lane is ρ 2;
when the road section is an intersection road section, the traffic flow on two sides of a straight-way traffic light intersection is respectively rho (1,1) and rho (1,2), rho 1 is rho (1,1) + rho (1,2), the traffic flow on two sides of another straight-way traffic light intersection is respectively rho (2,1) and rho (2,2), and rho 2 is rho (2,1) + rho (2, 2).
7. The method as claimed in claim 3, wherein after the time length information of the traffic lights is updated, the information is sent to the vehicles about to pass through the traffic light intersection within a preset distance range from the intersection by broadcasting.
8. The method as claimed in claim 4, wherein the maximum recommended speed is 30 km/h.
9. The method for intelligent traffic light intersection efficient traffic based on vehicle-road coordination as claimed in claim 1, wherein the preset range is 500 m.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116403419A (en) * | 2023-06-07 | 2023-07-07 | 贵州鹰驾交通科技有限公司 | Traffic light control method based on vehicle-road cooperation |
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