CN115601969A - Variable speed-limiting control system and method for mixed heterogeneous traffic flow on highway in rainy days - Google Patents

Variable speed-limiting control system and method for mixed heterogeneous traffic flow on highway in rainy days Download PDF

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CN115601969A
CN115601969A CN202211261746.9A CN202211261746A CN115601969A CN 115601969 A CN115601969 A CN 115601969A CN 202211261746 A CN202211261746 A CN 202211261746A CN 115601969 A CN115601969 A CN 115601969A
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vehicle
speed limit
speed
traffic
rainfall
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么新鹏
阎莹
张泽毅
王文璇
李�杰
张国锋
袁华智
张涵
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Changan University
Shandong High Speed Group Co Ltd
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Shandong High Speed Group Co Ltd
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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/14—Rainfall or precipitation gauges
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
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    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
    • G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
    • 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
    • G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
    • G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
    • 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
    • G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
    • 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

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Abstract

The invention discloses a variable speed-limiting control system and method for mixed heterogeneous traffic flow on an expressway in rainy days, and relates to the technical field of expressway management control. The method comprises the following steps: control module, data acquisition module and intelligent networking car, through the collection of the various equipment of data acquisition module, can be clear learn current weather conditions and traffic state, consider the prediction that realizes the running state risk from many angles to judge whether carry out the speed management and control. In the control process, the relation between the rainfall condition and the vehicle parameters is established, the accuracy of the vehicle speed limit value is improved, and the speed of the vehicle is effectively controlled in the rainfall weather. The invention is applied to the mixed heterogeneous traffic state of the intelligent networked vehicle and the manually driven vehicle, can respectively provide different speed limit information channels aiming at the manually driven vehicle and the intelligent networked vehicle, and effectively ensures the safe driving and the driving efficiency of different types of vehicles under the complex traffic condition.

Description

System and method for controlling variable speed limit of mixed heterogeneous traffic flow on highway in rainy days
Technical Field
The invention relates to the technical field of intelligent high speed, in particular to a variable speed-limiting control system and method for mixed heterogeneous traffic flow on a highway in rainy days.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The intelligent high-speed integration applies advanced perception technology, transmission technology, information processing technology, control technology and the like, fully exerts the functional attributes of the highway, can provide accurate perception and active intervention on individual vehicles, and improves the safety performance of roads under special events. Under the rainfall weather, the visual field of the driver can be influenced, and then the traffic running state of the road can be influenced, so that the driving risk to the traffic flow is increased. Meanwhile, with the development of intelligent high-speed and intelligent internet Vehicles (CAVs), the situation that CAVs and manually-driven Vehicles travel on the same road in a mixed mode appears at the high speed of the intelligent, and after CAVs are mixed in the manually-driven traffic flow, because the CAVs and the manually-driven Vehicles have large difference in control strategies, the conflict between traffic flows is easily caused. Particularly in rainy days, the visual range of a driver is influenced, the braking performance of the vehicle is greatly influenced due to the reduction of the road adhesion coefficient, the influence of the mixed running of the vehicle is further amplified, and most of the accidents are caused by the fact that the speed of the vehicle is too fast. At present, the speed management control measures for the mixed operation of CAVs and manually driven vehicles in the rainfall weather are few, the existing speed management control method does not consider the sight distance influence caused by the rainfall weather, cannot combine the influence caused by the weather with the mixed heterogeneous traffic operation conditions, cannot respectively provide speed limit management and control information according to the difference of the manually driven vehicles and the intelligent networked vehicles, and therefore the traffic efficiency and the road safety in the rainfall weather cannot be guaranteed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a variable speed-limiting control system and method for a mixed heterogeneous traffic flow on a highway in rainy days, which can judge whether to control the speed of a vehicle or not through the influence of rainfall level on the traffic flow, and determine the speed-limiting value of each type of vehicle in real time according to a dynamic speed-limiting strategy by combining traffic flow data collected in a traffic data storage center according to the visibility range and the visible distance of a driver in rainy days and considering the differences of different driving styles of the vehicles and combining traffic flow data collected in the traffic data storage center.
In order to realize the purpose, the invention is realized by the following technical scheme:
the invention provides a variable speed-limiting control system for mixed heterogeneous traffic flow on a highway in rainy days, which comprises: the system comprises a control module, a data acquisition module and an intelligent internet vehicle; the data acquisition module acquires data such as weather conditions, traffic states and the like and transmits the data to the control module; the control module acquires data through the data acquisition module to judge weather conditions and traffic flow of roads, obtains the relation between rainfall intensity and driving parameters, carries out risk evaluation judgment through the mixed heterogeneous traffic real-time dynamic operation risk evaluation module, judges whether risks exist in the current operation state, calculates the speed limit values of various vehicles according to the risk states, and sends the calculation results to the intelligent internet vehicle.
Further, the control module includes: the system comprises a management control center, a traffic data storage center and a data processing center; the data acquisition module includes: the device comprises video monitoring equipment, communication transmission equipment, a variable speed limit sign, a rainfall detection device and a magnetic induction coil.
Further, the intelligent internet vehicle is an intelligent internet vehicle capable of transmitting and receiving driving information, and comprises a CAVs group and a single CAV.
Furthermore, the management control center rapidly acquires weather conditions and mixed heterogeneous traffic states of the intelligent networked vehicles and the manually driven vehicles through the video monitoring equipment, the communication transmission equipment and the magnetic induction coils; the traffic data storage center collects traffic states from the magnetic induction coils and the roadside communication transmission equipment; the rainfall detection device monitors the rainfall of the expressway; the video monitoring equipment, the communication transmission equipment, the rainfall monitoring device and the magnetic induction coil are all connected with the data processing center, and the data processing center transmits the processed data to the management control center.
Further, the management control center inputs the weather conditions and the mixed heterogeneous traffic states into the constructed mixed heterogeneous traffic real-time dynamic operation risk evaluation module, and judges whether the current operation state has risks or not; and the management control center judges whether to manage and control the speed of the manually driven vehicle and the intelligent network connection vehicle according to the current running state risk.
Further, if management and control are carried out, after the management and control center sends out a speed management and control signal, the data processing center determines the weather visibility range and the visible distance of a driver through rainfall data, and based on traffic flow data in the traffic data storage center, the speed limiting values of various types of vehicles are determined in real time according to dynamic speed limiting strategies aiming at manually driven vehicles and intelligent internet vehicles respectively and considering the differences of different driving styles of the vehicles.
Furthermore, the data processing center optimizes the generated speed limit value to be a multiple of a set value, then sends the optimized speed limit value to the road side variable speed limit sign, and informs the speed limit value of the road under the current condition to the manual driving vehicle.
Furthermore, the data processing center calculates the acceleration of the vehicle according to the speed which needs to be reached when the intelligent internet vehicle reaches the next roadside communication transmission equipment; and transmitting the limiting speed to the intelligent network vehicle through the roadside communication transmission equipment within a preset time interval, so that the intelligent network vehicle speed is stably converted towards a new speed limit value.
The invention provides a variable speed-limiting control method for mixed heterogeneous traffic flow on a highway in rainy days, which comprises the following steps:
collecting weather conditions and mixed heterogeneous traffic states of intelligent networked vehicles and manually driven vehicles;
inputting the weather conditions and the mixed heterogeneous traffic states of the expressway into a constructed mixed heterogeneous traffic real-time dynamic operation risk assessment module, and judging the current operation state risk;
judging whether to perform speed control according to the running state risk;
if the control is carried out, determining the weather visibility range and the visible distance of a driver through rainfall data;
and determining the speed limit value of each type of vehicle in real time according to the weather visibility range and the visual range of a driver and the dynamic speed limit strategy for the manually driven vehicle and the intelligent internet vehicle respectively by considering the difference of the driving styles of different vehicles.
Further, the specific steps for determining the speed limit of each type of vehicle are as follows: according to the vehicle running speed, the relation between the distance between the front vehicle and the rear vehicle and the sight distance under the rainfall weather is combined, the driving state of the current vehicle is judged by considering different driving styles, namely the difference between the deceleration capacity of the front vehicle and the deceleration capacity of the current vehicle, and different vehicle speed limit values are generated according to the different driving styles.
The beneficial effects of the above-mentioned embodiment of the present invention are as follows:
the invention discloses a variable speed-limiting control system for mixed heterogeneous traffic flow on a highway in rainy days, which comprises the following components: control module, data acquisition module and intelligent networking car, through the collection of the various equipment of data acquisition module, can be clear learn current weather conditions and traffic state, consider from many angles and judge the running state risk to judge whether carry out the speed management and control. In the control process, the relation between the rainfall condition and the vehicle parameters is established, the difference of different vehicle driving styles is considered, the accuracy of the vehicle speed limit value is improved, the speed of the vehicle is effectively controlled in the rainfall weather, the influence of the rainfall weather on traffic safety is reduced, adverse factors are amplified, and the possibility that serious accidents happen to the vehicle on the expressway is reduced.
The invention is applied to the mixed heterogeneous traffic state of the intelligent networked vehicle and the manually-driven vehicle, and can respectively provide different speed limit information channels for the manually-driven vehicle and the intelligent networked vehicle. The artificial driving vehicle obtains the speed limit information through the variable speed limit sign, and the intelligent networked vehicle directly transmits the speed limit information through the management control center to realize the stable speed change. The safe driving and the driving efficiency of different types of vehicles under complex traffic conditions are effectively guaranteed.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention.
Fig. 1 is a schematic flow chart illustrating the working principle of a variable speed-limiting control system for mixed heterogeneous traffic flow on a highway in the embodiment in rainy days;
fig. 2 is a schematic view illustrating a risk assessment process of a management control center according to the embodiment;
fig. 3 is a schematic view illustrating installation of each device in a certain road section of a highway section according to the embodiment.
The specific implementation mode is as follows:
it should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
the first embodiment is as follows:
under the rainfall weather, the visual field of a driver is influenced to influence the traffic of roads, so that the safety of the traffic flow is influenced; at this time, in a highway on which CAVs and man-made driving traffic flow are mixed, the influence on traffic safety is amplified, and a serious traffic safety accident may be caused. To solve the problem, an embodiment of the present invention provides a variable speed-limiting control system for a mixed heterogeneous traffic flow on a highway in a rainy day, including: the system comprises a control module, a data acquisition module and an intelligent internet vehicle; the control module includes: the system comprises a management control center, a traffic data storage center and a data processing center; the data acquisition module, as shown in fig. 3, includes: the system comprises video monitoring equipment, communication transmission equipment and variable speed limit signs which are arranged on two sides of a highway; a rainfall amount detection device arranged at the central separation belt of the expressway; the magnetic induction coil is arranged under the highway pavement; the intelligent internet vehicle can transmit and receive driving information; the data acquisition module acquires data such as weather conditions and traffic states, transmits the data to the control module, the control module processes and analyzes the data and then judges whether to control speed, and if the data needs to be controlled, the data are calculated to obtain speed limit values of various vehicles and then the speed limit values are sent to the intelligent internet and the variable speed limit signs. The intelligent internet vehicle comprises CAVs marshalling and a single CAV.
The control module acquires data through the data acquisition module to judge weather conditions and traffic flow of roads, obtains the relation between rainfall intensity and driving parameters, carries out risk evaluation judgment through the mixed heterogeneous traffic real-time dynamic operation risk evaluation module, judges whether risks exist in the current operation state, calculates the speed limit values of various vehicles according to the risk states, and sends the calculation results to the intelligent internet connection vehicle.
S101, a management control center rapidly collects weather conditions and mixed heterogeneous traffic states of intelligent networked vehicles and manually driven vehicles through video monitoring equipment, communication transmission equipment and magnetic induction coils; and the management control center judges whether the current running state has risks or not, and judges whether the speed of manually driven vehicles, CAVs marshalling and single CAV is controlled or not.
Preferably, the magnetic induction coil is buried under the lane by adopting a single stranded copper wire, and is wound by adopting a spiral winding method during installation; the magnetic induction coils count the traffic flow of each time period of the road by detecting the vehicle throughput of each coil in a certain time; the magnetic induction coil can measure the running speed of the vehicle by measuring the distance between the coils in the group and the time difference of the vehicle leaving the coils in the group.
Preferably, the management control center rapidly acquires weather conditions and mixed heterogeneous traffic states of the intelligent networked vehicle and the manually driven vehicle through the video monitoring equipment, the communication transmission equipment and the magnetic induction coil; the management control center processes the images acquired by the video monitoring equipment through an image recognition technology, and identifies whether rainfall exists in a monitoring range; the management control center collects the traffic volume and speed of the intelligent network vehicle through the communication transmission equipment; the management control center collects the traffic volume and the speed of the manually driven vehicle through the magnetic induction coil, and identifies the type of the manually driven vehicle through video monitoring equipment by using an image identification technology; the traffic data storage center collects traffic states from the magnetic induction coils and the roadside communication transmission equipment, counts the speed of each intelligent networked vehicle and the speed of each artificial driving vehicle, and counts the traffic flow of roads according to different vehicle types through the conversion coefficient, wherein the conversion coefficient of each vehicle type is as the following table;
TABLE 1 conversion coefficient of each vehicle type
Figure BDA0003891796460000071
The rainfall detection device monitors the rainfall of the expressway; the video monitoring equipment, the communication transmission equipment, the rainfall monitoring device and the magnetic induction coil are all connected with the data processing center, the data processing center transmits the processed data to the management control center, the specific flow is shown in figure 1, and the method is suitable for the scene that CAVs are mixed in the manual driving traffic on the rainfall weather expressway.
Preferably, the management control center inputs the weather conditions and the mixed heterogeneous traffic states into a constructed mixed heterogeneous traffic real-time dynamic operation risk assessment module, and judges whether the current operation state has risks; the management control center judges whether to manage and control the speed of the manually driven vehicle and the intelligent internet vehicle according to the current running state risk, as shown in fig. 2.
As a further technical scheme, the management control center acquires data through the data acquisition module to judge weather conditions and traffic flow of roads, obtains the relation between rainfall intensity and driving parameters, and accordingly carries out risk evaluation judgment through the mixed heterogeneous traffic real-time dynamic operation risk evaluation module to judge whether a current operation state has risks.
In the mixed heterogeneous traffic real-time dynamic operation risk evaluation module, performing risk evaluation judgment according to the relation between the rainfall level and the road traffic flow, and judging whether to output a control signal or not; firstly, determining the rainfall level according to the rainfall; secondly, comparing the current road traffic flow with the traffic flow in the same time period in non-rainfall weather; when the rainfall level is light rain and the road traffic flow reaches 84% of the traffic flow in the same time period in non-rainfall weather, outputting a risk signal; when the rainfall level is medium rain and the road traffic flow reaches 80% of the traffic flow in the same time period in non-rainfall weather, outputting a risk signal; when the rainfall level is heavy rain and the road traffic flow reaches 68% of the traffic flow in the same time period in non-rainfall weather, outputting a risk signal; when the rainfall level is rainstorm, the road cannot pass smoothly, and a passing-failure signal is output.
The rainfall intensity comprises the rainfall level and the rainfall amount, the driving parameters comprise the weather visibility range and the visible distance of a driver, and the specific relation is shown in a table 1:
TABLE 1 relationship table of rainfall intensity and driving parameters
Figure BDA0003891796460000081
S102, if the risk signal is received and needs to be controlled, after the management control center sends a speed control signal, the data processing center determines the weather visibility range and the visible distance of a driver through rainfall data, considers the differences of the driving styles of different vehicles, respectively aims at manually driven vehicles and intelligent internet connection vehicles based on traffic flow data in the traffic data storage center, and determines the speed limit value of each type of vehicle in real time according to a dynamic speed limit strategy.
Preferably, the data processing center firstly judges the relationship between the distance between the two vehicles and the sight distance according to the visible distance of a driver in the current rainfall weather and by combining the distance between the two vehicles and the sight distance acquired by the magnetic induction coils; and the driving style of the current vehicle is judged by considering the difference of the different driving styles, namely the deceleration capacity of the front vehicle and the current vehicle, and different vehicle speed limit values are generated according to the different driving styles.
The specific process of judging the driving style of the current vehicle comprises the following steps: the current vehicle considers that the self deceleration capacity is stronger, the vehicle can keep higher speed or keep closer distance with the front vehicle, and the traffic flow is in a state of more aggressive driving at the moment; if the current vehicle considers that the deceleration capacity of the front vehicle is stronger, keeping a lower vehicle speed or keeping a longer distance with the front vehicle, namely considering that the traffic flow is in a more conservative driving state at the moment; the current vehicles consider that the current vehicles have the same deceleration capacity as the front vehicles, and the traffic flow is in a medium-aggressive state.
1) When the distance between the front vehicle and the rear vehicle is smaller than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is different (the traffic flow is more aggressive or more conservative);
2) When the distance between the front vehicle and the rear vehicle is smaller than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is the same (the traffic flow is moderate and aggressive);
3) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle is decelerated;
4) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle decelerates, and the deceleration capacities of the front vehicle and the rear vehicle are different (the traffic flow is more aggressive or more conservative);
5) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is the same when the front vehicle decelerates (the traffic flow is moderate and aggressive).
When the distance between the front vehicle and the rear vehicle is smaller than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is different (the traffic flow is more aggressive or more conservative), a speed limit value V is generated b1 Wherein
Figure BDA0003891796460000101
Wherein, V 1 For the vehicle speed detected by the magnetic induction coil at the downstream position, delta is the occupancy of the magnetic induction coil at the current position, L is the length of the vehicle, t is the reaction time of the driver (1.62 s in rainy weather), a 0 Is the deceleration of the preceding vehicle (taking into account the absolute value) and a is the deceleration of the current vehicle (taking into account the absolute value).
When the distance between the front vehicle and the rear vehicle is smaller than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is the same (medium acceleration of traffic flow), a speed limit value V is generated b2 Wherein
Figure BDA0003891796460000102
When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle finishes the speed reduction, and the speed is V 1 Then, a speed limit value V is generated p1 Wherein
Figure BDA0003891796460000103
Wherein S is the visible distance of the driver in the rainfall weather.
When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle decelerates, and the deceleration capacities of the front vehicle and the rear vehicle are different (the traffic flow is more aggressive or more conservative), a speed limit value V is generated p2 Wherein
Figure BDA0003891796460000104
When the distance between the front vehicle and the rear vehicle is larger than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is the same when the front vehicle decelerates, a speed limit value V is generated p3 Wherein
Figure BDA0003891796460000105
And S103, optimizing the generated speed limit value to be a multiple of a set value by the data processing center, in the embodiment, optimizing the speed limit value to be a multiple of 5km/h in order to improve the identification degree and readability of the generated speed limit value, then sending the optimized speed limit value to a road side variable speed limit sign, and informing a man-operated vehicle of the speed limit value of the road under the current condition.
S104, calculating the acceleration of the vehicle by the data processing center according to the speed which needs to be reached when the intelligent network connection vehicle reaches the next roadside communication transmission equipment; and transmitting the limiting speed to the intelligent network vehicle through the roadside communication transmission equipment within a preset time interval, so that the intelligent network vehicle speed is stably converted towards a new speed limit value.
Preferably, for controlling the intelligent networked vehicle, the data processing center calculates the acceleration a of the CAVs and the single CAV according to the CAVs and the speed which needs to be reached when the single CAV reaches the next roadside communication transmission equipment c The CAVs adopt a vehicle-to-vehicle communication mode for information transmission in the grouping, the communication transmission equipment is arranged at an interval of 500m at the roadside, wherein
Figure BDA0003891796460000111
Wherein, V g Limiting value, V, broadcast by roadside communication transmission devices grouped within a distance from CAVs and closest to a single CAV c Grouping the current CAVs and speed, S, of a single CAV jc Groups the CAVs and the distance of a single CAV from the nearest roadside communication transmission device.
Grouping according to the obtained CAVs and the acceleration a of a single CAV c And a speed update interval of 30s to output 30s later CAVs consist and dynamic speed limit value V of a single CAV oc ；
V oc ＝V c +30a c And grouping CAVs and transmitting the limiting speed V to the individual CAVs by the roadside communication transmission equipment within a predetermined time interval (30 s) oc The CAVs consist and the individual CAV speeds are smoothly shifted towards the new speed limit. The CAV speed limit value cannot be too low, and the dynamic speed limit value V at the moment oc If the speed limit value is lower than the speed limit value V broadcasted by the roadside communication transmission equipment g Or above the highest speed limit of the highway, this dynamic speed limit value is not sent to the CAVs consist and the individual CAVs.
In the embodiment, the implementation process of the control and variable speed-limit control method for the mixed heterogeneous traffic flow in the rainfall weather is specifically described, the control and variable speed-limit control system comprehensively considers the influence of the rainfall weather on the sight distance of a driver and the running condition of the mixed heterogeneous traffic flow, and the speed limit is classified according to different control types of vehicle types in the variable speed-limit control process, so that the management control process is in accordance with the actual environment under the condition of the mixed heterogeneous traffic flow, the speed limit on the highway road in the rainfall weather is more accurate and flexible, the safety and the passing efficiency of the road in the rainfall weather can be ensured, and the loss caused in the rainfall weather is greatly avoided.
In order to verify the control effect of the variable speed-limiting control system for the mixed heterogeneous traffic flow on the highway in rainy days, the following simulation experiment is carried out:
a4500-meter-long expressway model is established in the SUMO, a safe substitute index (Risk cancellation, RD) is introduced for influence evaluation of the variable speed limiting system, and the Deceleration required by a driver to avoid risks under a rainfall environment due to the action of the environment is reflected. The risk deceleration RD can reflect the risk degree of the driver, and further reflect the accident occurrence probability to a certain extent, and the larger the risk deceleration, the higher the risk degree.
In the influence evaluation, the magnitude of the deceleration of the front vehicle and the rear vehicle reflects the driving style of the driver (or the smart internet vehicle) in the traffic flow. When the rear vehicle considers that the self deceleration capacity is stronger, the rear vehicle keeps higher speed or keeps a closer distance with the front vehicle, and the traffic flow is in a state of more aggressive driving at the moment, so that the danger degree is higher; when the rear vehicle considers that the deceleration capacity of the front vehicle is stronger, the rear vehicle can keep a lower vehicle speed or a longer distance from the front vehicle to prevent accidents, namely, the traffic is considered to be in a more conservative driving state at the moment, and the traffic flow is safer; when the rear vehicle considers that the rear vehicle has the same deceleration capacity as the front vehicle, the traffic flow is in a medium-aggressive state.
For the variable speed limit control of the manually driven vehicle in the rainy day, the results are shown in table 2, in which the RD indicator changes when the variable speed limit control is performed and when the variable speed limit control is not performed for vehicles of different driving styles. Respectively selecting different threshold values for the indexes, counting the dangerous scenes smaller than the threshold values, wherein the size of the threshold values reflects the risk level, the smaller the threshold value is, the unsafe is shown, and compared with the uncontrolled condition, when the threshold value of RD is 0 and-1 m/s 2 There is an increase in light risk scenes, and the threshold for RD takes-2 and-3 m/s 2 The severe dangerous scenes are greatly reduced. The variable speed-limiting control of the manually driven vehicle is completed by respectively setting the deceleration process at each road section in stages, so that more scenes requiring smaller deceleration of the vehicle are required, but because the variable speed-limiting control system controls the deceleration amplitude of the vehicle, fewer dangerous scenes requiring larger deceleration are required, and the risk of traffic accidents can be greatly reduced.
TABLE 2 Effect of different speed-limiting strategies on improving safety level of manually driven vehicles
Figure BDA0003891796460000131
For the variable speed limit control of the intelligent internet vehicle in rainy days, when the control frequency is changed, the change conditions of the RD indexes when the variable speed limit control is not carried out and the variable speed limit of the vehicles with different driving styles are obtained, and the result is shown in the table 3, and the result shows that compared with the non-control condition, the change conditions of the RD indexes under each scene are realAfter the speed limit strategy is implemented, the occurrence proportion of dangerous scenes is greatly reduced, particularly the scenes with high danger degree (the threshold value is-3 m/s) 2 ). At a control frequency of 30s, at RD thresholds of 0 and-1 m/s 2 The safety level rise amplitude is reduced, even at an RD threshold of-1 m/s 2 The safety level of aggressive driving is slightly reduced, but at RD thresholds of-2 and-3 m/s 2 The safety level is greatly improved. Indicating that fewer dangerous scenarios require greater deceleration, i.e., fewer scenarios requiring hard braking.
TABLE 3 Effect of different speed limit strategies (frequency 30 s) on improving safety level of intelligent networked vehicles
Figure BDA0003891796460000141
Example two:
the embodiment of the invention provides a variable speed-limiting control method for mixed heterogeneous traffic flow on a highway in rainy days, which comprises the following steps:
collecting weather conditions and mixed heterogeneous traffic states of intelligent networked vehicles and manually driven vehicles;
inputting the weather conditions and the mixed heterogeneous traffic states of the expressway into a constructed mixed heterogeneous traffic real-time dynamic operation risk evaluation module, and judging the current operation state risk;
judging whether to perform speed control according to the running state risk;
if the control is carried out, determining the weather visibility range and the visible distance of a driver through rainfall data;
and determining the speed limit value of each type of vehicle in real time according to a dynamic speed limit strategy aiming at the manually driven vehicle and the intelligent internet vehicle respectively according to the weather visibility range and the visual distance of a driver.
Preferably, the specific steps for determining the speed limit of each type of vehicle are as follows: according to the running speed of the vehicle, the relationship between the distance between the front vehicle and the rear vehicle and the sight distance under the rainfall weather is combined, and when the distance is smaller than the sight distance, a speed limit value V is generated b (ii) a When the distance between the front vehicle and the rear vehicle is larger than the sight distance and the front vehicle finishes deceleratingGenerating a speed limit value V p1 (ii) a When the distance between the front vehicle and the rear vehicle is greater than the sight distance and the front vehicle decelerates, a speed limit value V is generated p2 。
The specific process is as follows: judging the relationship between the distance between two vehicles and the sight distance according to the visible distance of a driver in the current rainfall weather and by combining the distance between the two vehicles and the sight distance acquired by each magnetic induction coil; and the driving style of the current vehicle is judged by considering the difference of the different driving styles, namely the deceleration capacity of the front vehicle and the current vehicle, and different vehicle speed limit values are generated according to the different driving styles.
The specific process for judging the driving style of the current vehicle comprises the following steps: the current vehicle considers that the self deceleration capacity is stronger, the higher speed or the closer distance with the front vehicle can be kept, and the traffic flow is in a state of more aggressive driving at the moment; if the current vehicle considers that the deceleration capacity of the front vehicle is stronger, the current vehicle keeps a lower vehicle speed or keeps a longer distance with the front vehicle, namely the current vehicle considers that the traffic is in a more conservative driving state; the current vehicle considers that the current vehicle has the same deceleration capacity as the front vehicle, and the traffic flow is in a medium-aggressive state.
1) When the distance between the front vehicle and the rear vehicle is smaller than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is different (the traffic flow is more aggressive or more conservative);
2) When the distance between the front vehicle and the rear vehicle is smaller than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is the same (the traffic flow is moderate and aggressive);
3) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle is decelerated;
4) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle decelerates, and the deceleration capacities of the front vehicle and the rear vehicle are different (the traffic flow is more aggressive or more conservative);
5) When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the deceleration capacity of the front vehicle and the rear vehicle is the same when the front vehicle decelerates (the traffic flow is moderate and aggressive).
When the distance between the front vehicle and the rear vehicle is smaller than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is different (the traffic flow is more aggressive or more conservative), a speed limit value V is generated b1 Wherein
Figure BDA0003891796460000151
Wherein, V 1 For the vehicle speed detected by the magnetic induction coil at the downstream position, delta is the occupancy of the magnetic induction coil at the current position, L is the length of the vehicle, t is the reaction time of the driver (1.62 s in rainy weather), a 0 Is the deceleration of the preceding vehicle (taking into account the absolute value) and a is the deceleration of the current vehicle (taking into account the absolute value).
When the distance between the front vehicle and the rear vehicle is smaller than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is the same (medium acceleration of traffic flow), a speed limit value V is generated b2 In which
Figure BDA0003891796460000161
When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle finishes the speed reduction, and the speed is V 1 Generating a speed limit value V p1 Wherein
Figure BDA0003891796460000162
Wherein S is the visible distance of the driver in the rainfall weather.
When the distance between the front vehicle and the rear vehicle is larger than the sight distance, the front vehicle decelerates, and the deceleration capacities of the front vehicle and the rear vehicle are different (the traffic flow is more aggressive or more conservative), a speed limit value V is generated p2 In which
Figure BDA0003891796460000163
When the distance between the front vehicle and the rear vehicle is larger than the sight distance and the deceleration capacity of the front vehicle and the rear vehicle is the same (the traffic flow is moderate and aggressive), a speed limit value V is generated p3 Wherein
Figure BDA0003891796460000164
The steps related to the second embodiment correspond to the first embodiment of the method, and the detailed description thereof can be found in the relevant description of the first embodiment.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive changes in the technical solutions of the present invention.

Claims (10)

1. Variable speed limit control system of mixed heterogeneous traffic flow rainy day of highway, its characterized in that includes: the system comprises a control module, a data acquisition module and an intelligent internet vehicle; the data acquisition module acquires data such as weather conditions, traffic states and the like and transmits the data to the control module; the control module acquires data through the data acquisition module to judge weather conditions and traffic flow of roads, obtains the relation between rainfall intensity and driving parameters, carries out risk evaluation judgment through the mixed heterogeneous traffic real-time dynamic operation risk evaluation module, judges whether risks exist in the current operation state, calculates the speed limit values of various vehicles according to the risk states, and sends the calculation results to the intelligent internet connection vehicle.
2. The highway mixed heterogeneous traffic flow variable speed-limiting control system according to claim 1, wherein the control module comprises: the system comprises a management control center, a traffic data storage center and a data processing center; the data acquisition module includes: the device comprises video monitoring equipment, communication transmission equipment, a variable speed limit sign, a rainfall detection device and a magnetic induction coil.
3. The highway mixed heterogeneous traffic flow variable speed-limiting control system of claim 1, wherein the intelligent internet connection vehicle is an intelligent internet connection vehicle capable of transmitting and receiving driving information, and comprises CAVs (vehicle-to-vehicle) groups and a single CAV (vehicle-to-vehicle).
4. The system for controlling the variable speed limit of the mixed heterogeneous traffic flow on the expressway according to claim 1, wherein the management control center rapidly collects weather conditions and mixed heterogeneous traffic states of the intelligent internet vehicle and the manually driven vehicle through a video monitoring device, a communication transmission device and a magnetic induction coil; the traffic data storage center collects traffic states from the magnetic induction coils and the roadside communication transmission equipment; the rainfall detection device monitors the rainfall of the expressway; the video monitoring equipment, the communication transmission equipment, the rainfall monitoring device and the magnetic induction coil are all connected with the data processing center, and the data processing center transmits the processed data to the management control center.
5. The system of claim 1, wherein the management control center inputs weather conditions and mixed heterogeneous traffic conditions into the constructed mixed heterogeneous traffic real-time dynamic operation risk assessment module to determine whether the current operation state has risks; and the management control center judges whether to manage and control the speed of the manually driven vehicle and the intelligent network connection vehicle according to the current running state risk.
6. The system as claimed in claim 1, wherein if the system is controlled, after the management control center sends out a speed control signal, the data processing center determines the weather visibility range and the driver's visible distance according to the rainfall data, and based on the traffic data in the traffic data storage center, the system determines the speed limit value of each type of vehicle in real time according to a dynamic speed limit strategy, respectively aiming at the manually driven vehicle and the intelligent internet connection vehicle, and considering the difference of different driving styles of vehicles.
7. The system of claim 6, wherein the data processing center optimizes the generated speed limit value to a multiple of a set value, and then sends the optimized speed limit value to a roadside variable speed limit sign, and informs a human driver of the speed limit value of the road under the current condition.
8. The system of claim 7, wherein the data processing center calculates the acceleration of the vehicle based on the speed that the intelligent internet connection vehicle needs to reach when reaching the next roadside communication transmission device; and transmitting the limiting speed to the intelligent network vehicle through the roadside communication transmission equipment within a preset time interval, so that the intelligent network vehicle speed is stably converted towards a new speed limit value.
9. A variable speed-limiting control method for mixed heterogeneous traffic flow on a highway in rainy days is characterized by comprising the following steps:
collecting weather conditions and mixed heterogeneous traffic states of intelligent networked vehicles and manually driven vehicles;
inputting the weather conditions and the mixed heterogeneous traffic states of the expressway into a constructed mixed heterogeneous traffic real-time dynamic operation risk assessment module, and judging the current operation state risk;
judging whether to perform speed control according to the running state risk;
if the control is carried out, determining the weather visibility range and the driver visible distance through rainfall data;
and determining the speed limit value of each type of vehicle in real time according to the weather visibility range and the visual range of a driver and the dynamic speed limit strategy for the manually driven vehicle and the intelligent internet vehicle respectively by considering the difference of the driving styles of different vehicles.
10. The method for controlling the variable speed limit of the mixed heterogeneous traffic flow on the expressway according to claim 9 in rainy days is characterized in that the specific steps of determining the speed limit of each type of vehicle are as follows: according to the running speed of the vehicle, the relationship between the distance between the front vehicle and the rear vehicle and the sight distance under the rainfall weather is combined, the driving style of the current vehicle is judged by considering different driving styles, namely the difference between the deceleration capacity of the front vehicle and the deceleration capacity of the current vehicle, and different vehicle speed limit values are generated according to the different driving styles.
CN202211261746.9A 2022-10-14 2022-10-14 Variable speed-limiting control system and method for mixed heterogeneous traffic flow on highway in rainy days Pending CN115601969A (en)

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