CN115482663B - Intersection traffic control method considering special phase for automatic driving - Google Patents

Intersection traffic control method considering special phase for automatic driving Download PDF

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CN115482663B
CN115482663B CN202211106668.5A CN202211106668A CN115482663B CN 115482663 B CN115482663 B CN 115482663B CN 202211106668 A CN202211106668 A CN 202211106668A CN 115482663 B CN115482663 B CN 115482663B
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traffic
lane
intersection
automatic driving
vehicle
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CN115482663A (en
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吴伟
秦少敏
胡林
杜荣华
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Changsha University of Science and Technology
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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
    • 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
    • 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
    • G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
    • 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
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/085—Controlling traffic signals using a free-running cyclic timer
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • 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
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Abstract

The invention discloses a traffic control method of an intersection taking special phases of automatic driving into consideration, aiming at the intersection where an automatic driving vehicle and a manual driving vehicle are mixed to run. Firstly, the invention collects the number of lanes in each inlet direction of the intersection, and the initial traffic volumes of automatic driving vehicles and manual driving vehicles; secondly, considering the alternate passing of the automatic driving vehicle, establishing a prediction model of the special phase passing capacity of the automatic driving, and establishing a lane layout model; then, designing a phase structure considering a special phase for automatic driving, establishing a signal timing model, and distributing the optimal traffic volume of each entrance lane; and finally, optimizing and obtaining an intersection signal timing scheme by taking the maximization of the intersection traffic capacity as a control target. The invention reasonably distributes the right of passage of the automatic driving vehicle and the manual driving vehicle based on the special phase of the automatic driving, realizes the separation control of the automatic driving vehicle and the manual driving vehicle, and improves the traffic capacity of the intersection.

Description

Intersection traffic control method considering special phase for automatic driving
Technical Field
The invention belongs to the field of intelligent traffic control, and particularly relates to an intersection traffic control method considering an automatic driving special phase.
Background
Under the premise that the automatic driving technology is mature gradually, the automatic driving vehicle is gradually commercialized for demonstration application, the automatic driving is one of the future traffic development trends, and the development of travel services such as automatic driving and vehicle-road cooperation and the like and the encouragement of automatic driving in limited areas such as ports, logistics parks and the like are focused on research and development targets. According to the automatic driving grading standard of the vehicle established by the American engineering society, under the automatic driving environment with the L4 level or more, intelligent information sharing can be realized between the vehicle and the infrastructure and between the vehicle and the vehicle, the traffic control strategy of 'red light stop-green light traffic' based on lane groups can be broken through, and the mutual matched alternate traffic of the automatic driving vehicle can be realized.
According to the plan of the Chinese automobile engineering society, the market share of the highly automatic driving vehicle (more than L4 level) reaches about 15% by 2025. The Canadian traffic policy institute predicts that the autonomous vehicle will grow step by step and predicts that 2040 years of autonomous vehicle will account for 50% of the vehicle sales, 30% of the total amount of vehicle, 40% of vehicle travel. However, the popularity of autonomous vehicles is very difficult to reach 100% in the foreseeable time, and it is expected that traffic flows will still be dominated by mixed traffic flows (mixed manual and autonomous vehicles) in the coming 20-30 years.
However, the existing traffic control method for the mixed intersection mainly has the following defects: the mixed traffic flow is uniformly controlled, namely, the automatic driving vehicles and the manual driving vehicles are mixed to run on the same lane, follow the same phase control together, share road right and green light time, cause mutual interference between the automatic driving vehicles and the manual driving vehicles, and hardly embody the traffic efficiency advantage of the automatic driving vehicles. Therefore, the special phase for automatic driving is provided, the special lane for automatic driving is arranged, and during the operation of the special phase for automatic driving, the automatic driving vehicles pass through the intersection in a penetrating way, so that the separation control of the automatic driving vehicles and the manual driving vehicles is realized, and the transportation efficiency of the intersection is effectively improved.
Disclosure of Invention
The invention aims to overcome the defects and establish a crossing traffic control method considering the special phase of automatic driving. The method avoids mutual conflict between the automatic driving and manual driving vehicles, provides an automatic driving special phase, lays an automatic driving special lane, separates the automatic driving and manual driving vehicles from two dimensions of time and space, and realizes separation control of a mixed intersection.
The technical scheme is as follows: in order to solve the technical problems, the intersection traffic control method considering the special phase of automatic driving comprises the following specific steps:
step 1: collecting the number of lanes at the entrance and exit of each direction at the intersection and the traffic volumes of the vehicles driven automatically and manually in different directions at each entrance;
step 2: taking alternate traffic of the automatic driving vehicle into consideration, and establishing a prediction model of special phase traffic capacity of the automatic driving;
step 3: the method comprises the steps that an intersection entrance road is divided into a common lane and a dynamic lane, and an intersection lane layout and traffic capacity model is established;
step 4: designing and considering a phase structure of a special phase for automatic driving, and constructing an intersection signal timing model;
step 5: taking the traffic volume of the lanes not exceeding the traffic capacity as constraint, and distributing the optimal traffic volume of each entrance lane;
step 6: and optimizing and obtaining an intersection signal timing scheme considering the special phase of automatic driving by taking the maximization of the intersection traffic capacity as a target.
Preferably, the step 1 acquires the number of lanes at the entrance and the exit in each direction of the intersection, and acquires the traffic volumes of the vehicles driven automatically and manually in different directions at each entrance of the intersection, and the method comprises the following steps:
Step 11: collecting the number of lanes at the entrance and exit of the intersection in each direction byParameter L represents the inlet direction, parameter L ' represents the outlet direction, set L represents the inlet direction set, set L ' represents the outlet direction set, l=l ' = { E, S, W, N }, where E, S, W, N represent the east, south, west, north directions, respectively, parameter E l The number of lanes representing the entrance direction l;
step 12: acquiring traffic volumes of automatic driving and manual driving vehicles with different steering directions at each entrance direction of an intersection, using a parameter K to represent vehicle steering, using a set K to represent a vehicle steering set, K= { S, L }, K epsilon K, wherein S, L respectively represent straight running and left turning of the vehicle, using a parameter Z to represent vehicle type, using a set Z to represent a vehicle type set, Z= { A, H }, Z epsilon Z, wherein A, H respectively represent automatic driving vehicles and manual driving vehicles, and using a parameter Z to represent the vehicle type setIndicating the initial traffic volume diverted in the intersection inlet direction i to k vehicle types z.
Preferably, the step 2 establishes a prediction model of the phase traffic capacity dedicated to automatic driving in consideration of the alternate traffic of the automatic driving vehicle, and includes the following steps:
step 21: determining the safety time interval of an autonomous vehicle, considering the alternate passage of the autonomous vehicle, in order to prevent collisions between vehicles, a safety time interval Δh must be maintained between two vehicles n and n' which successively enter the intersection n The safety time interval between vehicles specifically comprises the following three situations according to the conflict relation of two vehicle tracks:
(1) vehicle n and vehicle n' come from the same set of traffic flows, Δh n ＝h 0 ，j＝i；
(2) Vehicle n and vehicle n' are from two sets of traffic flows without collision, Δh n ＝h 1 ，j∈A i ；
(3) Vehicle n and vehicle n' are from two sets of traffic flows with collision, Δh n ＝h 2 ，j∈B i ；
Therefore, the specific calculation of the vehicle safety time interval is as shown in the formula (1):
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i A traffic flow set, h, representing the existence of a conflict with traffic flow i 0 、h 1 、h 2 Respectively representing the safety time interval between two vehicles from the same traffic flow, two conflict-free traffic flows and two vehicles with conflict traffic flows which successively enter an intersection;
step 22: determining the service time of an autonomous vehicle, the time gap between two vehicles n and n' entering an intersection in succession being considered as the service time S based on the first come first served and queuing theory n On the premise of ensuring the traffic safety of the vehicles, the service time of the vehicles is reduced to furthest improve the traffic efficiency of the intersections, so that the service time of the automatic driving vehicles is equal to the safety time interval, S n ＝Δh n The specific relation is as follows:
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i Traffic flow set s representing the existence of conflict with traffic flow i 0 、s 1 、s 2 Respectively representing service time between vehicles from the same traffic flow, two sets of traffic flows without conflict and the successive entrance intersection of the two sets of traffic flows with conflict;
step 23: calculating service probability of automatic driving vehicles, wherein vehicles arrive independently, and probability P of vehicles entering an intersection from traffic flow i at mth i m Equal to the average arrival rate mu of vehicles on traffic flow i i Divided by the sum of the average arrival rates of vehicles at each group of traffic flows at the intersection, which is calculated as follows:
wherein, the set I represents the traffic flow set of the intersection, I, j epsilon I, P i Representing the probability that the vehicle is from traffic flow i;
the probability of collision of two vehicles entering an intersection in succession includes three cases: (1) probability of two vehicles coming from the same traffic flow, i.e. following probability P 0 Calculating as in formula (4); (2) probability of two vehicles from two sets of collision-free traffic flows, i.e. peer probability P 1 Calculated as in formula (5); (3) probability of two vehicles from two groups of conflicting traffic streams, i.e. probability of conflict P 2 The calculation according to formula (6) is as follows:
step 24: calculating average service time of automatic driving vehicle, and interpenetration type traffic flow I under operation of special phase p of automatic driving p The average service time E (S) of the vehicle is equal to the sum of the service time times its probability, calculated as follows:
step 25: predicting the special phase traffic capacity of automatic driving, two vehicles from two groups of conflict-free traffic flows can simultaneously enter an intersection, and the safety time distance s of the vehicles 1 =0, so its service time s 1 Traffic capacity C of autopilot dedicated phase p according to average service time of autopilot vehicle =0 p The calculation is as follows:
wherein the parameter p represents the phase dedicated for autopilot, the setA traffic flow set that is conflicting with the autopilot-specific phase p-pass traffic flow i is represented.
Preferably, the entrance lane of the intersection in the step 3 is divided into a common lane and a dynamic lane, and an intersection lane layout and traffic capacity model is established, and the method comprises the following steps:
step 31: the entrance lane of the intersection is divided into a common lane and a dynamic lane; when the dynamic lane is set as a common lane, the automatic driving and manual driving vehicles are mixed to run on the common lane; when the dynamic lane is set as an automatic driving special lane, the automatic driving vehicle runs on the automatic driving special lane, and the manual driving vehicle runs on the common lane; when the phase green light time special for automatic driving at the intersection is more than 0, setting the corresponding dynamic lane as an automatic driving special lane; when the phase special for automatic driving at the intersection is equal to 0, the corresponding dynamic lane is set as a common lane; thus, the lane layout constraints are as follows:
t p ≥M×(β l,k -1) (9)
t p ≤M×β l,k (10)
The method comprises the steps of automatically driving a special phase set by using a set P intersection, wherein P= { EWA, SNA }, P epsilon P and EWA, and SNA respectively represent east-west automatic driving special phase and north-south automatic driving special phase; m represents a large positive integer, t p Green time, beta, representing phase p dedicated for autopilot l,k Is a binary variable, beta l,k =1 indicates that the dynamic lane steered to k in the entrance direction l is set as the automated driving dedicated lane, β l,k =0 indicates that the dynamic lane turned to k in the entrance direction l is set as the normal lane;
step 32: the traffic capacity of the common lane is equal to the unit time divided by the saturated headway of the manual driving vehicle multiplied by the green-signal ratio, and the green-signal ratio is equal to the green-signal time divided by the signal period duration:
wherein,representing the traffic capacity of a common lane turning to k in the inlet direction l, τ H Representing the saturated headway of a manually driven vehicle;
step 33: the special automatic driving lane traffic capacity consists of two parts, namely, the special automatic driving phase traffic capacity is distributed, vehicles pass through under the special automatic driving phase, the corresponding special automatic driving lane traffic capacity is distributed according to the initial traffic flow equal proportion, and the special automatic driving vehicle and the manual driving vehicle share the traffic capacity of the common phase; therefore, the traffic capacity of the automated driving-dedicated lane is calculated as follows:
Wherein,indicating the traffic capacity of the lane for automated driving with a turn k in the entrance direction l, τ A Representing the saturated headway of the automatic driving vehicle;
step 34: beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its traffic capacity is equal to that of an autopilot dedicated lane; when the dynamic lane is set as a common lane, beta l,k =0, which is equal to the traffic capacity of the normal lane, and therefore, the dynamic lane traffic capacity is calculated as follows:
wherein,indicating the dynamic lane traffic capacity turning to k in the entrance direction i.
Preferably, the step 4 designs a phase structure of an automatic driving special phase at an intersection, and builds a signal timing model of the automatic driving special phase, and the method comprises the following steps:
step 41: designing a phase structure of an automatic driving special phase, and adding two automatic driving special phases on the basis of a traditional signal phase, wherein manual driving traffic flows in east and west directions turning left and straight go form a first group of common phases, manual driving traffic flows in south and north directions turning left and straight go form a second group of common phases, direct driving traffic flows in south and north directions and automatic driving traffic flows in left go form a 3 rd group of north and south-automatic driving special phases, and direct driving traffic flows in east and west directions and automatic driving traffic flows in left go form a 4 th group of east and north-automatic driving special phases;
Step 42: the period length T of the signal period of the intersection is not greater than the maximum period T max Not less than the minimum period T min ：
T min ≤T≤T max (14)
Step 43: setting full red time AR after each group of phases operates to clear vehicles in the intersection, wherein the period full red time is equal to the sum of the full red time of the common phase and the full red time of the special phase for automatic driving, so that the phase period full red time T 0 ：
Wherein,is a binary variable->Indicating that intersection sets up autopilot dedicated phase p, for example>Indicating that the intersection is not provided with the special phase p for automatic driving;
step 44: the sum of green light time of the first group of common phase middle-east import left-hand traffic flow and the west import straight traffic flow is equal to the sum of green light time of the west import left-hand traffic flow and the east import straight traffic flow, as shown in formula (16); the sum of green times of the north-entrance left-hand traffic flow and the north-entrance straight traffic flow in the second group of normal phases is equal to the sum of green times of the north-entrance left-hand traffic flow and the south-entrance straight traffic flow, as in formula (17):
t EL +t WS ＝t WL +t ES (16)
t SL +t NS ＝t NL +t SS (17)
wherein t is EL 、t WS 、t WL 、t ES The green light time, t, of the east import left turn, the west import straight travel, and the west import left turn and the east import straight travel traffic flow are respectively represented SL 、t NS 、t NL 、t SS The green light time of the traffic flow of the direct traffic flow of the north import left turn, the direct traffic of the north import left turn and the direct traffic flow of the south import are respectively represented;
Step 45: the signal period duration is equal to the sum of each group of phase green light time and period full-red time, wherein the first group of common phase green light time is equal to the sum of east import left turn and west import straight green light time, and the second group of common phase green light time is equal to the sum of south import left turn and north import straight green light time, so the signal period duration is calculated as follows:
T＝t EL +t WS +t SL +t NS +∑ p∈P t p +T 0 (18)
step 46: the green time of each traffic flow under the common phase is not less than the minimum green time g min ：
t l,k ≥g min (19)
Wherein t is l,k The green time of traffic flow when the intersection inlet direction l turns to k is represented;
step 47: when the intersection is provided with an automatic driving special phase, the green light time is not less than the minimum green light time:
preferably, the step 5 allocates the optimal traffic volume of each entrance lane with the constraint that the traffic volume of the lane does not exceed the traffic capacity of the lane, and comprises the following steps:
step 51: when the dynamic lane is set as a common lane, beta l,k =0, the normal lane initial traffic is equal to the ratio of the sum of the automatic driving and manual driving initial traffic to the sum of the normal and dynamic lane numbers, and the dynamic lane initial traffic is equal to the normal lane initial traffic; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, the normal lane initial traffic is equal to the ratio of the manual driving initial traffic to the normal lane number, the dynamic lane optimal traffic is equal to the ratio of the automatic driving initial traffic to the dynamic lane number, and the lane optimal traffic is equal to the lane initial traffic multiplied by the amplification factor λ, so the intersection entrance lane optimal traffic is calculated as follows:
wherein,indicating the optimum traffic volume of the common lane with intersection entry direction l turned to k,/>Optimal traffic volume of dynamic lane indicating intersection entrance direction i turning to k,/>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Initial traffic volume of the autonomous vehicle indicating the intersection entry direction i turning to k,/>The number of common lanes indicating the intersection entrance direction l turning to k, is->The number of dynamic lanes for turning the intersection inlet direction l to k is represented;
step 52: the optimal traffic volume of the common lane cannot exceed the traffic capacity of the common lane:
step 53: when the dynamic lane is set as a common lane, beta l,k =0, its optimal traffic volume cannot exceed the traffic capacity of a common lane; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its optimal traffic volume cannot exceed the traffic capacity of the automated driving dedicated lane, and therefore, the dynamic lane optimal traffic volume satisfies:
Preferably, the step 6 includes the following steps:
step 61: the variable lambda of the amplification factor is introduced, and lambda is equal to the ratio of the optimal traffic volume of each steering vehicle type in each inlet direction of the intersection after the distribution optimization to the initial traffic volume of each steering vehicle type in each inlet direction of the intersection:
wherein,indicating the intersection entry direction i turns to k optimal traffic volume for vehicle type z, +.>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Indicating an initial traffic volume for the intersection inlet direction i to turn to k vehicle types z;
step 62: lambda represents the relative size of the traffic capacity of the intersection, the maximum traffic capacity of the intersection is taken as a control target, and the timing scheme for obtaining the intersection signal is optimized:
maxλ (26)。
the invention has the beneficial effects that:
aiming at the intersection where the automatic driving vehicles and the manual driving vehicles are mixed to run, the method lays the special automatic driving lane, provides the special automatic driving phase, and in the operation period of the special automatic driving phase, the automatic driving vehicles pass through alternately, builds a special automatic driving phase traffic capacity prediction model, designs the phase structure of the special automatic driving phase, distributes the optimal traffic volume of each entrance lane, takes the maximum traffic capacity of the intersection as a control target, optimizes and obtains the signal timing scheme of the intersection, and improves the operation efficiency of the intersection. In the prior art, the separation control is less carried out on the mixed intersection, and a unified control mode is mostly adopted.
Drawings
Fig. 1 is a general flow chart of the present invention.
Fig. 2 is a schematic view of an intersection of the present invention.
Fig. 3 is a phase structure diagram of a phase dedicated for automated driving at an intersection according to the present invention.
En route reference numerals illustrate: 201 is an artificial driving vehicle, 202 is an automatic driving vehicle, 203 is a common signal lamp, 204 is an automatic driving special phase signal lamp, 205 is a dynamic lane, 301 is a east-west automatic driving special phase, and 302 is a north-south automatic driving special phase.
Detailed Description
The intersection traffic control method considering the special phase of automatic driving in reality is described in detail with reference to the drawings and the embodiments, and the invention is not limited to this single example; any other changes, modifications, substitutions, combinations, and simplifications that fall within the spirit and principles of the invention are intended to be equivalent, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included within the scope of the present invention.
Example 1:
an intersection traffic control method considering an autopilot dedicated phase, comprising the steps of:
step 1: collecting the number of lanes at the entrance and exit of each direction at the intersection and the traffic volumes of the vehicles driven automatically and manually in different directions at each entrance;
Step 2: taking alternate traffic of the automatic driving vehicle into consideration, and establishing a prediction model of special phase traffic capacity of the automatic driving;
step 3: the method comprises the steps that an intersection entrance road is divided into a common lane and a dynamic lane, and an intersection lane layout and traffic capacity model is established;
step 4: designing and considering a phase structure of a special phase for automatic driving, and constructing an intersection signal timing model;
step 5: taking the traffic volume of the lanes not exceeding the traffic capacity as constraint, and distributing the optimal traffic volume of each entrance lane;
step 6: and optimizing and obtaining an intersection signal timing scheme considering the special phase of automatic driving by taking the maximization of the intersection traffic capacity as a target.
Example 2:
based on the embodiment 1, the step 1 collects the number of lanes at the entrance and exit of each direction of the intersection and the traffic volume of the vehicles driven by the automatic steering and the manual steering in different directions at each entrance, and specifically comprises the following steps:
step 11: collecting the number of lanes at the entrance and exit of each direction of the intersection, using a parameter L to represent the entrance direction, a parameter L ' to represent the exit direction, a set L to represent the entrance direction set, a set L ' to represent the exit direction set, and l=l ' = { E, S, W, N }, wherein E, S, W, N respectively represent the east, south, west, north directions, and a parameter E l The number of lanes representing the entrance direction l;
step 12: acquiring traffic volumes of automatic driving and manual driving vehicles with different steering directions at each entrance direction of an intersection, using a parameter K to represent vehicle steering, using a set K to represent a vehicle steering set, K= { S, L }, K epsilon K, wherein S, L respectively represent straight running and left turning of the vehicle, using a parameter Z to represent vehicle type, using a set Z to represent a vehicle type set, Z= { A, H }, Z epsilon Z, wherein A, H respectively represent automatic driving vehicles and manual driving vehicles, and using a parameter Z to represent the vehicle type setIndicating the initial traffic volume diverted in the intersection inlet direction i to k vehicle types z.
Step 11 in this embodiment collects the number of lanes of the entrance and exit in each direction of the intersection, and the specific numerical values in this embodiment are shown in table 1;
table 1 shows a summary of the number of lanes in each direction at the intersection
Step 12 in this embodiment collects initial traffic volumes of the automated driving vehicle and the manual driving vehicle in each entrance direction of the intersection, and specific numerical values in this embodiment are shown in table 2;
table 2 is a summary of initial traffic volume (units: vehicles/hour) for intersection automated and manual vehicles
Direction Steering Vehicle type Traffic volume Direction Steering Vehicle type Traffic volume
East (Dong) Straight going Automatic driving vehicle 890 East (Dong) Straight going Manually driven vehicle 231
East (Dong) Left turn Automatic driving vehicle 136 East (Dong) Left turn Manually driven vehicle 479
East (Dong) Right turn Automatic driving vehicle 208 East (Dong) Right turn Manually driven vehicle 160
South of China Straight going Automatic driving vehicle 498 South of China Straight going Manually driven vehicle 537
South of China Left turn Automatic driving vehicle 464 South of China Left turn Manually driven vehicle 520
South of China Right turn Automatic driving vehicle 148 South of China Right turn Manually driven vehicle 178
Western medicine Straight going Automatic driving vehicle 948 Western medicine Straight going Manually driven vehicle 391
Western medicine Left turn Automatic driving vehicle 231 Western medicine Left turn Manually driven vehicle 372
Western medicine Right turn Automatic driving vehicle 312 Western medicine Right turn Manually driven vehicle 281
North China Straight going Automatic driving vehicle 361 North China Straight going Manually driven vehicle 598
North China Left turn Automatic driving vehicle 431 North China Left turn Manually driven vehicle 415
North China Right turn Automatic driving vehicle 209 North China Right turn Manually driven vehicle 312
Example 3:
based on embodiment 2, considering the alternate passing of the automatic driving vehicle in step 2, a prediction model of the special phase passing capability of the automatic driving is established, which specifically comprises the following steps:
step 21: determining the safety time interval of an autonomous vehicle, considering the alternate passage of the autonomous vehicle, in order to prevent collisions between vehicles, a safety time interval Δh must be maintained between two vehicles n and n' which successively enter the intersection n The safety time interval between vehicles specifically comprises the following three situations according to the conflict relation of two vehicle tracks:
(1) vehicle n and vehicle n' come from the same set of traffic flows, Δh n ＝h 0 ，j＝i；
(2) Vehicle n and vehicle n' are from two sets of traffic flows without collision, Δh n ＝h 1 ，j∈A i ；
(3) Vehicle n and vehicle n' are from two sets of traffic flows with collision, Δh n ＝h 2 ，j∈B i ；
Therefore, the specific calculation of the vehicle safety time interval is as shown in the formula (1):
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i A traffic flow set, h, representing the existence of a conflict with traffic flow i 0 、h 1 、h 2 Respectively representing the safety time interval between two vehicles from the same traffic flow, two conflict-free traffic flows and two vehicles with conflict traffic flows which successively enter an intersection;
step 22: determining the service time of an autonomous vehicle, the time gap between two vehicles n and n' entering an intersection in succession being considered as the service time S based on the first come first served and queuing theory n On the premise of ensuring the traffic safety of the vehicles, the service time of the vehicles is reduced to furthest improve the traffic efficiency of the intersections, so that the service time of the automatic driving vehicles is equal to the safety time interval, S n ＝Δh n The specific relation is as follows:
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i Traffic flow set s representing the existence of conflict with traffic flow i 0 、s 1 、s 2 Respectively representing service time between vehicles from the same traffic flow, two sets of traffic flows without conflict and the successive entrance intersection of the two sets of traffic flows with conflict;
step 23: calculating service probability of automatic driving vehicles, wherein vehicles arrive independently, and probability of vehicle entering intersection from traffic flow i at mth stationEqual to the average arrival rate mu of vehicles on traffic flow i i Divided by the sum of the average arrival rates of vehicles at each group of traffic flows at the intersection, which is calculated as follows:
wherein the method comprises the steps ofSet I represents the intersection traffic flow set, I, j ε I, P i Representing the probability that the vehicle is from traffic flow i;
the probability of collision of two vehicles entering an intersection in succession includes three cases: (1) probability of two vehicles coming from the same traffic flow, i.e. following probability P 0 Calculating as in formula (4); (2) probability of two vehicles from two sets of collision-free traffic flows, i.e. peer probability P 1 Calculated as in formula (5); (3) probability of two vehicles from two groups of conflicting traffic streams, i.e. probability of conflict P 2 The calculation according to formula (6) is as follows:
step 24: calculating average service time of automatic driving vehicle, and interpenetration type traffic flow I under operation of special phase p of automatic driving p The average service time E (S) of the vehicle is equal to the sum of the service time times its probability, calculated as follows:
step 25: predicting the special phase traffic capacity of automatic driving, two vehicles from two groups of conflict-free traffic flows can simultaneously enter an intersection, and the safety time distance s of the vehicles 1 =0, so its service time s 1 Traffic capacity C of autopilot dedicated phase p according to average service time of autopilot vehicle =0 p The calculation is as follows:
wherein the parameter p represents the phase dedicated for autopilot, the setA traffic flow set that is conflicting with the autopilot-specific phase p-pass traffic flow i is represented.
Example 4:
based on embodiment 3, the intersection entrance lane in step 3 is divided into a common lane and a dynamic lane, and an intersection lane layout and traffic capacity model is built, which specifically comprises the following steps:
step 31: the entrance lane of the intersection is divided into a common lane and a dynamic lane; when the dynamic lane is set as a common lane, the automatic driving and manual driving vehicles are mixed to run on the common lane; when the dynamic lane is set as an automatic driving special lane, the automatic driving vehicle runs on the automatic driving special lane, and the manual driving vehicle runs on the common lane; when the phase green light time special for automatic driving at the intersection is more than 0, setting the corresponding dynamic lane as an automatic driving special lane; when the phase special for automatic driving at the intersection is equal to 0, the corresponding dynamic lane is set as a common lane; thus, the lane layout constraints are as follows:
t p ≥M×(β l,k -1) (34)
t p ≤M×β l,k (35)
The method comprises the steps of automatically driving a special phase set by using a set P intersection, wherein P= { EWA, SNA }, P epsilon P and EWA, and SNA respectively represent east-west automatic driving special phase and north-south automatic driving special phase; m represents a large positive integer, t p Green time, beta, representing phase p dedicated for autopilot l,k Is a binary variable, beta l,k =1 indicates that the dynamic lane steered to k in the entrance direction l is set as the automated driving dedicated lane, β l,k =0 indicates that the dynamic lane turned to k in the entrance direction l is set as the normal lane;
step 32: the traffic capacity of the common lane is equal to the unit time divided by the saturated headway of the manual driving vehicle multiplied by the green-signal ratio, and the green-signal ratio is equal to the green-signal time divided by the signal period duration:
wherein,representing the traffic capacity of a common lane turning to k in the inlet direction l, τ H Representing the saturated headway of a manually driven vehicle;
step 33: the special automatic driving lane traffic capacity consists of two parts, namely, the special automatic driving phase traffic capacity is distributed, vehicles pass through under the special automatic driving phase, the corresponding special automatic driving lane traffic capacity is distributed according to the initial traffic flow equal proportion, and the special automatic driving vehicle and the manual driving vehicle share the traffic capacity of the common phase; therefore, the traffic capacity of the automated driving-dedicated lane is calculated as follows:
Wherein,indicating the traffic capacity of the lane for automated driving with a turn k in the entrance direction l, τ A Representing the saturated headway of the automatic driving vehicle;
step 34: beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its traffic capacity is equal to that of an autopilot dedicated lane; when the dynamic lane is set as a common lane, beta l,k =0, which is equal to the traffic capacity of the normal lane, and therefore, the dynamic lane traffic capacity is calculated as follows:
wherein,indicating the dynamic lane traffic capacity turning to k in the entrance direction i.
Example 5:
based on embodiment 4, the phase structure of the phase dedicated for automatic driving is designed and considered in step 4, and an intersection signal timing model is constructed, which specifically comprises the following steps:
step 41: designing a phase structure of an automatic driving special phase, and adding two automatic driving special phases on the basis of a traditional signal phase, wherein manual driving traffic flows in east and west directions turning left and straight go form a first group of common phases, manual driving traffic flows in south and north directions turning left and straight go form a second group of common phases, direct driving traffic flows in south and north directions and automatic driving traffic flows in left go form a 3 rd group of north and south-automatic driving special phases, and direct driving traffic flows in east and west directions and automatic driving traffic flows in left go form a 4 th group of east and north-automatic driving special phases;
Step 42: the period length T of the signal period of the intersection is not greater than the maximum period T max Not less than the minimum period T min ：
T min ≤T≤T max (39)
Step 43: setting full red time AR after each group of phases operates to clear vehicles in the intersection, wherein the period full red time is equal to the sum of the full red time of the common phase and the full red time of the special phase for automatic driving, so that the phase period full red time T 0 ：
Wherein,is a binary variable->Indicating that intersection sets up autopilot dedicated phase p, for example>Indicating that the intersection is not provided with the special phase p for automatic driving;
step 44: the sum of green light time of the first group of common phase middle-east import left-hand traffic flow and the west import straight traffic flow is equal to the sum of green light time of the west import left-hand traffic flow and the east import straight traffic flow, as shown in formula (16); the sum of green times of the north-entrance left-hand traffic flow and the north-entrance straight traffic flow in the second group of normal phases is equal to the sum of green times of the north-entrance left-hand traffic flow and the south-entrance straight traffic flow, as in formula (17):
t EL +t WS ＝t WL +t ES (41)
t SL +t NS ＝t NL +t SS (42)
wherein t is EL 、t WS 、t WL 、t ES The green light time, t, of the east import left turn, the west import straight travel, and the west import left turn and the east import straight travel traffic flow are respectively represented SL 、t NS 、t NL 、t SS The green light time of the traffic flow of the direct traffic flow of the north import left turn, the direct traffic of the north import left turn and the direct traffic flow of the south import are respectively represented;
Step 45: the signal period duration is equal to the sum of each group of phase green light time and period full-red time, wherein the first group of common phase green light time is equal to the sum of east import left turn and west import straight green light time, and the second group of common phase green light time is equal to the sum of south import left turn and north import straight green light time, so the signal period duration is calculated as follows:
T＝t EL +t WS +t SL +t NS +∑ p∈P t p +T 0 (43)
step 46: the green time of each traffic flow under the common phase is not less than the minimum green time g min ：
t l,k ≥g min (44)
Wherein t is l,k The green time of traffic flow when the intersection inlet direction l turns to k is represented;
step 47: when the intersection is provided with an automatic driving special phase, the green light time is not less than the minimum green light time:
/>
example 6:
on the basis of embodiment 5, in step 5, the optimal traffic volume of each entrance lane is allocated under the constraint that the traffic volume of the lane does not exceed the traffic capacity, and specifically includes the following steps:
step 51: when the dynamic lane is set as a common lane, beta l,k =0, the normal lane initial traffic is equal to the ratio of the sum of the automatic driving and manual driving initial traffic to the sum of the normal and dynamic lane numbers, and the dynamic lane initial traffic is equal to the normal lane initial traffic; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, the normal lane initial traffic is equal to the ratio of the manual driving initial traffic to the normal lane number, the dynamic lane optimal traffic is equal to the ratio of the automatic driving initial traffic to the dynamic lane number, and the lane optimal traffic is equal to the lane initial traffic multiplied by the amplification factor λ, so the intersection entrance lane optimal traffic is calculated as follows:
wherein,indicating the optimum traffic volume of the common lane with intersection entry direction l turned to k,/>Indicating the direction of entrance of the intersection to be changed intok dynamic lane optimal traffic, +.>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Initial traffic volume of the autonomous vehicle indicating the intersection entry direction i turning to k,/>The number of common lanes indicating the intersection entrance direction l turning to k, is->The number of dynamic lanes for turning the intersection inlet direction l to k is represented;
step 52: the optimal traffic volume of the common lane cannot exceed the traffic capacity of the common lane:
step 53: when the dynamic lane is set as a common lane, beta l,k =0, its optimal traffic volume cannot exceed the traffic capacity of a common lane; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its optimal traffic volume cannot exceed the traffic capacity of the automated driving dedicated lane, and therefore, the dynamic lane optimal traffic volume satisfies:
Example 7:
based on embodiment 6, in step 6, with the goal of maximizing the traffic capacity of the intersection, the timing scheme for optimizing and obtaining the intersection signal considering the special phase of the automatic driving specifically includes the following steps:
step 61: the variable lambda of the amplification factor is introduced, and lambda is equal to the ratio of the optimal traffic volume of each steering vehicle type in each inlet direction of the intersection after the distribution optimization to the initial traffic volume of each steering vehicle type in each inlet direction of the intersection:
wherein,indicating the intersection entry direction i turns to k optimal traffic volume for vehicle type z, +.>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Indicating an initial traffic volume for the intersection inlet direction i to turn to k vehicle types z;
step 62: lambda represents the relative size of the traffic capacity of the intersection, the maximum traffic capacity of the intersection is taken as a control target, and the timing scheme for obtaining the intersection signal is optimized:
maxλ (26)。
according to step 1-step 6, the present embodiment may optimize the amplification factor λ=1.011 to obtain the green time of each phase of the intersection, where the green time of each phase of the intersection in the present embodiment is shown in table 3;
table 3 shows a summary of timing schemes (units: seconds) for intersection signals
According to the steps 1-6, the function of the dynamic lane attribute in each entrance direction of the intersection and the optimal traffic volume of each entrance lane can be obtained in an optimized manner, in the embodiment, the dynamic lane attribute is shown in the table 4, and the optimal traffic volume of the entrance lane is shown in the table 5;
table 4 shows a summary of the intersection dynamic lane attribute functions
Steering Direction Attributes of Steering Direction Attributes of
Left turn East (Dong) Special lane for automatic driving Straight going East (Dong) Common lane
Left turn South of China Common lane Straight going South of China Common lane
Left turn Western medicine Special lane for automatic driving Straight going Western medicine Common lane
Left turn North China Common lane Straight going North China Common lane
TABLE 5 optimum traffic summary table for entrance lanes at intersections (units: vehicle/lane/hour)
Direction Steering Lane type Traffic volume Direction Steering Lane type Traffic volume
East (Dong) Straight going Dynamic lane 899.362 East (Dong) Straight going Common lane 233.43
East (Dong) Left turn Dynamic lane 137.431 East (Dong) Left turn Common lane 484.038
East (Dong) Right turn Dynamic lane 210.186 East (Dong) Right turn Common lane 161.681
South of China Straight going Dynamic lane 522.943 South of China Straight going Common lane 522.943
South of China Left turn Dynamic lane 497.175 South of China Left turn Common lane 497.175
South of China Right turn Dynamic lane 149.555 South of China Right turn Common lane 179.871
Western medicine Straight going Dynamic lane 957.972 Western medicine Straight going Common lane 395.113
Western medicine Left turn Dynamic lane 233.43 Western medicine Left turn Common lane 375.913
Western medicine Right turn Dynamic lane 315.279 Western medicine Right turn Common lane 283.953
North China Straight going Dynamic lane 484.544 North China Straight going Common lane 484.544
North China Left turn Dynamic lane 427.449 North China Left turn Common lane 427.449
North China Right turn Dynamic lane 211.197 North China Right turn Common lane 315.279

Claims (2)

1. The intersection traffic control method considering the special phase of automatic driving is characterized by comprising the following steps:
step 1: collecting the number of lanes at the entrance and exit of each direction at the intersection and the traffic volumes of the vehicles driven automatically and manually in different directions at each entrance;
step 2: taking alternate traffic of the automatic driving vehicle into consideration, and establishing a prediction model of special phase traffic capacity of the automatic driving;
step 3: the method comprises the steps that an intersection entrance road is divided into a common lane and a dynamic lane, and an intersection lane layout model is established;
step 4: designing and considering a phase structure of a special phase for automatic driving, and constructing an intersection signal timing model;
step 5: taking the traffic volume of the lanes not exceeding the traffic capacity as constraint, and distributing the optimal traffic volume of each entrance lane;
step 6: optimizing and obtaining an intersection signal timing scheme considering the special phase of automatic driving by taking the maximization of the intersection traffic capacity as a target;
the step 2 comprises the following steps:
Step 21: determining the safety time interval of the automatic driving vehicle; considering the alternate passage of autonomous vehicles based on the arrival of the vehicles following the poisson distribution, in order to prevent collisions between the vehicles, a safety time interval Δh must be maintained between two vehicles n and n' which successively enter the intersection n Wherein vehicle n is from traffic flow i, n e i, vehicle n 'is from traffic flow j, n' e j, according toThe collision relation of the tracks of two vehicles, the safety time interval between vehicles specifically comprises the following three situations:
(1) vehicle n and vehicle n' come from the same set of traffic flows, Δh n ＝h 0 ，j＝i；
(2) Vehicle n and vehicle n' are from two sets of traffic flows without collision, Δh n ＝h 1 ，j∈A i ；
(3) Vehicle n and vehicle n' are from two sets of traffic flows with collision, Δh n ＝h 2 ，j∈B i ；
Therefore, the specific calculation of the vehicle safety time interval is as shown in the formula (1):
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i A traffic flow set, h, representing the existence of a conflict with traffic flow i 0 、h 1 、h 2 Respectively representing the safety time interval between two vehicles from the same traffic flow, two conflict-free traffic flows and two vehicles with conflict traffic flows which successively enter an intersection;
step 22: determining a service time of the autonomous vehicle; based on the first come first served and queuing theory, the time gap between two vehicles n and n' that successively drive into the intersection is regarded as the service time S n On the premise of ensuring the traffic safety of the vehicles, the service time of the vehicles is reduced to furthest improve the traffic efficiency of the intersections, so that the service time of the automatic driving vehicles is equal to the safety time interval, S n ＝Δh n The specific relation is as follows:
wherein set A i Representing traffic flow set, set B, collision-free with traffic flow i i Traffic flow set s representing the existence of conflict with traffic flow i 0 、s 1 、s 2 Respectively representInter-vehicle service time from the same traffic flow, two sets of traffic flows without conflict, successive entry intersections of two sets of traffic flows with conflict;
step 23: calculating service probability of the automatic driving vehicle; the arrival of vehicles is independent, and probability of mth vehicle entering intersection from traffic flow iEqual to the average arrival rate mu of vehicles on traffic flow i i Divided by the sum of the average arrival rates of vehicles at each group of traffic flows at the intersection, which is calculated as follows:
wherein, the set I represents the traffic flow set of the intersection, I, j epsilon I, P i Probability of the vehicle coming from traffic flow i;
the probability of collision of two vehicles entering an intersection in succession includes three cases: (1) probability of two vehicles coming from the same traffic flow, i.e. following probability P 0 Calculating as in formula (4); (2) probability of two vehicles from two sets of collision-free traffic flows, i.e. peer probability P 1 Calculated as in formula (5); (3) probability of two vehicles from two groups of conflicting traffic streams, i.e. probability of conflict P 2 The calculation according to formula (6) is as follows:
step 24: calculating the average service time of the automatic driving vehicle; special phase p for automatic driving under-operation alternate trafficStream I p The average service time E (S) of the vehicle is equal to the sum of the service time times its probability, calculated as follows:
step 25: predicting special phase traffic capacity for automatic driving; two vehicles from two groups of collision-free traffic flows can simultaneously enter the intersection, and the safety time distance s 1 =0, its service time s 1 Capacity C of phase p dedicated for autopilot =0 p The calculation is as follows:
wherein the parameter p represents the phase dedicated for autopilot, the setA traffic flow set which shows that the phase p traffic flow i special for automatic driving has conflict;
the step 3 comprises the following steps:
step 31: the entrance lane of the intersection is divided into a common lane and a dynamic lane; when the dynamic lane is set as a common lane, the automatic driving and manual driving vehicles are mixed to run on the common lane; when the dynamic lane is set as an automatic driving special lane, the automatic driving vehicle runs on the automatic driving special lane, and the manual driving vehicle runs on the common lane; when the phase green light time special for automatic driving at the intersection is more than 0, setting the corresponding dynamic lane as an automatic driving special lane; when the phase special for automatic driving at the intersection is equal to 0, the corresponding dynamic lane is set as a common lane; thus, the lane layout constraints are as follows:
t p ≥M×(β l,k -1) (9)
t p ≤M×β l,k (10)
Wherein, the special phase set is automatically driven by the intersection of the set P, and P= { EWA, SNA }, P epsilon P, EWA, SNA respectively represent things-autopilot dedicated phase, north-south-autopilot dedicated phase; m represents a positive integer, t p Green time, beta, representing phase p dedicated for autopilot l,k Is a binary variable, beta l,k =1 indicates that the dynamic lane steered to k in the entrance direction l is set as the automated driving dedicated lane, β l,k =0 indicates that the dynamic lane turned to k in the entrance direction l is set as the normal lane;
step 32: the traffic capacity of the common lane is equal to the unit time divided by the saturated headway of the manual driving vehicle multiplied by the green-signal ratio, and the green-signal ratio is equal to the green-signal time divided by the signal period duration:
wherein,representing the traffic capacity of a common lane turning to k in the inlet direction l, τ H Representing the saturated headway of a manually driven vehicle;
step 33: the lane traffic capacity for automated driving is composed of two parts: firstly, the special phase traffic capacity of automatic driving is distributed, vehicles pass through under the special phase of automatic driving, the corresponding special lane traffic capacity of automatic driving is distributed according to the equal proportion of the initial traffic flow, and secondly, the special lane traffic capacity of automatic driving and manual driving share the traffic capacity of the common phase, so that the special lane traffic capacity of automatic driving is calculated as follows:
Wherein,indicating the traffic capacity of the lane for automated driving with a turn k in the entrance direction l, τ A Indicating the saturated headway of an autonomous vehicle, +.>Representing an initial traffic volume of the autonomous vehicle turning to k in the intersection inlet direction l;
step 34: beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its traffic capacity is equal to that of an autopilot dedicated lane; when the dynamic lane is set as a common lane, beta l,k =0, which is equal to the traffic capacity of the normal lane, and therefore, the dynamic lane traffic capacity is calculated as follows:
wherein,representing the dynamic lane traffic capacity turning to k in the inlet direction l;
the step 4 comprises the following steps:
step 41: the design considers the phase structure of the special phase of automatic driving, adds two special phases of automatic driving on the basis of the traditional signal phase, wherein, the manual driving traffic flow of east and west left turning and straight going forms a first group of common phases, the manual driving traffic flow of south and north left turning and straight going forms a second group of common phases, the direct driving traffic flow of south and north turning and the automatic driving traffic flow of left turning form a 3 rd group of special phases of north and south automatic driving, and the direct driving traffic flow of east and west turning and the automatic driving traffic flow of left turning form a 4 th group of special phases of east and west automatic driving;
Step 42: the period length T of the signal period of the intersection is not greater than the maximum period T max Not less than the minimum period T min ：
T min ≤T≤T max (14)
Step 43: setting full red time AR after each group of phases operates to clear vehicles in the intersection, wherein the period full red time is equal to the sum of the full red time of the common phase and the full red time of the special phase for automatic driving, so that the phase period full red time T 0 ：
Wherein,is a binary variable->Indicating that intersection sets up autopilot dedicated phase p, for example>Indicating that the intersection is not provided with the special phase p for automatic driving;
step 44: the sum of green light time of the first group of common phase middle-east import left-hand traffic flow and the west import straight traffic flow is equal to the sum of green light time of the west import left-hand traffic flow and the east import straight traffic flow, as shown in formula (16); the sum of green times of the north-entrance left-hand traffic flow and the north-entrance straight traffic flow in the second group of normal phases is equal to the sum of green times of the north-entrance left-hand traffic flow and the south-entrance straight traffic flow, as in formula (17):
t EL +t WS ＝t WL +t ES (16)
t SL +t NS ＝t NL +t SS (17)
wherein t is EL 、t WS 、t WL 、t ES The green light time, t, of the east import left turn, the west import straight travel, and the west import left turn and the east import straight travel traffic flow are respectively represented SL 、t NS 、t NL 、t SS The green light time of the traffic flow of the direct traffic flow of the north import left turn, the direct traffic of the north import left turn and the direct traffic flow of the south import are respectively represented;
Step 45: the signal period duration is equal to the sum of each group of phase green light time and period full-red time, wherein the first group of common phase green light time is equal to the sum of east import left turn and west import straight green light time, the second group of common phase green light time is equal to the sum of south import left turn and north import straight green light time, and the third group of phase green light time and the fourth group of phase green light time are equal to the special phase traffic light time for automatic driving, so the signal period duration is calculated as follows:
T＝t EL +t WS +t SL +t NS +∑ p∈P t p +T 0 (18)
step 46: the green time of each traffic flow under the common phase is not less than the minimum green time g min ：
t l,k ≥g min (19)
Wherein t is l,k The green time of traffic flow when the intersection inlet direction l turns to k is represented;
step 47: when the intersection is provided with an automatic driving special phase, the green light time is not less than the minimum green light time:
the step 5 comprises the following steps:
step 51: when the dynamic lane is set as a common lane, beta l,k =0, the normal lane initial traffic is equal to the ratio of the sum of the automatic driving and manual driving initial traffic to the sum of the normal and dynamic lane numbers, and the dynamic lane initial traffic is equal to the normal lane initial traffic; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, the normal lane initial traffic is equal to the ratio of the manual driving initial traffic to the normal lane number, the dynamic lane optimal traffic is equal to the ratio of the automatic driving initial traffic to the dynamic lane number, and the lane optimal traffic is equal to the lane initial traffic multiplied by the amplification factor λ, so the intersection entrance lane optimal traffic is calculated as follows:
Wherein,indicating the optimum traffic volume of the common lane with intersection entry direction l turned to k,/>Optimal traffic volume of dynamic lane indicating intersection entrance direction i turning to k,/>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Initial traffic volume of the autonomous vehicle indicating the intersection entry direction i turning to k,/>The number of common lanes indicating the intersection entrance direction l turning to k, is->The number of dynamic lanes for turning the intersection inlet direction l to k is represented;
step 52: the optimal traffic volume of the common lane cannot exceed the traffic capacity of the common lane:
step 53: when the dynamic lane is set as a common lane, beta l,k =0, its optimal traffic volume cannot exceed the traffic capacity of a common lane; beta when the dynamic lane is set as the special lane for automatic driving l,k =1, its optimal traffic volume cannot exceed the traffic capacity of the automated driving dedicated lane, and therefore, the dynamic lane optimal traffic volume satisfies:
the step 6 comprises the following steps:
step 61: the amplification factor variable lambda is introduced, and lambda is equal to the ratio of the optimal traffic volume of different steering different vehicle types at each inlet direction of the optimized intersection to the initial traffic volume of the optimized intersection:
wherein, Indicating the intersection entry direction i turns to k optimal traffic volume for vehicle type z, +.>Indicating the initial traffic volume of the manually driven vehicle with intersection entry direction l turned to k,/>Indicating an initial traffic volume for the intersection inlet direction i to turn to k vehicle types z;
step 62: determining a control target, wherein lambda represents the relative size of the traffic capacity of the intersection, taking the maximum traffic capacity of the intersection as the control target, and optimizing a timing scheme for obtaining the signal of the intersection:
maxλ (26)。
2. the intersection traffic control method considering the phase dedicated for automatic driving according to claim 1, wherein said step 1 comprises the steps of:
step 11: collecting the number of lanes of an entrance and an exit in each direction of an intersection, wherein a parameter L is used for representing an entrance direction, a parameter L ' is used for representing an exit direction, a set L is used for representing an entrance direction set, a set L ' is used for representing an exit direction set, L=L ' = { E, S, W, N }, wherein E, S, W, N respectively represent east, south, west and north directions, and a parameter el is used for representing the number of lanes of the entrance direction L;
step 12: acquiring traffic volumes of vehicles which are driven automatically and manually in different directions at each entrance of an intersection, wherein the vehicle steering is represented by a parameter K, a set K represents a vehicle steering set, K= { S, L }, K ε K, wherein S, L respectively represent straight and left turns of the vehicle, the vehicle type is represented by a parameter Z, the vehicle type set is represented by a set Z, Z= { A, H }, Z ε Z, wherein A, H respectively represent the vehicle which is driven automatically and the vehicle which is driven manually, and the parameters are Indicating the initial traffic volume diverted in the intersection inlet direction i to k vehicle types z.
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