CN115394097B - Pre-signal lamp tube control method and application of intersection upstream road longitudinal slope section - Google Patents

Pre-signal lamp tube control method and application of intersection upstream road longitudinal slope section Download PDF

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CN115394097B
CN115394097B CN202211060143.2A CN202211060143A CN115394097B CN 115394097 B CN115394097 B CN 115394097B CN 202211060143 A CN202211060143 A CN 202211060143A CN 115394097 B CN115394097 B CN 115394097B
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longitudinal slope
slope section
vehicle
intersection
signal lamp
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CN115394097A (en
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张卫华
王昌胜
丁恒
施康
陈小庆
柏海舰
孙婷
韦丝平
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ANHUI CHAOYUAN INFORMATION TECHNOLOGY CO LTD
Hefei University of Technology
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ANHUI CHAOYUAN INFORMATION TECHNOLOGY CO LTD
Hefei University of Technology
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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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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    • Y02A30/60—Planning or developing urban green infrastructure

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Abstract

The invention discloses a pre-signal lamp tube control method and application of an upstream road longitudinal slope section of an intersection, which are suitable for the intersection as a signal intersection, and the signal intersection is connected with an upstream basic section through the road longitudinal slope section, and the method comprises the following steps: 1. determining a speed limit value of a vehicle entering a longitudinal slope section; 2. determining the position of a speed limit plate; 3. judging whether a pre-signal lamp is required to be arranged on a longitudinal slope section or not; 4. determining the setting position of the 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. According to the invention, 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 during ascending is ensured; the queuing length of the vehicle 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

Pre-signal lamp tube control method and application of intersection upstream road longitudinal slope section
Technical Field
The invention belongs to the field of road traffic safety, and particularly relates to a pre-signal lamp control method for a road longitudinal slope section of an upstream road of an intersection.
Background
The field of view and the line of sight of the front of the vehicle are of great importance for safe and efficient operation of the vehicle on the road. The speed and driving direction of the vehicle are selected depending on whether the driver looks clear of the road ahead and the surrounding environment, and have enough vision distance to accurately control the direction, avoid obstacles, and ensure driving safety. In a road longitudinal slope section, due to the change of the road gradient, a blind area of view is easily formed at the gradient change position, and at this time, the speed of a driver is too high, so that a rear-end collision accident of a vehicle is easily caused due to insufficient parking sight distance. It is therefore desirable to control the speed of the vehicle entering the grade section based on the length of the concave and convex vertical curves of the grade section.
When the downstream of the road longitudinal slope section is connected with the signal intersection, the traffic condition of the downstream signal intersection can not be observed in time due to poor sight distance of vehicles on the road longitudinal slope section, and when the vehicles at the downstream intersection are in long queuing, the following vehicles do not have enough stop sight distance to cause rear-end collision accidents after exiting, so that 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 a road longitudinal slope section at 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 when ascending the slope; meanwhile, the queuing length of the vehicles at the downstream signal intersection is controlled, so that rear-end collision accidents caused by overlong queuing of the vehicles at the intersection can be avoided, and the traffic efficiency can be improved.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention relates to a pre-signal lamp tube control method for an upstream road longitudinal slope section of an intersection, wherein the intersection is a signal intersection, and an inlet road 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 signal intersection inlet channel 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 signal intersection inlet channel is the end point of the convex vertical curve; the pre-signal lamp tube control method is characterized by comprising the following steps of:
step 1 determining a speed limit value v of a vehicle on a road longitudinal slope section limit ；
Step 1.1 calculating the length L according to the concave vertical curve using equation (1) ao The determined speed limit v ao ；
Figure BDA0003824128920000021
In the formula (1), delta is gradient difference;
step 1.2 calculating the length L according to the convex vertical curve using equation (2) and equation (3) tu The determined speed limit v tu ；
Figure BDA0003824128920000022
Figure BDA0003824128920000023
In the formula (2) and the formula (3), D tu Is the speed limit value v tu The lower visual distance of the vehicle to be parked,
Figure BDA0003824128920000024
is the longitudinal friction coefficient between the road surface and the tire, i is the road longitudinal gradient of a convex vertical curve, S 0 The minimum safe distance of the vehicle;
step 1.3 determining the speed limit v of the vehicle on the road longitudinal slope section using equation (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 if v limit ≥v 0 No speed limit plate is required to be arranged, and v is set limit ＝v 0 ；
If v limit ＜v 0 Then calculate the distance l using equation (5) 1 So that the distance between the upstream of the road longitudinal slope section and the starting point of the road longitudinal slope section is l 1 Setting a speed limit plate at the position of the box body;
Figure BDA0003824128920000025
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 road longitudinal slope section using equation (6) max ；
v max ＝v limit +Δv (6)
In the formula (6), Δv represents a fluctuation range of the speed of the vehicle on the road longitudinal slope section;
if v max ≤v tu Indicating that a pre-signal lamp is not required to be arranged on the road longitudinal slope section, and ending the flow;
if v max ＞v tu Indicating that a pre-signal lamp is required to be arranged on the road longitudinal slope section, and executing the step 4;
step 4 if alpha 2 ≥α max A pre-signal lamp is arranged at the starting point of the concave curve;
if alpha is 2 ＜α max Then atA pre-signal lamp is arranged at the starting point of the convex curve; wherein alpha is 2 Is the gradient value of basic longitudinal slope section alpha max The maximum starting gradient value of the vehicle;
step 5, judging whether the pre-signal lamp needs to be started or not;
step 5.1 calculating the vehicle speed limit value v by using the formulas (7), (8) and (9) limit Lower parking sight distance D limit Maximum speed v of vehicle on road longitudinal slope section max Lower parking sight distance D max The parking line-of-sight difference Δd of the vehicle;
Figure BDA0003824128920000031
Figure BDA0003824128920000032
ΔD＝D max -D limit (9)
step 5.2, obtaining the traffic flow Q of the upstream basic road section of the signalized intersection and the red light duration R in the current signal period T of the signalized intersection T ；
Step 5.3 calculating the maximum queuing length in the current signal period T of the signalized intersection by using the method (10)
Figure BDA0003824128920000033
Figure BDA0003824128920000034
In the formula (10), l c For the length of the vehicle, w is the safety distance between the vehicle and the front vehicle when the vehicle is parked and queued;
step 5.4 if
Figure BDA0003824128920000035
The pre-signal lamp is not started in the current signal period T, and the step 7 is executed; if->
Figure BDA0003824128920000036
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 l 2 And (3) if the temperature is not less than delta D, executing the steps 6.2, 6.3 and 7;
if l 2 Step 6.4, step 6.5 and step 7 are performed if Δd is <;
step 6.2 calculating the time difference T between the red light on time of the pre-light and the red light on time of the signalized intersection in the current signal period T using equation (11) R Thereby enabling the pre-signal lamp to turn on at the red light of the signal intersection for a time t R A red light is turned on later to remind a vehicle arriving later to wait in a queue before the pre-signal lamp;
Figure BDA0003824128920000037
step 6.3 calculating the time difference T between the green light on time of the pre-light and the green light on time of the signalized intersection in the current signalling period T using equation (12) G1 And advancing the green light of the pre-signal lamp by a time t compared with the green light of the signalized intersection G1 Opening;
Figure BDA0003824128920000041
in the formula (12), S is the length of a road longitudinal slope section; a, a 2 Comfort acceleration for 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 signal intersection;
step 6.5 calculating the green light on time of the pre-signal lamp and the green light on of the signal intersection in the current signal period T by using the formula (13)Time difference t between start moments G2 And advancing the green light of the pre-signal lamp by a time t compared with the green light of the signalized intersection G2 Opening;
Figure BDA0003824128920000042
and 7, after assigning T+1 to T, returning to the step 5.2 for sequential execution.
The invention provides an electronic device, which comprises a memory and a processor, and is characterized in that the memory is used for storing a program for supporting the processor to execute the pre-signal lamp control method, and the processor is configured to execute the program 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 when being run by a processor performs the steps of the pre-signal lamp control method.
Compared with the prior art, the invention has the beneficial technical effects that:
1. according to the invention, the speed limit value of the vehicle entering the road longitudinal slope 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 in ascending the road longitudinal slope is ensured; and the comfortable deceleration is utilized to calculate the deceleration distance of the vehicle and the deceleration distance is used as the setting position of the speed limiting plate, so that the comfort and the safety of the vehicle during the deceleration on an ascending slope are ensured.
2. In the invention, a pre-signal lamp is arranged at the starting point of the road longitudinal slope section, and the distance l from the end point of the road longitudinal slope section to the downstream signal intersection is dynamically determined 2 Maximum queuing length in current signal period T of downstream signal intersection
Figure BDA0003824128920000043
Judging whether a pre-signal lamp arranged at the starting point of a road longitudinal slope section needs to be started or not according to the relation between the vehicle parking sight distance delta D and the vehicle parking sight distance delta D; the problem that vehicles at the intersection are excessively long in queuing, so that the following vehicles cannot have enough parking sight distance after exiting from a road longitudinal slope section is avoidedTail accident.
3. According to the distance l from the end point of the road longitudinal slope section to the downstream signal intersection under the condition that the pre-signal lamp needs to be started 2 And the relation between the parking sight distance delta D of the vehicle, the turn-on time of the traffic lights and the green lights of the pre-signal lights is calculated in a classified mode, and the traffic efficiency is improved under the condition of ensuring the traffic safety.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a schematic view of a scenario of the present invention;
fig. 3 is a longitudinal sectional view of the road longitudinal slope section of the invention.
Detailed Description
In this embodiment, as shown in fig. 2, an intersection in a pre-signal light control method for a road longitudinal slope section upstream of the intersection is a signal intersection, and includes a main signal light; the signal intersection entrance road is connected with the upstream basic road section through the road longitudinal slope road 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 signal 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 signal intersection inlet channel is the end 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 a convex vertical curve length L tu To determine the speed limit v of the vehicle on the longitudinal slope limit ；
Step 1.1 calculating the length L according to the concave vertical curve using equation (1) ao The determined speed limit v ao ；
Figure BDA0003824128920000051
In the formula (1), delta is gradient difference; at this time, Δ=α 2 -α 1 ，α 2 Is the gradient value of basic longitudinal slope alpha 1 Is the grade value of the upstream basic road section;
step 1.2 solving for the length L according to the convex vertical curve using equation (2) and equation (3) tu The determined speed limit v tu ；
Figure BDA0003824128920000052
Figure BDA0003824128920000053
In the formula (2) and the formula (3), D tu Is the speed limit value v tu The lower visual distance of the vehicle to be parked,
Figure BDA0003824128920000054
is the longitudinal friction coefficient between the road surface and the tire, i is the road longitudinal gradient, S 0 Is the minimum safe distance; gradient difference Δ=α in formula (2) 3 -α 2 ，α 3 The gradient value at the intersection;
step 1.3 determining the speed limit v of the vehicle on the longitudinal slope section using equation (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 as shown in FIG. 2, according to the speed limit v of the vehicle on the longitudinal slope section limit Free flow speed v at the upstream basic section of the vehicle 0 The relation between the speed limit cards determines the position of the speed limit cards; if v limit ≥v 0 No speed limit plate is required to be arranged, and v is set limit ＝v 0 ；
If v limit ＜v 0 Then calculate the distance l using equation (5) 1 So that the distance between the upstream of the road longitudinal slope section and the starting point of the road longitudinal slope section is l 1 Position setting limit of (2)Fast card;
Figure BDA0003824128920000061
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 road longitudinal slope section max Length L of convex vertical curve tu The determined speed limit v tu Judging whether a pre-signal lamp is required to be arranged on a road longitudinal slope section or not according to the relation between the pre-signal lamp and the road longitudinal slope section;
calculating the maximum speed v of the vehicle on the road longitudinal slope section by using the method (6) max ；
v max ＝v limit +Δv (6)
In the formula (6), Δv represents a fluctuation range of the speed of the vehicle on the road longitudinal slope section;
if v max ≤v tu Indicating that a pre-signal lamp is not required to be arranged on the road longitudinal slope section, and ending the flow;
if v max ＞v tu Indicating that a pre-signal lamp is required to be arranged on the road longitudinal slope section, and executing the step 4;
step 4 if alpha 2 ≥α max A pre-signal lamp is arranged at the starting point of the concave curve; if alpha is 2 ＜α max A pre-signal lamp is arranged at the starting point of the convex curve; wherein alpha is 2 Is the gradient value of basic longitudinal slope section alpha max The maximum starting gradient value of the vehicle; FIG. 2 is a schematic view of a scene with pre-lights positioned at the start of a concave curve;
step 5, judging whether a pre-signal lamp needs to be started or not;
step 5.1 calculating the vehicle speed limit value v by using the formulas (7), (8) and (9) limit Lower parking sight distance D limit Maximum speed v of vehicle on road longitudinal slope section max Lower parking sight distance D max The parking line-of-sight difference Δd of the vehicle;
Figure BDA0003824128920000062
Figure BDA0003824128920000071
ΔD＝D max -D limit (9)
step 5.2 obtaining traffic flow Q of the upstream basic road section of the signalized intersection and red light duration R in the current signal period T of the signalized intersection T ；
Step 5.3 calculating the maximum queuing length in the current Signal cycle T of the signalized intersection Using (10)
Figure BDA0003824128920000072
Figure BDA0003824128920000073
In the formula (10), l c For the length of the vehicle, w is the safety distance between the vehicle and the front vehicle when the vehicle is parked and queued;
step 5.4 if
Figure BDA0003824128920000074
The pre-signal lamp is not started in the current signal period T, and the step 7 is executed; if it is
Figure BDA0003824128920000075
Starting a pre-signal lamp in the current signal period T, and executing the step 6;
step 6, calculating the starting time of a red light and a green light in the pre-signal light in the current signal light period T;
step 6.1 if l 2 And (3) if the temperature is not less than delta D, executing the steps 6.2, 6.3 and 7;
if l 2 Step 6.4, step 6.5 and step 7 are performed if Δd is <;
step 6.2 calculating the time difference between the red light on time of the pre-light and the red light on time of the signalized intersection in the current signalling period T using equation (11)t R Thereby leading the red light on time t of the pre-signal lamp at the signal intersection R The red light is lighted later to remind the vehicles arriving later to wait in line before the pre-signal lamp;
Figure BDA0003824128920000076
step 6.3 calculating the time difference T between the green light on time of the pre-light and the green light on time of the signalized intersection in the current signalling period T using equation (12) G1 And the green light of the pre-signal lamp is advanced by time t compared with the green light of the signal intersection G1 Opening;
Figure BDA0003824128920000077
in the formula (12), S is the length of a road longitudinal slope section; a, a 2 Comfort acceleration for 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 signal intersection;
step 6.5 calculating the time difference T between the green light on time of the pre-light and the green light on time of the signalized intersection in the current signalling period T using equation (13) G2 And the green light of the pre-signal lamp is advanced by time t compared with the green light of the signal intersection G2 Opening;
Figure BDA0003824128920000081
and 7, after assigning T+1 to T, returning to the step 5.2 for sequential execution.
In this embodiment, an electronic device includes a memory for storing a program supporting the 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 that, when executed by a processor, performs the steps of the method described above.

Claims (3)

1. A pre-signal lamp tube control method for an upstream road longitudinal slope section of an intersection is characterized in that the intersection is a signal intersection, and an inlet channel 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 signal intersection inlet channel 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 signal intersection inlet channel is the end point of the convex vertical curve; the pre-signal lamp tube control method is characterized by comprising the following steps of:
step 1 determining a speed limit value v of a vehicle on a road longitudinal slope section limit ；
Step 1.1 calculating the length L according to the concave vertical curve using equation (1) ao The determined speed limit v ao ；
Figure FDA0004144389920000011
In the formula (1), delta is gradient difference;
step 1.2 calculating the length L according to the convex vertical curve using equation (2) and equation (3) tu The determined speed limit v tu ；
Figure FDA0004144389920000012
Figure FDA0004144389920000013
In the formula (2) and the formula (3), D tu Is the speed limit value v tu The lower visual distance of the vehicle to be parked,
Figure FDA0004144389920000015
is the longitudinal friction coefficient between the road surface and the tire, i is the road longitudinal gradient of a convex vertical curve, S 0 The minimum safe distance of the vehicle;
step 1.3 determining the speed limit v of the vehicle on the road longitudinal slope section using equation (4) limit ；
v limit ＝min(v ao ,v tu ) (4)
Step 2 if v limit ≥v 0 No speed limit plate is required to be arranged, and v is set limit ＝v 0 ；v 0 A free flow speed representing an upstream base road segment;
if v limit ＜v 0 Then calculate the distance l using equation (5) 1 So that the distance between the upstream of the road longitudinal slope section and the starting point of the road longitudinal slope section is l 1 Setting a speed limit plate at the position of the box body;
Figure FDA0004144389920000014
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 road longitudinal slope section using equation (6) max ；
v max ＝v limit +Δv (6)
In the formula (6), Δv represents a fluctuation range of the speed of the vehicle on the road longitudinal slope section;
if v max ≤v tu Indicating that a pre-signal lamp is not required to be arranged on the road longitudinal slope section, and ending the flow;
if v max ＞v tu Indicating that a pre-signal lamp is required to be arranged on the road longitudinal slope section, and executing the step 4;
step 4 if alpha 2 ≥α max A pre-signal lamp is arranged at the starting point of the concave vertical curve;
if alpha is 2 ＜α max A pre-signal lamp is arranged at the starting point of the convex vertical curve; wherein alpha is 2 Is the gradient value of basic longitudinal slope section alpha max The maximum starting gradient value of the vehicle;
step 5, judging whether the pre-signal lamp needs to be started or not;
step 5.1 calculating the vehicle speed limit value v by using the formulas (7), (8) and (9) limit Lower parking sight distance D limit Maximum speed v of vehicle on road longitudinal slope section max Lower parking sight distance D max The parking line-of-sight difference Δd of the vehicle;
Figure FDA0004144389920000021
Figure FDA0004144389920000022
ΔD＝D max -D limit (9)
step 5.2, obtaining the traffic flow Q of the upstream basic road section of the signalized intersection and the red light duration R in the current signal period T of the signalized intersection T ；
Step 5.3 calculating the maximum queuing length in the current signal period T of the signalized intersection by using the method (10)
Figure FDA0004144389920000023
Figure FDA0004144389920000024
In the formula (10), l c For the length of the vehicle, w is the safety distance between the vehicle and the front vehicle when the vehicle is parked and queued;
step 5.4 if
Figure FDA0004144389920000025
The pre-signal lamp is not started in the current signal period T, and the step 7 is executed; if it is
Figure FDA0004144389920000026
Starting the pre-signal lamp in the current signal period T, and executing the step 6; wherein l 2 The distance from the end point of the road longitudinal slope section to the downstream signal intersection is set;
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 l 2 And (3) if the temperature is not less than delta D, executing the steps 6.2, 6.3 and 7;
if l 2 Step 6.4, step 6.5 and step 7 are performed if Δd is <;
step 6.2 calculating the time difference T between the red light on time of the pre-light and the red light on time of the signalized intersection in the current signal period T using equation (11) R Thereby enabling the pre-signal lamp to turn on at the red light of the signal intersection for a time t R A red light is turned on later to remind a vehicle arriving later to wait in a queue before the pre-signal lamp;
Figure FDA0004144389920000031
step 6.3 calculating the time difference T between the green light on time of the pre-light and the green light on time of the signalized intersection in the current signalling period T using equation (12) G1 And advancing the green light of the pre-signal lamp by a time t compared with the green light of the signalized intersection G1 Opening;
Figure FDA0004144389920000032
in the formula (12), S is the length of a road longitudinal slope section; a, a 2 Comfort acceleration for 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 signal intersection;
step 6.5 calculating the time difference T between the green light on time of the pre-light and the green light on time of the signalized intersection in the current signalling period T using equation (13) G2 And advancing the green light of the pre-signal lamp by a time t compared with the green light of the signalized intersection G2 Opening;
Figure FDA0004144389920000033
and 7, after assigning T+1 to T, 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 supports the processor to perform the method of claim 1, the processor being configured to execute the program stored in the memory.
3. A computer readable storage medium having a computer program stored thereon, characterized in that the computer program when run by a processor performs the steps of the method of claim 1.
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* Cited by examiner, † Cited by third party
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