CN114863686B - Variable speed limit control method for trunk line of province of ordinary state - Google Patents
Variable speed limit control method for trunk line of province of ordinary state Download PDFInfo
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- 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
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- 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
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
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- 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
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- 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
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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Abstract
The invention discloses a variable speed-limiting control method for a trunk line of a common national province, which relates to the technical field of traffic control systems and specifically comprises the following steps: acquiring the occurrence position of a traffic accident and an accident lane, determining a traffic lane according to the accident lane, and dividing an upstream road section of the traffic accident into a buffer area and a confluence area according to the road direction; calculating the expected vehicle flow of the passing lane according to the flow average value of the upstream road section and the proportion; extracting monitoring information of the traffic lane, acquiring historical vehicle speed-vehicle flow data of the traffic lane according to the monitoring information, and establishing a fitting function according to the historical vehicle speed-vehicle flow data; substituting the expected vehicle flow into the fitting function to obtain a corresponding speed, and setting the speed as a passing lane speed limit; prompting that the vehicle entering the buffer zone decelerates to a passing lane for limiting speed; the invention realizes the setting of the lane speed limit value according to the vehicle flow.
Description
Technical Field
The invention relates to the technical field of traffic control systems, in particular to a variable speed-limiting control method for a trunk line of the province of the ordinary state.
Background
After a traffic accident occurs, a certain space influence range is formed at the upstream due to a bottleneck road section caused by the accident, the traffic is in a low-speed crowded state in the range, the traffic is in a free flow state outside the range, and the upstream incoming vehicle in the free flow state inevitably needs to be decelerated violently when entering the accident influence range, so that a great secondary accident risk is generated due to the strong speed difference along the longitudinal direction, and the position is also the position where the serious secondary accident is most likely to occur.
In addition, for the road section after a traffic accident, because the traffic flow pressure of the remaining passable lanes is increased sharply due to the closure of the accident lane, under the condition of higher flow, a driver still expects the vehicle to keep higher running speed, and the requirement of safe driving on the distance between the vehicles under the condition is easy to ignore, so the rear-end collision risk of the vehicle becomes the frequent accident type of the highway under high flow, and the road speed limit value of the current variable speed limit control strategy is mainly determined by the experience of an engineer, the road speed limit value is more random, the overhigh speed limit value can cause potential safety hazard, the lower speed limit value can cause the reduction of the road trafficability, so the road service level is reduced, and therefore, the variable speed limit control method capable of reasonably adjusting the trafficable lane speed limit is needed.
Disclosure of Invention
The invention aims to provide a variable speed-limiting control method for a trunk line of the provinces of the ordinary countries, which solves the following technical problems:
the speed limit value of a passing lane of the current variable speed limit control strategy is mainly determined by the experience of an engineer, the speed limit value is random, potential safety hazards can be caused by overhigh speed limit value, the passing capacity of the road can be reduced by lower speed limit value, and the road service level is reduced.
The purpose of the invention can be realized by the following technical scheme:
a variable speed limit control method for a trunk line of the province of the ordinary state comprises the following steps:
positioning the occurrence position of a traffic accident and an accident lane through an intelligent traffic system, determining a traffic lane according to the accident lane, and sequentially dividing an upstream road section of the traffic accident into a buffer zone and a confluence zone according to the driving direction of a vehicle;
acquiring the proportion of the number of the passing lanes to the total number of the lanes, acquiring the vehicle flow of a plurality of monitoring points on an upstream road section of a traffic accident in real time, calculating the flow mean value of the vehicle flow, and calculating the expected vehicle flow of the passing lanes according to the flow mean value and the proportion;
extracting monitoring information of the passing lane, wherein the monitoring information comprises vehicle speed and vehicle flow in the passing lane, acquiring historical vehicle speed-vehicle flow data of the passing lane according to the monitoring information, and establishing a fitting function according to the historical vehicle speed-vehicle flow data, wherein the fitting function is used for fitting the change relation of the vehicle speed along with the vehicle flow;
substituting the expected vehicle flow into the fitting function to obtain a corresponding vehicle speed, and setting the vehicle speed as a passing lane speed limit;
and prompting the vehicle entering the buffer area to decelerate to the passing lane for limiting speed.
As a further scheme of the present invention, the fitting function is a power function, and the power function model formula is as follows:
V=Cexp(b(q-q 0 ) a )，q≥q 0 ，
v represents the average speed of the vehicle, q represents the flow rate of the vehicle, C is a constant, a and b are parameters, a > 0, b < 0, q 0 The maximum traffic flow is in a road uncongested state;
when q is not less than q 0 Then, the speed limit of the passing lane is obtained according to the power function model formula;
when q is less than q 0 And when the speed limit of the passing lane is the speed limit of the non-emergency lane.
As a further aspect of the invention, q 0 The acquisition method comprises the following steps:
the vehicle speed in the historical vehicle speed-vehicle flow data is the average speed of all vehicles passing through a monitoring point in unit time, and the historical vehicle speed-vehicle flow data is obtained according to the vehicle flow q from small to large 1 ，q 2 ，…，q n Sorting, wherein n is a positive integer, accumulating and acquiring corresponding vehicle speed data according to the vehicle flow from small to large, and calculating the vehicle speed data according to a formula
Calculating discrete values of the acquired vehicle speed data, when q is acquired n+1 If Vt is n+1 If Vt + d is not more than the preset threshold value, continuing to collect the data, and if Vt is less than or equal to the preset threshold value n+1 If > Vt + d, then q is determined n+1 For abnormal values, q is obtained n A value of (a) q n Is set to q 0 。
As a further aspect of the present invention, the vehicle flow rate is defined as:
the method comprises the steps of extracting a specified vehicle length range [ v, w ] of the small car, setting (v + w)/2 as a standard vehicle length, collecting the vehicle lengths of all vehicles passing a monitoring point in unit time, obtaining proportional values of the vehicle lengths of all vehicles relative to the standard vehicle length, adding all the proportional values, and setting the sum of the obtained values as the vehicle flow in unit time.
As a further aspect of the present invention, the power exponent function model is transformed into a primary regression model, wherein the primary regression model has the following formula:
y=α+βx，
y=ln[ln(C/V)]，x=ln(q-q 0 ) And alpha = ln (-b), beta = a, acquiring a free speed average value under a road uncongested state according to the historical vehicle speed-vehicle flow data, setting C as the free speed average value, acquiring estimated values of alpha and beta by a least square method, and calculating parameters a and b according to the alpha and the beta.
As a further scheme of the invention, 85% vehicle speed of the vehicles on the upstream road section is collected, the difference value between the 85% vehicle speed and the speed limit of the passing lane is calculated, the multiple of the difference value relative to 20km/h is obtained, the multiple is rounded upwards to obtain a relative multiple M, the buffer area is divided into M +1 sub-buffer areas, the speed limit value of the sub-buffer areas is gradually reduced from the 85% vehicle speed to the speed limit of the passing lane, and the speed limit value of the sub-buffer areas is reduced along the road direction in an equal difference mode.
As a further aspect of the present invention, the length of the sub-buffer is set according to the corresponding speed limit value, and a distance traveled for 5 minutes at the speed limit value is set as the length of the sub-buffer corresponding to the speed limit value.
As a further scheme of the present invention, if the vehicle flow rate of the upstream road section changes, the current expected vehicle flow rate is obtained, a new speed limit value is obtained according to the current expected vehicle flow rate, the speed limit values of the sub-buffer areas are sequentially adjusted to the new speed limit value along the road direction, and the adjustment interval of the adjacent sub-buffer areas is 5 minutes; and if the vehicle flow of the upstream road section is kept unchanged, keeping the speed limit value unchanged.
The invention has the beneficial effects that:
the invention establishes a fitting function model through the power function according to the historical vehicle speed-vehicle flow data of the current passing lane to obtain the relation between the passing lane speed and the vehicle flow, and the expected vehicle flow of the passing lane is calculated according to the vehicle flow of the upstream road section of the accident road section, and then the expected vehicle flow is substituted into the fitting function, so that the speed limit value which should be taken by the passing lane for responding to the expected vehicle flow is obtained, because the speed limit value is the result of long-term natural traffic data of the traffic lane and is the average value of the vehicle speeds selected by most vehicles according to actual conditions, compared with the speed limit value set artificially, the vehicle speed mean value is more suitable for being used as the speed limit value of the current road, potential safety hazards caused by overhigh speed limit value or road traffic capacity waste caused by overlow speed limit value can be avoided, and the service level of the road for dealing with accidents is effectively improved.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a flow chart diagram of a variable speed-limiting control method for a trunk line of the province of the ordinary state of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a method for controlling variable speed limit of provincial trunk in the general country, including the following steps:
positioning the occurrence position of a traffic accident and an accident lane through an intelligent traffic system, determining a traffic lane according to the accident lane, and sequentially dividing an upstream road section of the traffic accident into a buffer zone and a confluence zone according to the driving direction of a vehicle;
acquiring the proportion of the number of the passing lanes to the total number of the lanes, acquiring the vehicle flow of a plurality of monitoring points on an upstream road section of a traffic accident in real time, calculating the flow mean value of the vehicle flow, and calculating the expected vehicle flow of the passing lanes according to the flow mean value and the proportion;
extracting monitoring information of the traffic lane, wherein the monitoring information comprises vehicle speed and vehicle flow in the traffic lane, acquiring historical vehicle speed-vehicle flow data of the traffic lane according to the monitoring information, and establishing a fitting function according to the historical vehicle speed-vehicle flow data, wherein the fitting function is used for fitting the change relation of the vehicle speed along with the vehicle flow;
substituting the expected vehicle flow into the fitting function to obtain a corresponding vehicle speed, and setting the vehicle speed as a passing lane speed limit;
and prompting the vehicle entering the buffer area to decelerate to the passing lane for limiting speed.
For the road section after the traffic accident, because the traffic flow pressure of the remaining passable lanes is increased sharply due to the sealing of the accident lane, the driver still expects the vehicle to keep higher running speed under higher flow, and the requirement of safe driving on the distance between the vehicles under the condition is easy to ignore, so the risk of rear-end collision of the vehicle becomes the frequent accident type of the expressway under high flow, the road speed limit of the current variable speed limit control strategy is mainly determined by the experience of engineers, the road speed limit value is more random, the overhigh speed limit value can cause potential safety hazard, the lower speed limit value can cause the reduction of the road passing capacity, and the road service level is reduced, so the variable speed limit control method capable of reasonably adjusting the passing speed limit is needed.
According to the invention, the distribution data of the vehicle flow and the speed of the vehicle in the free running state is obtained, the fitting function is established, and the expected vehicle flow of the passing lane is calculated according to the vehicle flow of the upstream road section of the accident road section, so that the vehicle speed mean value of the passing lane in the expected vehicle flow is obtained.
In a preferred embodiment of the present invention, the fitting function is a power exponent function, and the power exponent function model formula is as follows:
V=Cexp(b(q-q 0 ) a )，q≥q 0 ，
v represents the average speed of the vehicle, q represents the flow rate of the vehicle, C is a constant, a and b are parameters, a > 0, b < 0, q 0 The maximum traffic flow is in a road uncongested state;
when q is not less than q 0 Then, the speed limit of the traffic lane is obtained according to the power function model formula;
when q is less than q 0 And when the speed limit of the passing lane is the speed limit of the non-emergency lane.
Analysis of historical vehicle speed-vehicle flow data can reveal that most vehicles are in a free-running state when the vehicle flow is not too great relative to the lane capacity, the speed of the vehicle is determined entirely by the characteristics of the vehicle and the driver themselves, and the speed does not vary with the flow: when the flow is large, the vehicles gradually enter a following state, the mutual influence among the vehicles is gradually increased, and the traffic flow speed is reduced. Therefore, at a certain flow rate, the running speed of the vehicle and the flow rate have no correlation; when the flow rate is increased, the running speed of the traffic flow has a descending trend, so that the fitting function model reflects the rule of the speed along with the change of the flow rate;
the power function has many good properties, can approximately simulate many curves or even straight lines, has wide applicability, is a model to be considered first in general curve regression analysis, and only reflects that the vehicle flow is more than q in the invention 0 Vehicle speed versus vehicle flow.
In one case of the present embodiment, q 0 The acquisition method comprises the following steps:
the vehicle speed in the historical vehicle speed-vehicle flow data is the average speed of all vehicles passing through a monitoring point in unit time, and the historical vehicle speed-vehicle flow data is obtained according to the vehicle flow q from small to large 1 ，q 2 ，…，q n Sorting, wherein n is a positive integer, accumulating and acquiring corresponding vehicle speed data according to the vehicle flow from small to large, and calculating the vehicle speed data according to a formula
Calculating discrete values of the acquired vehicle speed data, when q is acquired n+1 If Vt is n+1 If Vt + d is not more than the preset threshold value, continuing to collect the data, and if Vt is less than or equal to the preset threshold value n+1 If > Vt + d, then q is determined n+1 For abnormal values, q is obtained n A number of (a) q n Is set to q 0 。
Vt is a standard deviation, μ is an average value of the vehicle speed data, and is a common generation number of the average value, V in Vi represents a speed, i in Vi is a common generation number in a sum formula of polynomials, and represents all numbers from 1 to n, respectively
Please refer to the standard deviation calculation formula;
according to historical vehicle speed-vehicle flow data, vehicle speed data in a lane are accumulated and collected according to the fact that the flow rate is increased from small to large, when the flow rate of the lane is small, the speed cannot change along with the flow rate, therefore, the discrete value of the speed data is relatively small at the moment, when the flow rate of the lane is large, influence is generated among vehicles, the overall vehicle speed in the lane is reduced, the discrete value reflected on the discrete value of the speed data is increased, if the variation amplitude of the discrete value relative to the original discrete value at the moment exceeds a preset threshold value, the vehicle flow which causes the variation amplitude of the discrete value to be overlarge is obtained, the previous vehicle flow data is obtained in the reverse order, and the previous vehicle flow data is q 0 。
In another aspect of this embodiment, the vehicle flow rate is defined as:
the method comprises the steps of extracting a specified vehicle length range [ v, w ] of the small car, setting (v + w)/2 as a standard vehicle length, collecting the vehicle lengths of all vehicles passing a monitoring point in unit time, obtaining proportional values of the vehicle lengths of all vehicles relative to the standard vehicle length, adding all the proportional values, and setting the sum of the obtained values as the vehicle flow in unit time.
Because the influence degree of vehicles with different vehicle lengths on nearby vehicles is different, particularly large vehicles can cause the nearby vehicles to keep a longer safety distance, and the influence of one large vehicle on the speed of road traffic flow is far higher than that of a small passenger car, the vehicle length of the small passenger car is set as a standard vehicle length, all the vehicle lengths are equivalent to the multiple of the standard vehicle length according to the proportional values of the different vehicle lengths and the standard vehicle length, the sum of the proportional values of all the vehicles is obtained, the obtained vehicle flow data is higher in accuracy relative to the actual vehicle number, and the interference on the speed can be reflected better.
In another case of the present embodiment, the power exponent function model is transformed into a primary regression model, which is formulated as follows:
y=α+βx，
y=ln[ln(C/V)]，x=ln(q-q 0 ) And alpha = ln (-b), beta = a, acquiring a free speed average value under a road uncongested state according to the historical vehicle speed-vehicle flow data, setting C as the free speed average value, acquiring estimated values of alpha and beta by a least square method, and calculating parameters a and b according to the alpha and the beta.
And converting the power function model into a primary regression model, thereby obtaining parameters in the power function model by a least square method.
In another preferred embodiment of the invention, 85% of the speed of the vehicle in the upstream road section is collected, the difference between the 85% of the speed of the vehicle and the speed limit of the passing lane is calculated, the multiple of the difference relative to 20km/h is obtained, the multiple is rounded upwards to obtain a relative multiple M, the buffer is divided into M +1 sub-buffers, the speed limit value of each sub-buffer is gradually reduced from the 85% of the speed of the vehicle to the speed limit of the passing lane, and the speed limit values of the sub-buffers are decreased along the road direction in an equal difference manner.
The 85% vehicle speed means that when the vehicle speed of an actual measurement place is the vehicle speed, 85% of all the running vehicles have the vehicle speed lower than the vehicle speed of the actual measurement place, and 15% of the running vehicles have the vehicle speed higher than the vehicle speed of the actual measurement place, and on an expressway or an urban expressway, a traffic management department determines the highest speed limit of a certain road section for traffic safety and congestion reduction; in order to avoid that the vehicle speed limit value of the adjacent sub-buffer area is large, the safety hazard of a variable speed limit control area is easily caused by the too frequent large fluctuation of the variable speed limit value, and secondary accidents such as rear-end collision are caused, the speed limit value change range of the adjacent sub-buffer area is controlled within 20 km/h.
In one aspect of this embodiment, the length of the sub-buffer is set according to the corresponding speed limit, and a route traveled at the speed limit for 5 minutes is set as the length of the sub-buffer corresponding to the speed limit.
The journey time of the sub-buffer should be left sufficient to avoid excessive stress on the driver by changing speed continuously and rapidly.
As another situation of this embodiment, if the vehicle flow rate of the upstream road segment changes, the current expected vehicle flow rate is obtained, a new speed limit value is obtained according to the current expected vehicle flow rate, the speed limit values of the sub-buffers are sequentially adjusted to the new speed limit value along the road direction, and the adjustment interval between adjacent sub-buffers is 5 minutes; and if the vehicle flow of the upstream road section is kept unchanged, keeping the speed limit value unchanged.
When the flow of the upstream vehicle changes, the speed limit value of the buffer area should be changed in time, and the changed speed limit value only aims at the subsequent vehicles, so that the speed limit value of one sub-buffer area is changed every 5 minutes along the road driving direction, and the influence on the passing vehicles is avoided.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (4)
1. A variable speed limit control method for a trunk line of provinces of the ordinary state is characterized by comprising the following steps:
positioning the occurrence position of a traffic accident and an accident lane through an intelligent traffic system, determining a traffic lane according to the accident lane, and sequentially dividing an upstream road section of the traffic accident into a buffer zone and a confluence zone according to the driving direction of a vehicle;
acquiring the proportion of the number of the passing lanes to the total number of the lanes, acquiring the vehicle flow of a plurality of monitoring points on an upstream road section of a traffic accident in real time, calculating the flow mean value of the vehicle flow, and calculating the expected vehicle flow of the passing lanes according to the flow mean value and the proportion;
extracting monitoring information of the passing lane, wherein the monitoring information comprises vehicle speed and vehicle flow in the passing lane, acquiring historical vehicle speed-vehicle flow data of the passing lane according to the monitoring information, and establishing a fitting function according to the historical vehicle speed-vehicle flow data, wherein the fitting function is used for fitting the change relation of the vehicle speed along with the vehicle flow;
substituting the expected vehicle flow into the fitting function to obtain a corresponding vehicle speed, and setting the vehicle speed as a passing lane speed limit;
prompting that the vehicle entering the buffer zone decelerates to the passing lane speed limit;
the fitting function adopts a power exponent function, and the power exponent function model formula is as follows:
V=Cexp(b(q-q 0 ) a )，q≥q 0 ，
v represents the average speed of the vehicle, q represents the flow rate of the vehicle, C is a constant, a and b are parameters, a > 0, b < 0, q 0 The maximum traffic flow is in a road uncongested state;
when q is not less than q 0 Then, the speed limit of the passing lane is obtained according to the power function model formula;
when q is more than q 0 When the speed limit of the traffic lane is the non-emergency lane speed limit；
q 0 The acquisition method comprises the following steps:
the vehicle speed in the historical vehicle speed-vehicle flow data is the average speed of all vehicles passing through a monitoring point in unit time, and the historical vehicle speed-vehicle flow data is obtained according to the vehicle flow q from small to large 1 ，q 2 ，…，q n Sorting, wherein n is a positive integer, accumulating and acquiring corresponding vehicle speed data according to the vehicle flow from small to large, and calculating the vehicle speed data according to a formula
Calculating discrete values of the acquired vehicle speed data, when q is acquired n+1 When, if Vt n+1 D is less than or equal to Vt + d, d is a preset threshold value, the collection is continued, if Vt is less than or equal to n+1 If > Vt + d, then q is determined n+1 For abnormal values, q is obtained n A number of (a) q n Is set to q 0 ；
Vt is a standard deviation; mu is the average value of the vehicle speed data and is the common algebra of the average value; vi denotes any single vehicle speed data, V in Vi denotes the vehicle speed, and i in Vi is a common algebra in a sum formula of polynomials and denotes all numbers from 1 to n, respectively;
the vehicle flow is defined as:
extracting a specified vehicle length range [ v, w ] of the small car, setting (v + w)/2 as a standard vehicle length, acquiring the vehicle lengths of all vehicles passing through a monitoring point in unit time, acquiring proportional values of the vehicle lengths of all vehicles relative to the standard vehicle length, adding all the proportional values, and setting the sum of the obtained values as the vehicle flow in unit time;
transforming the power exponential function model into a primary regression model, wherein the primary regression model has the following formula:
y=α+βx，
y=ln[ln(C/V)]，x=ln(q-q 0 ) α = ln (-b), β = a, obtaining a free speed average value in a road uncongested state from the historical vehicle speed-vehicle flow data, letting C be the free speed average value, passing a minimum of twoThe multiplication obtains estimates of α and β, and the parameters a and b are calculated based on α and β.
2. The method according to claim 1, wherein 85% of the speed of vehicles in the upstream section is collected, the difference between the 85% of the speed and the speed limit of the passing lane is calculated, the multiple of the difference relative to 20km/h is obtained, the multiple is rounded up to obtain a relative multiple M, the buffer is divided into M +1 sub-buffers, the speed limit value of the sub-buffers is gradually reduced from the 85% of the speed to the speed limit of the passing lane, and the speed limit values of the sub-buffers are decreased along the direction of the road in an equal difference manner.
3. The method as claimed in claim 2, wherein the length of the sub-buffer is set according to the corresponding speed limit value, and a distance traveled for 5 minutes at the speed limit value is set as the length of the sub-buffer corresponding to the speed limit value.
4. The method according to claim 3, wherein if the vehicle flow rate of the upstream section changes, the current expected vehicle flow rate is obtained, a new speed limit value is obtained according to the current expected vehicle flow rate, the speed limit values of the sub-buffers are sequentially adjusted to the new speed limit value along the road direction, and the adjustment interval between adjacent sub-buffers is 5 minutes; and if the vehicle flow of the upstream road section is kept unchanged, keeping the speed limit value unchanged.
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