CN115641734A - Highway construction scene main line traffic control method and system - Google Patents
Highway construction scene main line traffic control method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses a highway construction scene main line traffic control method and a highway construction scene main line traffic control system, wherein the method comprises the following steps: the road end sensor acquires the traffic state of the highway in real time and uploads the traffic state to the cloud control platform; the cloud control platform calculates an optimal speed limit value in a traffic control range in a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range; the cloud control platform generates a traffic control instruction according to the optimal speed limit value and the construction event information, and sends the traffic control instruction to the road side unit in the control range; the road side unit issues corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction; the vehicle displays the control information on a virtual information board in the vehicle. The embodiment uses the virtual information board as a carrier, and carries out accurate and effective control on the construction area of the expressway under the cooperative environment of the vehicle and the road.
Description
Technical Field
The embodiment of the invention relates to the field of intelligent traffic, in particular to a highway construction scene main line traffic control method.
Background
Freeways are continuous traffic flow facilities with high average speed and strong maneuverability, and bear enormous quantity of outgoing and transportation requirements. The highway needs maintenance, and traffic safety problems and road congestion problems during the maintenance cause great adverse effects on the normal operation of the highway.
The existing traffic control strategy for highway construction area usually uses fixed traffic facilities as carriers, such as variable information boards arranged on a portal frame, signboards arranged on the road side, and the like. Due to reasons such as construction budget of expressways and road conditions, the traffic facilities are often characterized by low layout density, uneven spacing, poor timeliness, low compliance rate and the like, and the requirements of intelligent high-speed accurate and effective management and control cannot be fully met. Meanwhile, in the traffic control strategy in the prior art, the macro traffic parameters of the highway are generally used as factors influencing control, and the micro information of the vehicle is difficult to consider and the vehicle is difficult to be accurately controlled.
Disclosure of Invention
The embodiment of the invention provides a highway construction scene main line traffic control method, which takes a virtual information board as a carrier and accurately and effectively controls a highway construction area under a vehicle-road cooperative environment.
In a first aspect, an embodiment of the present invention provides a highway construction scene main line traffic control method, which is applied to a highway construction scene main line traffic control system, where the control system includes: the system comprises a road end sensor, a cloud control platform, a road side unit and a vehicle; the method comprises the following steps:
the road end sensor acquires the traffic state of the highway in real time and uploads the traffic state to the cloud control platform;
the cloud control platform calculates an optimal speed limit value in a traffic control range under a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range;
the cloud control platform generates a traffic control instruction according to the optimal speed limit value and the construction event information, and sends the traffic control instruction to the road side unit in the control range;
the road side unit issues corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction;
and the vehicle displays the control information on a virtual information board in the vehicle.
In a first aspect, an embodiment of the present invention provides a highway construction scene main line traffic control system, including: the system comprises a road end sensor, a cloud control platform, a road side unit and an intelligent networking vehicle;
the road end sensor is used for acquiring the traffic state of the highway in real time and uploading the traffic state to the cloud control platform;
the cloud control platform is used for calculating an optimal speed limit value in a traffic control range in a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range; generating a traffic control instruction according to the optimal speed limit value and the construction event information, and sending the traffic control instruction to a road side unit in the control range;
the road side unit is used for issuing corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction;
the vehicle displays the control information on a virtual information board in the vehicle.
According to the embodiment of the invention, after a lane occupying construction event occurs on a main line of the highway, traffic state data acquired by a road sensor is integrated through construction event information of a cloud control platform, and a highway space-time range needing to be controlled in a construction scene is calculated; predicting an optimal speed limit value through the model, and generating an optimal control instruction in a traffic control range; then sending the control instruction to the intelligent networked vehicle through the road side unit, and transmitting the control instruction to a single vehicle; control information is transmitted to a driver through a virtual information board in the vehicle, so that the vehicle is guided to decelerate and change lanes in advance at the upstream of the construction position, traffic safety is guaranteed, and traffic capacity of a construction area of the highway is improved. Compared with the traditional control method, the method gets rid of the limitation of sending the control instruction through the fixed variable information board, can accurately send the control instruction to the vehicle in a proper space-time range, ensures the safety of the construction area of the highway and improves the traffic control efficiency of the main line of the highway.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic diagram of a main line traffic control system in a highway construction scene according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a highway construction scene main line traffic control method provided by an embodiment of the invention.
Fig. 3 is a schematic diagram of a layout of highway equipment according to an embodiment of the present invention.
Fig. 4 is a flowchart for calculating an optimal speed limit according to an embodiment of the present invention.
Fig. 5 is a flowchart of generating a display sign according to a lane change control instruction according to an embodiment of the present invention.
Fig. 6 is a flowchart of generating a display sign according to a lane status control instruction according to an embodiment of the present invention.
Fig. 7 is a flowchart of generating a prompt text according to an embodiment of the present invention.
FIG. 8 is a schematic diagram of various types of virtual intelligence boards according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below. It is to be understood that the disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or exhaustive. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The application provides a highway construction scene main line traffic control method. In order to explain the method, a highway construction scene main line traffic control system applying the method is introduced preferentially. Fig. 1 is a schematic view of a highway construction scenario main line traffic control system provided in an embodiment of the present invention, and as shown in fig. 1, the control system includes: road end sensor, cloud accuse platform, road side unit and vehicle. The road section sensor, the cloud control platform and the road side unit are all from an intelligent expressway system under the vehicle-road cooperative environment. The vehicle is the intelligent networking vehicle, needs to possess the function of carrying out information interaction with the road side unit.
Based on the control system in fig. 1, fig. 2 is a flowchart of a highway construction scene main line traffic control method according to an embodiment of the present invention. The method is suitable for the condition of controlling the traffic flow when a construction event exists on the highway. The method is executed by the control system shown in fig. 1, and specifically includes the following steps, as shown in fig. 2.
And S110, the road end sensor acquires the traffic state of the highway in real time and uploads the traffic state to the cloud control platform.
The road end sensor is used for acquiring road traffic flow data and vehicle operation data. In the specific embodiment shown in fig. 3, the road end sensor is a plurality of millimeter wave radars arranged on the highway, the arrangement distance is 1000 meters, the accurate detection range is 500 meters, the data acquisition interval is 30 seconds, and the gantry mounted above the cross section of the road can detect the traffic state information of the road sections on both sides of the gantry.
Optionally, the length of the road section is defined as a detection range of the millimeter wave radar in a certain direction, that is, the length of the road section is 500 meters, 2 road sections are included between adjacent portal frames, and data acquisition uses the road section as a unit. Traffic state S of expressway at certain acquisition time on certain road section i,t ＝[Q i,t ,K i,t ,V mean,i,t ,V std,i,t ]Wherein i represents the number of the road section, t represents the data acquisition time, Q represents the average flow rate (unit: veh/h/lane) of the road section, K represents the average density (unit: veh/km/lane) of the road section, and V represents the average flow rate of the road section mean Representing the average speed (in km/h), V, of all vehicles on the road section std And represents the standard deviation (unit: km/h) of the traveling speeds of all vehicles on the section.
And S120, the cloud control platform calculates the optimal speed limit value in a traffic control range in a construction scene in real time according to the traffic state and the pre-stored construction event information, wherein the control range comprises a time range and a space range.
The construction event information is pre-issued in the cloud control platform by a construction department and comprises the following steps: the starting time and the ending time of construction, and road sections and lanes occupied by construction. Further, the construction event information includes a construction plan start time T begin Construction plan end time T end And the longitudinal extent of influence D of the construction area vertical And a lateral influence range D horizontal . The longitudinal influence range is based on the section occupied by the construction, i.e. D vertical ＝{Section i ,…,Section i+k And indicating that the longitudinal influence range of the construction area comprises a road section i to a road section i + k. The lateral influence range is based on the road sections and lanes occupied by the construction, i.e. D horizontal ＝{Section i :lane a ,lane b And indicating that the transverse influence range of the construction area comprises a lane a and a lane b in the road section i. In the embodiment shown in FIG. 3, the construction event information is D vertical ＝{Section 5 ,Section 6 ,Section 7 }，D horizontal ＝{Section 5 :lane 3 ,Section 6 :lane 3 ,Section 7 :lane 3 }，T begin ＝11:00，T end ＝17:00。
Specifically, after the cloud control platform acquires the traffic state and the construction event information, the following steps are executed:
step one, according to the starting timeThe time and end time, as well as the construction preparation time, determine the time range for traffic control at the construction site. The traffic control range in the construction scene represents the effective range of the control method and is divided into a time range and a space range. When calculating the time range, the lead time T needs to be considered advance And the time is used for carrying out preparation work before construction. The determined time range is T control ＝[T begin -T advance ,T end ]. In the embodiment shown in FIG. 3, T advance ＝0.5h，T control ＝[T begin -T advance ,T end ]＝[10:30,17:00]。
And step two, dynamically determining the space range of traffic control of a construction site according to the road section and the lane occupied by the construction and the traffic flow of at least one road section in front of the road section occupied by the construction. When calculating the spatial range, the number m of the front road segments needs to be set, and the spatial range is dynamically adjusted according to the flow change. Optionally, current Section i-m ,…,Section i-2 Mean flow Q in 15 minutes 15 All need to be greater than the critical flow, i.e. Q 15,i-m ,…,Q 15,i-2 ≥Q 15,critical The spatial range of the traffic control is D control ＝[Section i-m ,…,Section i-2 ,Section i -1,D vertical ](m.gtoreq.1). In the embodiment shown in fig. 3, the number m of leading links is set to be constant equal to 1 and the Section is set 4 Mean flow Q in 15 minutes 15 All are greater than the critical flow, the spatial range of traffic control is D control ＝[Sect n 4 ,Section 5 ,Section 6 ,Section 7 ]。
Step three, constructing a following prediction model for predicting the future average vehicle density and the future average vehicle speed of any road section in the traffic control range:
wherein i represents a link number, k represents a discrete time segmentIndexing, wherein the length of each time slice is T; q i,k Representing the section i in the time period [ (k-1) T, kT]Mean traffic flow in p i,k Representing the average vehicle density, ρ, of the section i at the time index k i,k+1 Representing the average vehicle density, v, of the section i at the time index k +1 i,k Representing the average vehicle speed, v, of the road section i at the time index k i,k+1 Represents the average vehicle speed of the link i at the time index k + 1; lambda [ alpha ] i Indicating the number of lanes, L, of the road section i i Indicating the length (km), q of the section i i,k Expressed in a time period [ (k-1) T, kT]Average speed of the vehicle flowing from the section i to the section i + 1; tau, kappa and upsilon represent calibrated model parameters; v SL,i,k Representing the speed limit value of the road section i at the time index k; q max,i+1 Represents the maximum flow, ω, that the section i +1 can accommodate i+1 Representing the speed of the traffic wave, ρ, for the section i +1 jam,i+1 Represents the congestion density, θ, of the link i +1 i+1 Indicating the reduction amount of the link i + 1.
Step four, constructing a first objective function based on the overall characteristics of the road section:
wherein ,i∈Dcontrol Representing road segments located within a traffic control range; v. of veh_i,x,j Represents the vehicle speed of the vehicle veh _ i at time j, position x; (v.) Std veh _ i,x,j ) Indicates at section, at time segment index j i The standard deviation of the vehicle speed. From the overall perspective, it is necessary to ensure the safety within the traffic control range in the expressway construction scene by reducing the speed standard deviation and the number of vehicles in the section, that is, the optimization direction of the first objective function is min J.
Step five, constructing a second objective function of the individual characteristics of the vehicle:
wherein ,vfree,i Representing the speed of the free flow, v, of the section i veh_i,x,j ＝min{v desire,veh_i,x,j ,V SL,i,j }，v desire,veh_i,x,j Representing the desired speed of the vehicle veh _ i at time j, position x, np being a natural number. For individual vehicles, the passing efficiency needs to be improved by reducing the delay of each vehicle, and the construction area is guaranteed to pass through as soon as possible, that is, the optimization direction of the second objective function is min L. Wherein the speed limit value V SL,i,k And a desired velocity v desire,veh_i,x,j The calculation method of (c) is as follows:
wherein ,
representing the critical density, distance, of a section i veh_i And the distance between the veh _ i of the vehicle and the starting point of the construction area is shown, and alpha and beta are speed parameters.
Calibrating attribute parameter Q of road section i through measured data under the condition of no control max,i 、ω i 、ρ jam,i 、
θ i α and β; under the condition of no control, a sequential quadratic programming algorithm is adopted, parameters tau, kappa and upsilon of the predictive control model are calibrated according to measured data, and the calibration process needs to be converged when the error between the predicted value and the true value is smaller than a set range. In the embodiment shown in fig. 3, the parameters are shown in tables 1 and 2:
TABLE 1
| Model parameters | Parameter value | Model parameters | Parameter value |
| T | 10s | υ | 60km2/h |
| λ | 3 | Q max | 2000veh/h/lane |
| L | 500m | ω | 11.5km/h |
| τ | 18s | ρ jam | 180veh/lane/km |
| κ | 40veh/lane/km | θ | 15％ |
TABLE 2
After the prediction model and the objective function are constructed, and the time enters the time range, the cloud control platform executes the following steps, as shown in fig. 4:
step one, initializing the speed limit values of Nc time slices after the current time slice, and setting the speed limit values from Nc +1 time slices to Np time slices to be equal to the speed limit value of the Nc time slices, wherein Nc is<Np; substituting the speed limit values of Np time slices after the current time slice into the prediction model to predict the N P Average vehicle density and average vehicle speed for each time segment. Enter T at time T control After the time is within the range, carrying out discretization treatment on the time, and starting a prediction control model; obtaining traffic state S according to real time i,t And vehicle state v veh_i,x,j Predicting N after the current time index P Traffic status within each time period.
Step two, calculating the first objective function and the second objective function according to the prediction result; and iteratively updating the speed limit values of the Np time slices according to a set rule, and returning to the step of predicting the average vehicle density and the average vehicle speed until the first objective function and the second objective function meet the minimization condition. Optionally, the iterative computation may adopt a genetic algorithm, an ant colony algorithm, a random forest, and the like, and each algorithm corresponds to a different set rule, which is not described herein again. In addition, according to the prediction control theory, when the prediction step is larger than a certain value, the prediction result tends to be stable, so in the calculation of the optimal speed limit value, the speed limit values of the Nth time slice from the Nth +1 th time slice to the Np th time slice are set to be equal to the speed limit value of the Nth time slice, so as to reduce the parameter amount in the iterative calculation.
And step three, taking the speed limit value meeting the minimization condition as the optimal speed limit value of the next time segment of the current time segment. Model will beOutput speed limit value V SL,i,j Applying the index in a time slice after the current index, and judging whether the time T exceeds T control If yes, finishing the calculation, otherwise returning to the step one. In the embodiment shown in FIG. 3, N P ＝42＝7min，N C ＝6＝3min。
And S130, the cloud control platform generates a traffic control instruction according to the optimal speed limit value and the construction event information, and sends the traffic control instruction to the road side unit in the control range.
The traffic control instruction comprises at least one of a speed limit control instruction, a lane change control instruction, a lane state control instruction and a text prompt instruction. In the embodiment shown in fig. 3, the arrangement interval of the roadside units is 250 meters, and the calculation and transmission frequency Δ t =30s of the control command. According to the type of the traffic control command, the following alternative embodiments are implemented in the embodiment:
in a first optional implementation manner, the speed limit control instruction of each road section is generated according to the speed limit value of each road section in the traffic control range, and is issued to the road side unit of each road section. Specifically, T is entered first at time T conol After the time is within the range, calculating the optimal speed limit value of any road section in Np time segments after the current time in real time, generating a speed limit control instruction of a time segment after the current time according to the optimal speed limit value (the specific process is shown in fig. 4), and issuing the speed limit control instruction to the road side unit of each road section in the time segment.
In a second optional implementation manner, for the remaining road sections except the road section occupied by the construction, a lane change control instruction is generated according to the lane occupied by the construction. In particular, for sections within the traffic control zone but outside the longitudinal influence of the construction area, i.e. Section i ∈(D control \D vertical ) Extracting the lateral influence range D of the road section horizontal And calculating the display sign of each lane in the road section according to the lane number to form a lane change control instruction. Taking the specific embodiment of fig. 3 as an example, the lateral influence range D of the construction area horizontal ＝{Section 5 :lane 3 ,Section 6 :lane 3 ,Section 7 :lane 3 }. For sections within the traffic control zone but outside the longitudinal influence range of the construction area, i.e. Section i ∈(D control \D vertical ) Extracting Section i At D horizontal And calculating the display mark of each lane in the road section according to the number to form a lane change control instruction.
Optionally, if any lane in the other road sections except the road section occupied by the construction is a lane occupied by the construction, judging whether lanes exist on two sides of the lane; and if any side of the lane exists and is not the lane occupied by construction, generating a lane change instruction for changing the lane to the lane on one side. Furthermore, a display sign for each lane may be generated, the display sign being used to display the lane change instruction. Specifically, each lane of the cross section of the road section i And judging whether the lane is matched with a construction occupied lane or not. If lane i ∈D horizontal Determine lane i Whether there is lane on the left side i,left If present and
the lane displays a white left indicating arrow; otherwise, judging lane i Whether there is lane on the right side i,right If present and
the lane displays a white right indicating arrow; otherwise, the lane displays a yellow warning sign. If it is
The lane displays a white forward arrow. After the current lane is judged, the next lane is switched to, and the above operations are repeated, as shown in fig. 5.
Taking the embodiment of fig. 3 as an example, each lane of the road section cross section is i And judging whether the lane is matched with a construction occupied lane or not. If lane i ＝lane 3 Then judge lane i Whether there is lane on the left side i,left If present and lane i,left ≠lane 3 If so, displaying a white left indication arrow on the lane, and switching to the next lane; otherwise, judging lane i Whether there is lane on the right side i,right If present and lane i,right ≠lane 3 If the lane is a lane, displaying a white right indicating arrow; otherwise, the lane displays a yellow warning sign. If lane i ≠lane 3 Then the lane displays a white forward arrow. And after the current lane is judged, the next lane is switched to, and the operation is repeated.
In a third optional implementation manner, for the road section occupied by the construction, a lane state control instruction is generated according to the lane occupied by the construction. In particular, for sections of road in the traffic control area and within the longitudinal influence of the construction area, i.e. sections i ∈D vertical According to the lateral influence range D of the construction area horizontal And generating a display sign of each lane in the road section, wherein the display sign is used for displaying the lane state control instruction. The method comprises the following operations: for each lane of road section cross section i Judging whether the lane is matched with the lane occupied by construction or not, and if so, judging whether the lane is matched with the lane occupied by construction or not i ∈D horizontal Then the lane displays a red cross, otherwise the lane displays a white forward arrow, as shown in fig. 6.
Taking the specific embodiment of fig. 3 as an example, the lateral influence range D of the construction area horizontal ＝{Section 5 :lane 3 ,Section 6 :lane 3 ,Section 7 :lane 3 }. For sections within the traffic control zone and within the longitudinal influence of the construction zone, i.e. Section i ∈{Section 5 ,Section 6 ,Section 7 Fourthly, according to the transverse influence range D of the construction area horizontal And generating a display mark of each lane in the road section. For each lane of road section cross section i Judging whether the lane is matched with the lane occupied by construction or not, and if so, judging whether the lane is matched with the lane occupied by construction or not i ＝lane 3 If the lane is displayed with red crosses, otherwise, the lane is displayed with white forward arrowsAnd (4) a head.
In a fourth implementation mode, for the road sections in the control range, a text prompt command is generated for prompting to inform the distance of the construction area in front and prompting the vehicle to slow down. In particular, for sections within the traffic control zone but outside the longitudinal influence of the construction area, i.e. Section i ∈(D control \D vertical ) Outputting character information of 'construction of occupying road at x kilometers ahead, please slow down' wherein x (km) represents the distance D of the vehicle vertical Distance of origin. For sections within the traffic control zone and within the longitudinal influence of the construction zone, i.e. Section i ∈D vertical And outputting the text information of 'construction area, slow down and slow down' as shown in fig. 7.
Taking the embodiment of fig. 3 as an example, for a Section, i.e., a Section, within the traffic control zone but outside the longitudinal influence range of the construction area i ∈(D control \D vertical ) Outputting character information of 'construction of occupying road at x kilometers ahead, please slow down' wherein x (km) represents vehicle distance Section 5 Distance of origin. For sections within the traffic control zone and within the longitudinal influence of the construction zone, i.e. Section i ∈{Section 5 ,Section 6 ,Section 7 And outputting text information of 'construction area, slow down and slow down'.
It should be noted that, according to the type of the traffic control command, the four optional embodiments may exist alone or in combination, and all belong to the protection scope of the present embodiment.
And S140, the road side unit issues corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction. The time of the range of the road side unit for sending the control information to the intelligent network connection vehicle needs to satisfy T control Spatially satisfies D control The transmission frequency is Δ τ.
And S150, the vehicle displays the control information on a virtual information board in the vehicle.
The intelligent networked vehicle terminal calculates the information to be filled in the corresponding virtual information board display template according to the control informationAnd displaying the complete virtual information board in the intelligent internet vehicle. Optionally, as shown in fig. 8, the speed-limiting virtual intelligence board template includes 1 display panel, and displays the current vehicle speed-limiting value, where the value of the speed-limiting value is multiple of 5, the maximum value is 120km/h, and the minimum value is 20km/h; the lane status virtual information board template needs to contain lambda veh_i,x A block plate, λ veh_i,x The number of lanes of the intelligent networked vehicle veh _ i at the road pile number x is shown (lambda in figure 8) vehi,x =3, corresponding to the embodiment of fig. 3), each partitioning plate corresponds to an open or closed state of the lane in order, the open state is represented by a white forward arrow, and the closed state is represented by a red cross; the template of the virtual information board for prompting lane change contains lambda veh_i,x Each block board can display 4 graphs which are respectively a white left indication arrow, a white right indication arrow, a white forward arrow and a yellow warning sign and represent lane changing to the left, lane changing to the right, lane changing in a straight line and construction warning in the front; the text information virtual information board template comprises 1 display panel for displaying text information.
Specifically, the vehicle calculates the information that needs to be filled in corresponding virtual information board show template according to control information, shows complete virtual information board in intelligent internet connection car, specifically includes: filling speed limit value, when vehicle veh _ i is at time t and position is x, filling speed limit value V SL,i,t Where x ∈ Section i (ii) a Filling lane change information, wherein if control information sent by the road side unit is received, filling the lane change information according to the control information, otherwise, not displaying the lane change information; filling lane state information, namely filling the lane state information according to the control information if the control information sent by the road side unit is received, or not displaying the lane state information; and filling character information, namely filling the character information according to the control information if the control information sent by the road side unit is received, or not displaying the character information.
It should be noted that, S120-S150 are performed within the time range of the traffic control at the current time. If the current time has not entered the time range, or has exceeded the time range, S120-S150 stop execution.
In the embodiment, after a lane occupation construction event occurs in a main line of an expressway, the cloud control platform construction event information integrates traffic state data acquired by a road section sensor, calculates an expressway space-time range needing to be controlled in a construction scene, performs double-layer planning by using optimal safety of a traffic system and lowest vehicle delay as targets through a model prediction control method, and generates an optimal control instruction in a traffic control range; then sending the control instruction to the intelligent networked vehicle through the road side unit, and transmitting the control instruction to a single vehicle; control information is transmitted to a driver through a virtual information board in the vehicle, so that the vehicle is guided to decelerate and change lanes in advance at the upstream of the construction position, traffic safety is guaranteed, and traffic capacity of a construction area of the highway is improved. Compared with the traditional control method, the method gets rid of the limitation of sending the control instruction through the fixed variable information board, can accurately send the control instruction to the vehicle in a proper space-time range, ensures the safety of the construction area of the highway, and improves the traffic control efficiency of the main line of the highway.
An embodiment of the present invention further provides a highway construction scene main line traffic control system, as shown in fig. 1, the control system includes: road end sensor, cloud accuse platform, road side unit and intelligent networking vehicle. The road end sensor is used for acquiring the traffic state of the highway in real time and uploading the traffic state to the cloud control platform; the cloud control platform is used for calculating an optimal speed limit value in a traffic control range under a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range; generating a traffic control instruction according to the optimal speed limit value and the construction event information, and sending the traffic control instruction to a road side unit in the control range; the road side unit is used for issuing corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction; the vehicle displays the control information on a virtual information board in the vehicle.
The selectable traffic control instructions comprise lane change control instructions and/or lane state control instructions; the virtual information board comprises a display panel and/or a plurality of partition boards; the display panel is used for limiting the speed to the maximum and/or prompting characters; each partitioning plate corresponds to one lane and is used for displaying lane change control instructions and/or lane state control instructions of the lanes.
The control system provided by the embodiment is used for realizing the control method described in any one of the above embodiments, and has corresponding technical effects.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the technical solutions of the embodiments of the present invention.
Claims (10)
1. A highway construction scene main line traffic control method is applied to a highway construction scene main line traffic control system, and is characterized in that the control system comprises: the system comprises a road end sensor, a cloud control platform, a road side unit and a vehicle;
the method comprises the following steps:
the road end sensor acquires the traffic state of the highway in real time and uploads the traffic state to the cloud control platform;
the cloud control platform calculates an optimal speed limit value in a traffic control range under a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range;
the cloud control platform generates a traffic control instruction according to the optimal speed limit value and the construction event information, and sends the traffic control instruction to the road side unit in the control range;
the road side unit issues corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction;
and the vehicle displays the control information on a virtual information board in the vehicle.
2. The method of claim 1, wherein the construction event information comprises: the starting time and the ending time of construction, and road sections and lanes occupied by the construction;
the method for predicting the speed limit value in the traffic control range in the construction scene in real time according to the traffic state and the pre-stored construction event information comprises the following steps:
determining the time range of traffic control of a construction site according to the starting time, the ending time and the construction preparation time;
and dynamically determining the space range of traffic control of a construction site according to the road section and the lane occupied by the construction and the traffic flow of at least one road section in front of the road section occupied by the construction.
3. The method of claim 1, wherein the traffic state comprises: the average traffic flow and the average vehicle density of each road section in the expressway, and the average vehicle speed and the standard deviation of the vehicle speed of all vehicles;
before the cloud control platform calculates the optimal speed limit value in the traffic control range in the construction scene in real time according to the traffic state and the pre-stored construction event information, the method further comprises the following steps:
the following prediction models are constructed for predicting the future average vehicle density and the future average vehicle speed of any road section in the traffic control range:
wherein i represents a link number, k represents a discrete time segment index, and the length of each time segment is T; q i,k Representing the section i in the time period [ (k-1) T, kT]Mean traffic flow in p i,k Representing the average vehicle density, ρ, of the section i at the time index k i,k+1 Representing the average vehicle density, v, of the section i at the time index k +1 i,k Indicating a road segment i at a time index kV average vehicle speed of i,k+1 Represents the average vehicle speed of the link i at the time index k + 1; lambda [ alpha ] i Indicating the number of lanes, L, of the section i i Indicating the length (km), q of the section i i,k Expressed in a time period [ (k-1) T, kT]Average speed of the vehicle flowing from the section i to the section i + 1; tau, k and upsilon represent calibrated model parameters; v SL,i,k Representing the speed limit value of the road section i at the time index k; q max,i+1 Represents the maximum flow, ω, that the section i +1 can accommodate i+1 Representing the speed of the traffic wave, ρ, for the section i +1 jam,i+1 Represents the congestion density, θ, of the road segment i +1 i+1 Represents the reduction amount of the link i + 1;
constructing a first objective function based on the overall characteristics of the road section:
wherein ,i∈Dcontrol Representing road segments located within a traffic control range; v. of veh_i,x,j Represents the vehicle speed of the vehicle veh _ i at time j, position x; (v.) Std veh_i,x,j ) Indicates at section, at time segment index j i The standard deviation of the vehicle speed;
constructing a second objective function of the individual characteristics of the vehicle:
wherein ,vfree,i Representing the speed of the free flow, v, of the section i veh_i,x,j ＝min{v desire,veh_i,x,j ,V SL,i,j }，v desire,veh_i,x,j Representing the desired speed of the vehicle veh _ i at time j, position x, np being a natural number.
4. A method according to claim 3, characterized in that the speed limit value V SL,i,k And a desired velocity v desire,veh_i,x,j The calculation of (c) is as follows:
wherein ,
representing the critical density, distance, of a section i veh_i And the distance between the veh _ i of the vehicle and the starting point of the construction area is shown, and alpha and beta are speed parameters.
5. The method according to claim 4, wherein before constructing the prediction model of the average vehicle density and the average vehicle speed in the future of any road section in the traffic control range under the construction scene, the method further comprises the following steps:
calibrating attribute parameter Q of road section i through measured data under the condition of no control max,i 、ω i 、ρ jam,i 、ρ Ci 、θ i、α and β；
under the condition of no control, a sequential quadratic programming algorithm is adopted, parameters tau, kappa and upsilon of the predictive control model are calibrated according to measured data, and the calibration process needs to be converged when the error between the predicted value and the true value is smaller than a set range.
6. The method of claim 3, wherein the construction event information comprises: the starting time and the ending time of construction, and road sections and lanes occupied by the construction;
the method for calculating the optimal speed limit value in the traffic control range in the construction scene in real time according to the traffic state and the pre-stored construction event information comprises the following steps:
initializing N after the current time segment in case the current time belongs to the time range c Setting the speed limit value of each time slice c +1 time slice to Nth p The speed limit value of each time slice is equal to Nth c The limit values of the time segments are equal, N c <N p ；
N after the current time slice p Substituting the speed limit value of each time segment into the prediction model to predict the N P Average vehicle density and average vehicle speed for each time slice;
calculating the first objective function and the second objective function according to the prediction result;
iteratively updating the N according to a set rule p Returning the forecasting steps of the average vehicle density and the average vehicle speed to the speed limit values of the time segments until the first objective function and the second objective function meet the minimization condition;
and taking the speed limit value meeting the minimization condition as the optimal speed limit value of the next time segment of the current time segment.
7. The method of claim 1, wherein the construction event information comprises: the starting time and the ending time of construction, and road sections and lanes occupied by the construction; the traffic control instruction comprises at least one of a speed limit control instruction, a lane change control instruction, a lane state control instruction and a text prompt instruction;
the generating a traffic control instruction according to the optimal speed limit value and the construction event information, and issuing the traffic control instruction to the road side unit comprises:
generating a speed limit control instruction of each road section according to the speed limit value of each road section in the traffic control range;
generating lane change control instructions for other road sections except the road section occupied by the construction according to the lanes occupied by the construction;
generating a lane state control instruction for the road section occupied by the construction according to the lane occupied by the construction;
and generating a text prompt instruction for the road sections in the control range, wherein the text prompt instruction is used for informing the distance of the construction area in front and prompting the vehicle to slow down.
8. The method of claim 7, wherein the generating lane change control instructions for the remaining road segments other than the road segment occupied by the construction according to the lane occupied by the construction comprises:
if any lane in the rest of road sections except the road section occupied by the construction is the lane occupied by the construction, judging whether lanes exist on two sides of the lane or not;
and if the lane exists on any side and is not the lane occupied by construction, generating a lane change instruction for changing the lane to the lane on one side.
9. A highway construction scene mainline traffic control system is characterized by comprising: the system comprises a road end sensor, a cloud control platform, a road side unit and an intelligent networking vehicle;
the road end sensor is used for acquiring the traffic state of the highway in real time and uploading the traffic state to the cloud control platform;
the cloud control platform is used for calculating an optimal speed limit value in a traffic control range in a construction scene in real time according to the traffic state and pre-stored construction event information, wherein the control range comprises a time range and a space range; generating a traffic control instruction according to the optimal speed limit value and the construction event information, and sending the traffic control instruction to a road side unit in the control range;
the road side unit is used for issuing corresponding control information to the vehicle closest to the road side unit according to the traffic control instruction;
and the vehicle displays the control information on a virtual information board in the vehicle.
10. The system of claim 9, wherein the traffic control instructions comprise lane change control instructions and/or lane state control instructions;
the virtual information board comprises a display panel and/or a plurality of partition boards; the display panel is used for limiting the speed to the maximum and/or prompting characters; each partitioning plate corresponds to one lane and is used for displaying lane change control instructions and/or lane state control instructions of the lanes.
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