CN115100883B - Multi-stage variable speed-limiting control method based on reduction of highway traffic capacity - Google Patents
Multi-stage variable speed-limiting control method based on reduction of highway traffic capacity Download PDFInfo
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Abstract
The invention discloses a multistage variable speed-limiting control method based on the reduction of the traffic capacity of an expressway, which comprises the following steps: 1. vehicle data are obtained through a vehicle-mounted intelligent terminal; 2. transmitting the obtained data to a control center; 3. dynamically determining the stage number and the variable speed limit value through an algorithm; 4. the control center wirelessly transmits the variable information signpost to the roadside and the vehicle-mounted intelligent terminal; 5. the vehicle receives the variable speed limit information and runs according to the speed limit information; 6. and circulating the steps to determine the speed limit information of the next period. The invention obtains the speed and flow data of the vehicle through the vehicle-mounted intelligent terminal, and then controls the speed of the vehicle in real time through the level and the variable speed limit value dynamically determined by the algorithm according to the data, thereby avoiding the speed of the vehicle at the upstream of the highway accident from sudden change, and ensuring that the vehicle can stably, safely and efficiently pass through the highway accident section.
Description
Technical Field
The invention relates to the technical field of intelligent traffic control and management, in particular to a multistage variable speed-limiting control method based on the reduction of the traffic capacity of an expressway.
Background
The highway is one of the important carriers in the transportation industry, not only can maintain the connection between cities, but also is an important bridge for the transregional activities of residents. Over the past several decades, the risk of road collisions associated with actual or potential car collisions has increased rapidly due to the increasing amount of car ownership. Generally, these risks not only cause casualties and property loss, but also cause severe congestion because the highway is traveling at a very high speed and the speed of the vehicle upstream may drop sharply in the event of an accident, resulting in traffic breakdown.
At present, the highway in China adopts a plurality of fixed speed limiting modes, the designed speed of a road is generally used as a road section speed limiting value and does not change along with the change of the traffic condition of the road, when a bottleneck region occurs due to a traffic accident at a certain section of the highway, vehicles at the upstream section of the bottleneck region can be rapidly gathered to generate a serious queuing phenomenon if the vehicles are driven according to the speed limiting value of the original road section at a high flow rate, and therefore the traffic efficiency is reduced, and the accident risk rate is increased. Even if some expressways adopt a variable speed limit control strategy, the principle of the variable speed limit control is to dynamically change the speed limit value, and only a single speed limit is adopted to control the vehicle, the speed difference before and after the vehicle speed control is large, and the rear-end collision accident of the vehicle is easy to happen.
Disclosure of Invention
The invention provides a multistage variable speed-limiting control method based on the reduction of the traffic capacity of an expressway, aiming at overcoming the defects of the prior art, so that the speed of a vehicle can be controlled in real time, the sudden change of the speed of the vehicle upstream of an expressway accident is avoided, and the vehicle can stably, safely and efficiently pass through an expressway accident road section.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a multistage variable speed-limiting control method based on the reduction of the traffic capacity of an expressway, which is characterized by comprising the following steps of:
let the interval between two adjacent time be Δ t, then the serial number of any time interval is marked as t;
the speed V of the jth vehicle in the ith level variable speed limit area in the tth time interval is obtained through a vehicle-mounted intelligent terminal arranged on the vehicle i,j (t) and sending to a control center in real time, wherein j =1,2, ·, N;
the control center obtains the flow Q of the ith level variable speed-limiting area in the t time interval according to the speed statistics of the ith level variable speed-limiting area of all vehicles in the t time interval i (t)；
step 2.0, initializing m =2;
step 2.1, calculating the speed V of the ith grade change speed limit area in the tth time interval according to the formula (1) i (t)；
Step 2.2, calculating the ith stage in the tth time interval according to the formula (2)Density K of variable speed limit zone i (t)；
Step 2.3, if K i (t)≤K m Then step 2.4 is executed; otherwise, executing step 2.5; wherein, K m The optimal density of the highway section;
step 2.4, keeping all vehicles in the ith-level speed change and limit area to run at normal speed in the tth time interval, not performing speed change and limit control, and executing step 5;
step 2.5, calculating the congestion wave velocity W of the ith-level variable speed limit area in the tth time interval according to the formula (3) i (t)；
Step 2.6, calculating the sudden traffic capacity reduction amplitude theta of the ith level variable speed limit zone in the tth time interval according to the formula (4) i (t)；
In the formula (4), C is the traffic capacity of the expressway;
step 2.7, calculating the sudden drop congestion wave speed W of the ith-level variable speed limit area in the tth time interval according to the formula (5) i ′(t)；
W i ′(t)＝(1-θ i (t))×W i (t) (5)
Step 2.8, calculating the variable speed limit value V of the ith variable speed limit zone in the tth time interval according to the formula (6) svl,i (t)；
In the formula (6), K jam (t) is the expressway in the t-th time intervalThe blocking density of the roads;
step 2.9, judge V svl,i (t) whether formula (7) is satisfied, if yes, executing step 2.10; otherwise, executing step 2.12;
|V svl,i (t)-V svl,i+1 (t)|≤ΔV svl,max (7)
in the formula (7), Δ V svl,max Is the maximum variation amplitude of the variable speed limit; v svl,i+1 (t) is the variable speed limit value of the (i + 1) th variable speed limit zone in the t-th time interval;
step 2.10, judge V svl,i (t) whether equation (8) is satisfied, if so, performing step 2.11; otherwise, executing step 2.12;
V svl,min ≤V svl,i (t)≤V svl,max (8)
in the formula (8), V svl,min Is the lowest speed limit value, V, of the expressway svl,max Is the highest speed limit value of the expressway;
step 2.11, output stage number m and variable speed limit V svl,i (t) and performing step 3;
step 2.12, assigning m +1 to m, and returning to the step 2.1;
step 3, the control center enables the variable speed limit V svl,i (t) the information is transmitted to a roadside variable information signboard for release through wireless transmission, and is transmitted to a vehicle-mounted intelligent terminal in an ith-level variable speed limit area through wireless transmission;
and 4, the vehicle-mounted intelligent terminal in the ith-level variable speed limit area receives the variable speed limit V svl,i (t) running;
and 5, assigning t +1 to t, and returning to the step 2 to execute the sequence until the vehicle with the accident drives away from the accident area.
Compared with the prior art, the beneficial technical effects of the invention are as follows:
1. the variable speed-limiting control area is dynamically divided into m-level control areas, different speed-limiting measures are adopted for each level of control area, different speed-limiting measures are gradually adopted for the same level of control area along with the change of time, the speed and the density of the upstream of an accident road section are further adjusted, the road traffic capacity is improved, the sudden change of the upstream speed of the accident road section of a highway is avoided, the vehicle can stably, safely and efficiently pass through the accident road section, and the occurrence of collision accidents caused by large speed difference is reduced.
2. According to the method, the reasonable variable speed limit control strategy is set by taking the speed of each level of vehicle and the traffic volume of each level as the basis, and the time of the vehicle reaching the accident road section is increased by controlling the speed of the vehicle at the road section, so that the vehicles with queuing conditions at the bottleneck road section of the accident have enough time to evacuate, and the occurrence of secondary accidents is reduced.
3. The invention transmits the variable speed limit value to the intelligent vehicle-mounted equipment, so that the vehicle can form a traffic flow with almost the same speed in each stage of control area, the vehicle can reduce the stopping times in the running process, the repeated starting and stopping of the vehicle are avoided, a better driving environment is created for a driver, the generation of vehicle tail gas is reduced, and the environmental pollution and the energy consumption are reduced.
Drawings
FIG. 1 is a general flow diagram of the present invention;
FIG. 2 is a multi-stage variable speed limit control loop diagram;
FIG. 3 is a schematic diagram of the multi-stage variable speed limit control of the present invention.
Detailed Description
In this embodiment, as shown in fig. 1, a multistage variable speed limit control method based on the decrease of the traffic capacity of an expressway is characterized by including the following steps:
let the interval between two adjacent time be Δ t, then the serial number of any time interval is marked as t;
the speed V of the jth vehicle in the ith-level speed-variable speed-limiting area in the tth time interval is obtained through a vehicle-mounted intelligent terminal arranged on the vehicle i,j (t) and sending to a control center in real time, wherein j =1,2, ·, N;
the control center obtains the flow Q of the ith grade speed-limiting area in the t time interval according to the speed statistics of the ith grade speed-limiting area of all vehicles in the t time interval i (t)；
as shown in fig. 2, the present invention uses the density of each variable speed-limiting area as a basis to determine whether to adopt multi-level variable speed-limiting control, and if adopting multi-level speed-limiting control, which control strategy should be adopted, and determines whether the adopted speed-limiting value meets the actual situation, and the specific steps are as follows:
step 2.0, initializing m =2;
step 2.1, calculating the speed V of the ith grade change speed limit area in the tth time interval according to the formula (1) i (t)；
Step 2.2, calculating the density K of the ith grade change speed limit area in the tth time interval according to the formula (2) i (t)；
Step 2.3, if K i (t)≤K m Then step 2.4 is executed; otherwise, executing step 2.5; wherein, K m The optimal density of the highway section;
2.4, keeping all vehicles in the ith-level speed-variable and speed-limited area to run at normal speed in the t time interval, not performing speed-variable and speed-limited control, and executing the step 5;
step 2.5, calculating the congestion wave velocity W of the ith-level variable speed limit area in the tth time interval according to the formula (3) i (t)；
Step 2.6, calculating the sudden traffic capacity reduction amplitude theta of the ith-level variable speed limit area in the tth time interval according to the formula (4) i (t)；
In the formula (4), C is the traffic capacity of the expressway;
step 2.7, calculating the sudden drop congestion wave speed W of the ith-level variable speed limit area in the tth time interval according to the formula (5) i ′(t)；
W i ′(t)＝(1-θ i (t))×W i (t) (5)
Step 2.8, calculating the variable speed limit value V of the ith variable speed limit zone in the tth time interval according to the formula (6) svl,i (t)；
In the formula (6), K jam (t) is the density of congestion of the highway during the tth time interval;
step 2.9, judge V svl,i (t) whether formula (7) is satisfied, if yes, executing step 2.10; otherwise, executing step 2.12;
|V svl,i (t)-V svl,i+1 (t)|≤ΔV svl,max (7)
in the formula (7), Δ V svl,max Is the maximum variation amplitude of the variable speed limit; v svl,i+1 (t) is the variable speed limit value of the (i + 1) th variable speed limit zone in the t-th time interval;
and (5) space scale constraint. When a vehicle passes through different speed-limiting-variable areas, if the speed-limiting value is changed too much, the safety and the comfort are also affected.
Step 2.10, judge V svl,i (t) Whether the formula (8) is satisfied, if yes, executing the step 2.11; otherwise, executing step 2.12;
V svl,min ≤V svl,i (t)≤V svl,max (8)
in the formula (8), V svl,min Is the lowest speed limit value, V, of the expressway svl,max Is the highest speed limit value of the expressway;
and (5) restraining from the upper boundary and the lower boundary. The vehicle speed should be varied within a reasonable interval and should not be too small or too large.
Step 2.11, output stage number m and variable speed limit V svl,i (t) and performing step 3;
step 2.12, assigning m +1 to m, and returning to the step 2.1;
step 3, calculating a speed value of i =1,2,. M and each level according to the process of the step 2; the control center sets the variable speed limit V svl,i (t) the information is transmitted to a roadside variable information signboard through wireless transmission to be released, and is transmitted to a vehicle-mounted intelligent terminal in an ith-level variable speed limit area through wireless transmission;
and 4, the vehicle-mounted intelligent terminal in the ith-level variable speed limit area receives the variable speed limit V svl,i (t) running;
and 5, assigning t +1 to t, and returning to the step 2 to execute the sequence until the vehicle with the accident drives away from the accident area.
As shown in fig. 3, in this embodiment, taking the number of lanes n =3 and the sub-control area m =2 as an example, the speed V of the speed-limited zone is changed by 1 step in the t-th time by the intelligent in-vehicle device 1 (t) =80 km/h, speed V of 2-step variable speed zone 2 (t) =60 km/h, flow rate Q of 1-level variable speed limit zone 1 (t) =1600 vehicles/hour, flow Q of 2-step variable speed limit zone 2 (t) =1800 vehicles/hour, flow Q of accident area traffic (t) =2000 vehicles/hour, accident zone speed is V traffic (t) =40 km/h, the blocking density of the highway section is K jam (t) =90 vehicles/kilometer, and the sudden traffic capacity reduction amplitude is theta 1 (t)＝θ 1 (t) =0.2, and the maximum variable speed limit change Δ V of the highway section svl,max =50 km/h, this highway sectionIs minimum speed limit value V svl,min =10 km/h, maximum speed limit V for this highway section svl,max =120 km/h, optimum density K of the highway section m =100 vehicles/km.
Initializing i =2;
according to the formula
Calculating the density K of each stage 1 (t) and K 2 (t)；
Therefore, the following steps are carried out: k i (t)≤K m ；
According to the formula
Calculating the congestion wave velocity W of each stage 1 (t) and W 2 (t)；
According to the formula W i ′(t)＝(1-θ i (t))×W i (t) calculating the sudden drop congestion wave velocity W 1 ' (t) and W 2 ′(t)；
W 1 ′(t)＝(1-θ 1 (t))×W 1 (t)＝(1-0.2)X 20=16 km/h;
W 2 ′(t)＝(1-θ 2 (t))×W 2 (t) = (1-0.2) × 10=8 km/h;
according to the formula
Calculating a variable speed limit value V svl,1 (t) and V svl,2 (t)；
According to the formula | V svl,i (t)-V svl,i+1 (t)|≤ΔV svl,max And V svl,min ≤V svl,i (t)≤V svl,max Judging whether the variable speed limit value is reasonable or not;
|V svl,1 (t)-V svl,2 (t)|＝|56-16|＝40≤ΔV svl,max =50 km/h;
V svl,min ＝10≤V svl,1 (t)＝56≤V svl,max =120 km/h;
V svl,min ＝10≤V svl,2 (t)＝16≤V svl,max =120 km/h;
in conclusion, the variable speed limit value is reasonable;
at the moment, a 2-level variable speed-limiting area is adopted, the speed-limiting value of the 1-level variable speed-limiting area is 56 kilometers per hour, and the speed-limiting value of the 1-level variable speed-limiting area is 16 kilometers per hour;
the control center transmits the variable speed limit information to the variable information signpost at the road side through wireless transmission, distributes the variable speed limit information on the variable information signpost, transmits the variable speed limit information to a vehicle-mounted intelligent terminal in a control area through wireless transmission, and transmits the variable speed limit information to the vehicle-mounted intelligent terminal according to a variable speed limit value V svl,1 (t) and V svl,2 (t) traveling.
Claims (1)
1. A multistage variable speed-limiting control method based on the reduction of the traffic capacity of an expressway is characterized by comprising the following steps of:
step 1, if the current vehicle has an accident on an expressway, defining a road section where the current vehicle is located as an accident area, and taking an upstream section of the road area of the accident area as a control area; dividing the control area into a plurality of m-level variable speed-limiting areas which are equidistant and continuous, wherein any one level of variable speed-limiting area is represented by i, and i-1 and i +1 are respectively represented as an upstream level variable speed-limiting area and a downstream level variable speed-limiting area of the ith level variable speed-limiting area, wherein i =1,2, ·, m;
let the interval between two adjacent time be Δ t, then the serial number of any time interval is marked as t;
the speed V of the jth vehicle in the ith-level speed-variable speed-limiting area in the tth time interval is obtained through a vehicle-mounted intelligent terminal arranged on the vehicle i,j (t) and sending to a control center in real time, wherein j =1,2, ·, N;
the control center obtains the flow Q of the ith grade speed-limiting area in the t time interval according to the speed statistics of the ith grade speed-limiting area of all vehicles in the t time interval i (t)；
Step 2, the control center selects different stages and variable speed limit values according to the speed and the flow;
step 2.0, initializing m =2;
step 2.1, calculating the speed V of the ith grade change speed limit area in the tth time interval according to the formula (1) i (t)；
Step 2.2, calculating the density K of the ith grade change speed limit area in the tth time interval according to the formula (2) i (t)；
Step 23 if K i (t)≤K m Then step 2.4 is executed; otherwise, executing step 2.5; wherein, K m The optimal density of the highway section;
step 2.4, keeping all vehicles in the ith-level speed change and limit area to run at normal speed in the tth time interval, not performing speed change and limit control, and executing step 5;
step 2.5, calculating the congestion wave velocity W of the ith-level variable speed limit area in the tth time interval according to the formula (3) i (t)；
Step 2.6, calculating the sudden traffic capacity reduction amplitude theta of the ith-level variable speed limit area in the tth time interval according to the formula (4) i (t)；
In the formula (4), C is the traffic capacity of the expressway;
step 2.7, calculating the sudden drop congestion wave speed W of the ith-level variable speed limit area in the tth time interval according to the formula (5) i ′(t)；
W i ′(t)＝(1-θ i (t))×W i (t) (5)
Step 2.8, calculating the variable speed limit value V of the ith variable speed limit zone in the tth time interval according to the formula (6) svl,i (t)；
In the formula (6), K jam (t) is the density of highway blockages in the tth time interval;
step 2.9, judge V svl,i (t) whether formula (7) is satisfied, if yes, executing step 2.10; otherwise, executing step 2.12;
|V svl,i (t)-V svl,i+1 (t)|≤ΔV svl,max (7)
in the formula (7), Δ V svl,max Is the maximum variation amplitude of the variable speed limit; v svl,i+1 (t) is the variable speed limit value of the (i + 1) th variable speed limit zone in the t-th time interval;
step 2.10, judge V svl,i (t) whether equation (8) is satisfied, if yes, performing step 2.11; otherwise, executing step 2.12;
V svl,min ≤V svl,i (t)≤V svl,max (8)
in the formula (8), V svl,min Is the lowest speed limit value, V, of the highway svl,max Is the highest speed limit value of the expressway;
step 2.11, output stage number m and variable speed limit V svl,i (t) and performing step 3;
step 2.12, assigning m +1 to m, and returning to the step 2.1;
step 3, the control center enables the variable speed limit V svl,i (t) the information is transmitted to a roadside variable information signboard through wireless transmission to be released, and is transmitted to a vehicle-mounted intelligent terminal in an ith-level variable speed limit area through wireless transmission;
and 4, the vehicle-mounted intelligent terminal in the ith-level variable speed limit area receives the variable speed limit V svl,i (t) running;
and 5, assigning t +1 to t, and returning to the step 2 to execute the sequence until the vehicle with the accident drives away from the accident area.
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