CN115394097A - Pre-signal lamp control method for longitudinal slope section of upstream road of intersection and application - Google Patents
Pre-signal lamp control method for longitudinal slope section of upstream road of intersection and application Download PDFInfo
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- CN115394097A CN115394097A CN202211060143.2A CN202211060143A CN115394097A CN 115394097 A CN115394097 A CN 115394097A CN 202211060143 A CN202211060143 A CN 202211060143A CN 115394097 A CN115394097 A CN 115394097A
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/081—Plural intersections under common control
- G08G1/083—Controlling the allocation of time between phases of a cycle
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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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Abstract
The invention discloses a pre-signal lamp control method for a longitudinal slope section of an upstream road of an intersection and application thereof, which are suitable for the intersection which is a signalized intersection, and the signalized intersection is connected with an upstream basic section through the longitudinal slope section of the road, and the steps comprise: 1. determining a speed limit value of a vehicle entering a longitudinal slope section; 2. determining the position of a speed limit board; 3. judging whether a pre-signal lamp needs to be arranged on a longitudinal slope section or not; 4. determining the setting position of a pre-signal lamp; 5. judging whether a pre-signal lamp needs to be started in the current signal period T; 6. and calculating the starting time of the red light and the green light of the pre-signal lamp. The speed limit value of the vehicle on the longitudinal slope section is determined according to the lengths of the convex vertical curve and the concave vertical curve at the longitudinal slope, so that the safety of the vehicle on the slope is ensured; the queuing length of the vehicles at the downstream signal intersection is controlled through the pre-signal lamp, so that rear-end collision accidents caused by insufficient parking sight distance are avoided, and the traffic flow operation safety is improved.
Description
Technical Field
The invention belongs to the field of road traffic safety, and particularly relates to a pre-signal lamp control method for a longitudinal slope section of an upstream road of an intersection.
Background
The field of view and the line of sight in front of the vehicle are of great importance for the safe and efficient operation of the vehicle on a highway. The speed and the driving direction of the vehicle are selected according to whether the driver clearly sees the front road and the surrounding environment, and the sight distance is far enough, so that the direction is accurately controlled, the barrier is avoided, and the driving safety is ensured. In the longitudinal slope section of the road, due to the change of the slope of the road, a view blind area is easily formed at the slope change position, and at the moment, the speed of a driver is too high, so that the rear-end collision accident of a vehicle is easily caused due to the insufficient parking sight distance. It is therefore desirable to control the speed of the vehicle into the grade section based on the length of the concave and convex vertical curves of the longitudinal grade section.
When the downstream of the longitudinal slope road section of the road is connected with the signalized intersection, due to the fact that the sight distance of the vehicles on the longitudinal slope road section of the road is poor, the traffic condition of the downstream signalized intersection can not be observed in time, when the vehicles at the downstream intersection queue for too long time, the subsequent vehicles do not have enough parking sight distance after being driven out, and therefore the traffic safety and the traffic efficiency of the road are reduced.
Disclosure of Invention
The invention provides a pre-signal lamp control method and application of an upstream road longitudinal slope section of an intersection to overcome the defects of the prior art, so as to determine the speed of a vehicle entering the slope section and ensure the completeness of the vehicle on an uphill slope; meanwhile, the queuing length of the vehicles at the downstream signal intersection is controlled, so that rear-end accidents caused by too long vehicle queuing at the intersection are avoided, and the traffic efficiency can be improved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a pre-signal lamp control method for a longitudinal slope section of an upstream road of an intersection, wherein the intersection is a signal intersection, and an entrance way of the signal intersection is connected with an upstream basic section through the longitudinal slope section of the road; the road longitudinal slope section consists of a concave vertical curve, a basic longitudinal slope section and a convex vertical curve; the upstream basic road section is connected with the basic longitudinal slope section through a concave vertical curve, and the basic longitudinal slope section is connected with the signalized intersection entrance road through a convex vertical curve; the joint point of the concave vertical curve and the upstream basic road section is the starting point of the concave vertical curve, and the joint point of the concave vertical curve and the basic longitudinal slope section is the end point of the concave vertical curve; the joint point of the convex vertical curve and the basic longitudinal slope section is the starting point of the convex vertical curve, and the joint point of the convex vertical curve and the entrance way of the signalized intersection is the terminal point of the convex vertical curve; the method is characterized by comprising the following steps:
step 1, determining a speed limit value v of a vehicle on a longitudinal slope section of a road limit ；
Step 1.1 calculate the length L according to the concave vertical curve using equation (1) ao The determined speed limit value v ao ；
In the formula (1), delta is a gradient difference;
step 1.2 calculate the basis of convexity using equations (2) and (3)Length L of the vertical curve tu The determined speed limit value v tu ；
In formulae (2) and (3), D tu Is a speed limit value v tu The visual distance of the lower car to be parked,
is the longitudinal friction coefficient between road surface and tyre, i is the longitudinal gradient of convex vertical curve, S 0 A minimum safe distance for the vehicle;
step 1.3, determining the speed limit value v of the vehicle on the longitudinal slope section of the road by using the formula (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 if v limit ≥v 0 If so, then no speed limit board is needed to be set and v is set limit ＝v 0 ；
If v is limit ＜v 0 Then, the distance l is calculated by equation (5) 1 So that the distance upstream of the longitudinal section of road from the starting point of the longitudinal section of road is l 1 The position of the speed limit plate is provided with a speed limit plate;
in the formula (5), a 1 Is a comfortable deceleration of the vehicle;
step 3, calculating the maximum speed v of the vehicle on the longitudinal slope section of the road by using the formula (6) max ；
v max ＝v limit +Δv (6)
In the equation (6), Δ v represents a fluctuation range of the speed of the vehicle on the road longitudinal gradient section;
if v is max ≤v tu If so, indicating that a pre-signal lamp does not need to be arranged on the longitudinal slope section of the road, and ending the process;
if v is max ＞v tu If so, indicating that a pre-signal lamp needs to be arranged on the longitudinal slope section of the road, and executing the step 4;
if α is 2 ＜α max Setting a pre-signal lamp at the starting point of the convex curve; wherein alpha is 2 Of a basic longitudinal slope section, alpha max The maximum starting gradient value of the vehicle is obtained;
step 5, judging whether the pre-signal lamp needs to be started or not;
step 5.1, respectively calculating the speed limit value v of the vehicle by using the formula (7), the formula (8) and the formula (9) limit Down parking sight distance D limit Maximum speed v of vehicle on longitudinal slope section of road max Down parking sight distance D max The parking apparent distance difference delta D of the vehicle;
ΔD＝D max -D limit (9)
step 5.2, acquiring the traffic flow Q of the upstream basic road section of the signalized intersection and the red light time length R in the current signalized cycle T of the signalized intersection T ；
Step 5.3, calculating the maximum queuing length of the signalized intersection in the current signalized period T by using the formula (10)
In the formula (10), l c The length of the vehicle is defined as w, and the safety distance between the vehicle and the front vehicle when the vehicle parks and lines up is defined as w;
step 5.4 if
The pre-signal lamp is not started in the current signal period T, and step 7 is executed; if it is
Starting the pre-signal lamp in the current signal period T and executing the step 6;
step 6, calculating the starting time of the red light and the green light in the pre-signal light in the current signal light period T;
step 6.1 if 2 If the value is more than or equal to delta D, executing the step 6.2, the step 6.3 and the step 7;
if l 2 If the value is less than delta D, executing step 6.4, step 6.5 and step 7;
step 6.2, calculating the time difference T between the red light starting time of the pre-signal lamp and the red light starting time of the signalized intersection in the current signal period T by using the formula (11) R So that the turn-on time t of the red light of the pre-signal lamp at the signalized intersection is ensured R The rear red light is turned on to remind the following vehicles to queue and wait in front of the pre-signal light;
step 6.3, calculating the time difference T between the green light starting time of the pre-signal light and the green light starting time of the signalized intersection in the current signal period T by using the formula (12) G1 And leading the green light of the pre-signal lamp to be ahead of the green light of the signalized intersection by time t G1 Opening;
in the formula (12), S is the length of a longitudinal slope section of the road; a is 2 Comfort acceleration of the vehicle;
step 6.4, in the current signal period T, enabling the red light starting time of the pre-signal lamp to be consistent with the red light starting time of the signalized intersection;
step 6.5, calculating the time difference T between the green light starting time of the pre-signal light and the green light starting time of the signalized intersection in the current signal period T by using the formula (13) G2 And leading the green light of the pre-signal lamp to be ahead of the green light of the signalized intersection by time t G2 Opening;
and 7, assigning the value of T +1 to T, and returning to the step 5.2 for sequential execution.
The electronic device comprises a memory and a processor, and is characterized in that the memory is used for storing programs for supporting the processor to execute the pre-signal lamp control method, and the processor is configured to execute the programs stored in the memory.
The invention relates to a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program executes the steps of the pre-signal lamp control method when being executed by a processor.
Compared with the prior art, the beneficial technical effects of the invention are as follows:
1. according to the invention, the speed limit value of the vehicle entering the longitudinal slope of the road is determined according to the lengths of the concave vertical curve and the convex vertical curve of the longitudinal slope section, so that the safety of the vehicle on the slope is ensured; and the deceleration distance of the vehicle is calculated by using the comfortable deceleration and is used as the setting position of the speed limit plate, so that the comfort and the safety of the vehicle during deceleration on an uphill slope are ensured.
2. In the invention, a pre-signal lamp is arranged at the starting point of the longitudinal slope section of the road and dynamically depends on the longitudinal slope of the roadDistance l from road section end point to downstream signalized intersection 2 Maximum queuing length of downstream signalized intersection in current signal period T
Judging whether a pre-signal lamp arranged at the starting point of the longitudinal slope section of the road needs to be started or not according to the relation between the parking apparent distance difference delta D of the vehicle and the parking apparent distance difference delta D of the vehicle; the rear-end collision accident caused by the fact that vehicles at the intersection queue too long to cause that subsequent vehicles do not have enough parking sight distance after being driven out of the longitudinal slope section of the road is avoided.
3. According to the invention, under the condition that the pre-signal lamp needs to be started, the distance l from the end point of the longitudinal slope section of the road to the downstream signalized intersection is determined 2 And the relation between the parking apparent distance difference delta D of the vehicle, and the opening time of the red light and the green light of the pre-signal lamp is calculated in a classification mode, so that the traffic efficiency is improved under the condition of ensuring the traffic safety.
Drawings
FIG. 1 is a general flow diagram of the present invention;
FIG. 2 is a schematic view of the present invention;
fig. 3 is a longitudinal section view of the inventive road longitudinal slope section.
Detailed Description
In this embodiment, as shown in fig. 2, an intersection in the pre-signal lamp control method for the longitudinal slope section of the upstream road of the intersection is a signal intersection, which includes a main signal lamp; the entrance road of the signalized intersection is connected with the upstream basic road section through the longitudinal slope road section of the road; the road longitudinal slope section consists of a concave vertical curve, a basic longitudinal slope section and a convex vertical curve; the upstream basic road section is connected with the basic longitudinal slope section through a concave vertical curve, and the basic longitudinal slope section is connected with the signalized intersection through a convex vertical curve; the joint point of the concave vertical curve and the upstream basic section is the starting point of the concave vertical curve, and the joint point of the concave vertical curve and the basic longitudinal slope section is the terminal point of the concave vertical curve; the joint point of the convex vertical curve and the basic longitudinal slope section is the starting point of the convex vertical curve, and the joint point of the convex vertical curve and the entrance way of the signal intersection is the terminal point of the convex vertical curve;
as shown in fig. 1, the pre-signal lamp control method is performed according to the following steps:
step 1 As shown in FIG. 3, according to the length L of the concave vertical curve at the longitudinal slope ao And convex vertical curve length L tu To determine the speed limit value v of the vehicle on the longitudinal slope section limit ；
Step 1.1 calculate the length L according to the concave vertical curve using equation (1) ao Determined speed limit value v ao ；
In the formula (1), delta is a gradient difference; at this time, Δ = α 2 -α 1 ，α 2 Is the slope value of the basic longitudinal slope, alpha 1 A grade value for the upstream base segment;
step 1.2 solving according to the convex vertical curve length L by using the formula (2) and the formula (3) tu The determined speed limit value v tu ；
In formulae (2) and (3), D tu Is a speed limit value v tu The visual distance of the lower car to be parked,
is the longitudinal friction coefficient between road surface and tyre, i is the longitudinal gradient of road, S 0 Is the minimum safe distance; gradient difference Δ = α in formula (2) 3 -α 2 ，α 3 Is the gradient value at the intersection;
step 1.3, determining the speed limit value v of the vehicle on the longitudinal slope section by using the formula (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 as shown in figure 2 of the drawings,according to the speed limit value v of the vehicle on the longitudinal slope section limit Speed v of free flow with vehicle on upstream base section 0 The position of the speed limit board is determined by the relationship between the speed limit boards; if v is limit ≥v 0 Then no speed limit board is needed to be set and let v limit ＝v 0 ；
If v is limit ＜v 0 Then, the distance l is calculated by equation (5) 1 So that the distance upstream of the longitudinal section of road from the starting point of the longitudinal section of road is l 1 The position of the speed limit plate is provided with a speed limit plate;
in the formula (5), a 1 Is a comfortable deceleration of the vehicle;
step 3, according to the maximum speed v of the vehicle on the longitudinal slope section of the road max Length L of convex vertical curve tu Determined speed limit value v tu Judging whether a pre-signal lamp needs to be arranged on the longitudinal slope section of the road or not according to the relation between the two signals;
calculating the maximum speed v of the vehicle on a longitudinal section of the road using equation (6) max ；
v max ＝v limit +Δv (6)
In the equation (6), Δ v represents a fluctuation range of the speed of the vehicle on the road longitudinal gradient section;
if v is max ≤v tu If so, indicating that a pre-signal lamp does not need to be arranged on the longitudinal slope section of the road, and ending the process;
if v is max ＞v tu If so, indicating that a pre-signal lamp needs to be arranged on the longitudinal slope section of the road, and executing the step 4;
step 5, judging whether a pre-signal lamp needs to be started or not;
step 5.1, respectively calculating the speed limit value v of the vehicle by using the formula (7), the formula (8) and the formula (9) limit Down parking sight distance D limit Maximum speed v of vehicle on longitudinal slope section of road max Down parking sight distance D max The parking apparent distance difference delta D of the vehicle;
ΔD＝D max -D limit (9)
step 5.2, acquiring the traffic flow Q of the upstream basic road section of the signalized intersection and the red light time length R in the current signalized cycle T of the signalized intersection T ；
Step 5.3, calculating the maximum queuing length of the signalized intersection in the current signalized period T by using the formula (10)
In the formula (10), l c The length of the vehicle is taken as w is the safe distance between the vehicle and the front vehicle when the vehicle is parked and queued;
step 5.4 if
Then the pre-signal lamp is not started in the current signal period T, and step 7 is executed; if it is
Starting a pre-signal lamp in the current signal period T and executing the step 6;
step 6, calculating the starting time of the red light and the green light in the pre-signal light in the current signal light period T;
step 6.1 if 2 If the value is more than or equal to delta D, executing the step 6.2, the step 6.3 and the step 7;
if l 2 If the value is less than delta D, executing step 6.4, step 6.5 and step 7;
step 6.2, calculating the time difference T between the red light starting time of the pre-signal lamp and the red light starting time of the signalized intersection in the current signal period T by using the formula (11) R So as to lead the turn-on time t of the red light of the pre-signal lamp at the signalized intersection R The rear red light is lighted to remind the following vehicles to queue and wait in front of the pre-signal light;
step 6.3, calculating the time difference T between the green light starting time of the pre-signal lamp and the green light starting time of the signalized intersection in the current signal period T by using the formula (12) G1 And the green light of the pre-signal lamp is advanced by time t compared with the green light of the signalized intersection G1 Opening;
in the formula (12), S is the length of a longitudinal slope section of the road; a is 2 Comfort acceleration of the vehicle;
step 6.4, in the current signal period T, enabling the red light starting time of the pre-signal lamp to be consistent with the red light starting time of the signalized intersection;
step 6.5, calculating the time difference T between the green light starting time of the pre-signal light and the green light starting time of the signalized intersection in the current signal period T by using the formula (13) G2 And the green light of the pre-signal lamp is advanced by time t compared with the green light of the signalized intersection G2 Opening;
and 7, assigning the value of T +1 to T, and returning to the step 5.2 for sequential execution.
In this embodiment, an electronic device includes a memory for storing a program that enables a processor to execute the above method, and a processor configured to execute the program stored in the memory.
In this embodiment, a computer-readable storage medium stores a computer program, and the computer program is executed by a processor to perform the steps of the method.
Claims (3)
1. A pre-signal lamp control method for an upstream road longitudinal slope section of an intersection is disclosed, wherein the intersection is a signal intersection, and an entrance way of the signal intersection is connected with an upstream basic section through the road longitudinal slope section; the road longitudinal slope section consists of a concave vertical curve, a basic longitudinal slope section and a convex vertical curve; the upstream basic road section is connected with the basic longitudinal slope section through a concave vertical curve, and the basic longitudinal slope section is connected with the entrance lane of the signalized intersection through a convex vertical curve; the joint point of the concave vertical curve and the upstream basic road section is the starting point of the concave vertical curve, and the joint point of the concave vertical curve and the basic longitudinal slope section is the end point of the concave vertical curve; the joint point of the convex vertical curve and the basic longitudinal slope section is the starting point of the convex vertical curve, and the joint point of the convex vertical curve and the entrance way of the signalized intersection is the terminal point of the convex vertical curve; the method for managing and controlling the pre-signal lamps is characterized by comprising the following steps of:
step 1, determining a speed limit value v of a vehicle on a longitudinal slope section of a road limit ；
Step 1.1 calculate the length L according to the concave vertical curve using equation (1) ao Determined speed limit value v ao ；
In the formula (1), delta is a gradient difference;
step 1.2 calculate the length L according to the convex vertical curve using the equations (2) and (3) tu Determined speed limit value v tu ；
In formulae (2) and (3), D tu Is a speed limit value v tu The visual distance of the lower car to be parked,
is the longitudinal friction coefficient between road surface and tyre, i is the longitudinal gradient of convex vertical curve, S 0 A minimum safe distance for the vehicle;
step 1.3, determining the speed limit value v of the vehicle on the longitudinal slope section of the road by using the formula (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 if v limit ≥v 0 Then no speed limit board is needed to be set and let v limit ＝v 0 ；
If v is limit ＜v 0 Then, the distance l is calculated by equation (5) 1 So that the distance upstream of the longitudinal section of road from the starting point of the longitudinal section of road is l 1 The position of the speed limit plate is provided with a speed limit plate;
in the formula (5), a 1 Is a comfortable deceleration of the vehicle;
step 3, calculating the maximum speed of the vehicle on the longitudinal slope section of the road by using the formula (6)Degree v max ；
v max ＝v limit +Δv (6)
In the equation (6), Δ v represents a fluctuation range of the speed of the vehicle on the road longitudinal gradient section;
if v is max ≤v tu If so, indicating that a pre-signal lamp does not need to be arranged on the longitudinal slope section of the road, and ending the process;
if v is max ＞v tu If so, indicating that a pre-signal lamp needs to be arranged on the longitudinal slope section of the road, and executing the step 4;
step 4 if α 2 ≥α max Setting a pre-signal lamp at the starting point of the concave curve;
if α is 2 ＜α max Setting a pre-signal lamp at the starting point of the convex curve; wherein alpha is 2 Is the value of the slope of the basic longitudinal slope, alpha max The maximum starting gradient value of the vehicle is obtained;
step 5, judging whether the pre-signal lamp needs to be started or not;
step 5.1, respectively calculating the speed limit value v of the vehicle by using the formula (7), the formula (8) and the formula (9) limit Down parking sight distance D limit Maximum speed v of vehicle on longitudinal slope section of road max Down parking sight distance D max The parking apparent distance difference delta D of the vehicle;
ΔD＝D max -D limit (9)
step 5.2, acquiring the traffic flow Q of the upstream basic road section of the signalized intersection and the red light time length R in the current signalized cycle T of the signalized intersection T ；
Step 5.3 calculate the signal crossing using equation (10)Maximum queue length within the current signal period T
In the formula (10), l c The length of the vehicle is defined as w, and the safety distance between the vehicle and the front vehicle when the vehicle parks and lines up is defined as w;
step 5.4 if
The pre-signal lamp is not started in the current signal period T, and step 7 is executed; if it is
Starting the pre-signal lamp in the current signal period T, and executing the step 6;
step 6, calculating the starting time of the red light and the green light in the pre-signal light in the current signal light period T;
step 6.1 if 2 If the value is more than or equal to delta D, executing the step 6.2, the step 6.3 and the step 7;
if l 2 If the value is less than delta D, executing step 6.4, step 6.5 and step 7;
step 6.2, calculating the time difference T between the red light starting time of the pre-signal lamp and the red light starting time of the signalized intersection in the current signal period T by using the formula (11) R So that the turn-on time t of the red light of the pre-signal lamp at the signalized intersection is ensured R The rear red light is lighted to remind the following vehicles to queue and wait in front of the pre-signal light;
step 6.3 calculate the green of the pre-signal light in the current signal period T using equation (12)The time difference t between the light turn-on time and the green light turn-on time of the signalized intersection G1 And leading the green light of the pre-signal lamp to be ahead of the green light of the signalized intersection by time t G1 Opening;
in the formula (12), S is the length of the longitudinal slope section of the road; a is 2 Comfort acceleration of the vehicle;
step 6.4, in the current signal period T, enabling the red light starting time of the pre-signal lamp to be consistent with the red light starting time of the signalized intersection;
step 6.5, calculating the time difference T between the green light starting time of the pre-signal light and the green light starting time of the signalized intersection in the current signal period T by using the formula (13) G2 And leading the green light of the pre-signal lamp to be ahead of the green light of the signalized intersection by time t G2 Opening;
and 7, assigning the value of T +1 to T, and returning to the step 5.2 for sequential execution.
2. An electronic device comprising a memory and a processor, wherein the memory is configured to store a program that enables the processor to perform the method of claim 1, and wherein the processor is configured to execute the program stored in the memory.
3. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method as claimed in claim 1.
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