CN115953903A - Intersection straight vehicle continuous passing method based on Internet of things - Google Patents
Intersection straight vehicle continuous passing method based on Internet of things Download PDFInfo
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Abstract
The application discloses intersection straight-going vehicle continuous passing method based on Internet of things, comprising the following steps: setting the intersection in a subarea mode according to a preset rule, and acquiring the running speed and the vehicle position of the vehicles in the main road and the secondary road straight lanes; for the vehicle reaching the third control section, based on the preset expected regulation speed and the control area, adjusting the headway of the vehicle and a front vehicle in the same lane to be the minimum regulation headway before the vehicle reaches the second control section, and adjusting the running speed to be the preset expected regulation speed according to the preset acceleration; and controlling the vehicle to reach the first control section at a preset expected regulation and control speed and a minimum regulation and control headway, and passing through the control area in a preset continuous flow passing mode. The invention can adjust the headway and the speed of the vehicle on the premise of ensuring the safety of the vehicle, and the vehicle can pass through the intersection without stopping in a physical area of the intersection in a preset continuous flow passing mode, thereby improving the efficiency and the safety of the vehicle passing through the intersection.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to an intersection straight vehicle continuous passing method based on the Internet of things.
Background
The existing intersection generally adopts a centralized traffic control mode such as signal lamp control, so that vehicles stop at a stop line and wait and pass through the signal intersection at a low speed at a green lamp phase, which seriously influences the passing efficiency of the intersection. With the development of vehicle-road cooperation and the technology of the internet of things, the position and the speed of a vehicle can be monitored and tracked in real time on the road side through the technology of the internet of things, the track of the vehicle is analyzed and optimized through the road-side regulation and control system, meanwhile, the interaction between the road-side regulation and control system and the road vehicle can directly regulate and control the behavior of the vehicle, and a fine regulation and control strategy is achieved.
In order to ensure safe and efficient passing of vehicles at the intersection, the control strategy needs to consider the conflict of straight-going vehicles in different import directions at the intersection, and particularly ensures the safety of the straight-going vehicles in different import directions when continuously passing through the intersection at the same time. Except for opposite traffic flows, the traffic flows in all the inlet directions of the intersection affect each other, and when the vehicles pass through the intersection, the vehicle tracks all have public areas in the physical areas of the intersection, so that continuous flow cannot be formed, the passing efficiency of the intersection is reduced, and the intersection becomes a key node for urban congestion. The traffic characteristics of the mutual influence of the vehicles at the intersection are also the difficulty of continuous passing of the traffic at the intersection and the fine regulation and control strategy.
Therefore, it is required to provide an intersection straight-going vehicle continuous passing method based on the internet of things, and the problems that in the prior art, the passing of vehicles is managed through centralized traffic control modes such as signal lamp control and the like at the intersection, and the vehicles cannot form continuous flow at the intersection, so that the passing safety of the vehicles is low and the passing efficiency is low are solved.
Disclosure of Invention
In view of this, it is necessary to provide an intersection straight-going vehicle continuous passing method based on the internet of things, so as to solve the technical problems that in the prior art, the passing of vehicles is managed through a centralized traffic control mode such as signal light control and the like at an intersection, and the vehicles cannot form continuous flow at the intersection, so that the passing safety of the vehicles is low and the efficiency is low.
In order to solve the problems, the invention provides an intersection straight vehicle continuous passing method based on the internet of things, which comprises the following steps:
dividing the intersection into a control area, a main road and a secondary road according to a preset rule, wherein the main road and the secondary road respectively comprise a first control section, a second control section and a third control section;
acquiring the running speed and the vehicle position of the vehicle in the main road and the secondary road straight lanes;
for the vehicle reaching the third control section, based on a preset expected regulation speed and the control area, before the vehicle reaches the second control section, adjusting the headway distance between the vehicle and a front vehicle in the same lane to be the minimum regulation headway distance, and adjusting the running speed of the vehicle to be the preset expected regulation speed according to a preset acceleration;
and controlling the vehicle to reach the first control section at the preset expected regulation and control speed and the minimum regulation and control headway, and passing through the control area according to a preset continuous flow passing mode.
Further, dividing the intersection into a control area, a main road and a secondary road according to a preset rule, comprising:
the intersection inlet direction comprises a first inlet, a second inlet, a third inlet and a fourth inlet, the first inlet and the third inlet are arranged oppositely, the second inlet and the fourth inlet are arranged oppositely, and the first inlet and the second inlet are vertically arranged; the same inlet comprises a plurality of lanes;
the vehicles on the main road have priority driving right;
the control area is a rectangular area surrounded by the extension lines of the right marking lines of the outmost straight lanes at the inlet of the intersection in the physical area of the intersection;
the first control section is a boundary line of the control area; the spacing distance between the second control section and the first control section is the length of a preset adaptive section; and the spacing distance between the third control section and the second control section is the length of a preset rectifying section.
Further, the preset expected regulation speed is determined based on a basic traffic capacity calculation model of the road and is not greater than the maximum driving speed of the intersection.
Further, based on a preset desired regulation speed and the control area, before the vehicle reaches the second control section, the vehicle headway of the vehicle and a preceding vehicle in the same lane is adjusted to be a minimum regulation headway, including:
in a passing period, the straight-going vehicles in the direction of the inlet of the main road preferentially pass through the control area, and then the straight-going vehicles in the direction of the inlet of the secondary road pass through the control area by utilizing the gap of the headway time of the vehicles in the direction of the inlet of the main road;
and when the straight vehicles in the inlet direction of the main road and the straight vehicles in the inlet direction of the secondary road in the passing period pass through the control area, entering the next passing period.
Further, the passing period is determined according to the width of the first control section of each inlet, the preset expected regulation speed of each inlet, the length of the vehicle body of the vehicle and the reserved error time.
Further, based on the preset desired control speed and the control area, adjusting the headway of the vehicle and a front vehicle in the same lane, including:
determining theoretical safe time distance between the vehicle and a front vehicle in the same lane based on a safe time distance calculation formula;
determining a first inlet passing time and a second inlet passing time according to the preset expected regulation speed and the control area;
obtaining a passing period according to the first inlet passing time and the second inlet passing time;
and taking the maximum value of the theoretical safe time interval and the passing period as the minimum regulation and control headway.
Further, when the theoretical safety time interval is larger than the passing period, dividing the difference value between the theoretical safety time interval and the passing period into the first entrance passing time and the second entrance passing time equally to obtain a first entrance control area occupation time and a second entrance control area occupation time;
the straight-going vehicle and the straight-going vehicle at the second inlet in the first inlet direction sequentially reach the first control section of the road corresponding to the inlet according to the first alternating time and the second alternating time;
wherein the first alternation time is the first inlet control zone occupancy time, and the second alternation time is the second inlet control zone occupancy time.
Further, straight vehicles on different lanes corresponding to the same entrance keep driving regularly, and simultaneously reach the first control section;
straight vehicles entering the same road in a bidirectional way arrive at the first control section at the same time.
Further, the preset fitness length is determined according to the headway time of the front vehicle in the same lane and the preset expected regulation speed.
Further, the length of the preset rectification segment is determined according to the running speed of the vehicle, the preset expected regulation speed and the preset acceleration.
Compared with the prior art, the invention has the beneficial effects that: firstly, setting a control area, a main road, a secondary road, a first control section, a second control section and a third control section, and acquiring the running speed and the vehicle position of a vehicle in a straight-ahead lane; secondly, adjusting the speed and the headway of the vehicle reaching the third control section, adjusting the speed of the vehicle to a preset expected regulation speed, and adjusting the headway to a minimum regulation headway; and finally, controlling the vehicle to reach the first control section at a preset expected regulation speed and a minimum regulation headway, and passing through the intersection in a preset continuous circulation mode. According to the invention, the information such as the speed and the position of the vehicle is acquired based on the Internet of things, the vehicle passes through the intersection physical area without stopping in a preset continuous flow passing mode, and the traditional passing mode that the stop line waits for passing is broken. By arranging the second control section and the third control section, the headway and the speed of the vehicle can be adjusted on the premise of ensuring the safety of the vehicle, so that the passing efficiency of the vehicle at the intersection after the vehicle reaches the first section is ensured, a new traffic distributed regulation and control direction for continuously driving cross collision traffic streams is created, and the application value is high.
Drawings
Fig. 1 is a schematic flow diagram of an embodiment of a method for continuously passing straight vehicles at an intersection based on the internet of things;
FIG. 2 is a schematic diagram of an embodiment of intersection region division provided by the present invention;
FIG. 3 is a schematic diagram of an embodiment of a minimum regulated headway for adjacent vehicles in the same lane according to the present invention;
FIG. 4 (a) is a schematic diagram of an embodiment of the invention providing an embodiment of a degree of conflict between vehicles in a control area when the theoretical safe time span is greater than the traffic cycle;
FIG. 4 (b) is a schematic diagram of an embodiment of the invention providing a theoretically safe time interval not greater than the traffic cycle time for implementing the degree of conflict of vehicles in the control area;
FIG. 5 is a schematic view of an embodiment of a main road according to the present invention, wherein the corresponding entrance direction of the main road is the east-west entrance direction;
fig. 6 is a schematic view of an embodiment of a vehicle passing through an intersection with a main road corresponding to a north-south direction of entry.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.
Prior to the description of the embodiments, the terms related to the present application will be explained first.
An intersection physical area: the overlapping portion of an intersecting road, which is bounded by the intersection corners and all adjacent boundaries, is generally considered the entrance to the intersection.
The inventive concept of the present application is explained below.
In the prior art, the intersection generally adopts a centralized traffic management mode such as signal lamp control, vehicles need to stop at a stop line to wait and pass through the signalized intersection at a low speed at a green lamp phase, and the passing efficiency of the intersection is seriously influenced.
With the development of vehicle-road coordination and the technology of the internet of things, the position and the speed of a vehicle can be monitored and tracked in real time at the roadside through the technology of the internet of things. The invention utilizes the technology of Internet of things to detect the position and the speed of the vehicle in real time, and through formulating a reasonable and efficient regulation and control strategy, the vehicle is managed to pass on the basis of the position and the speed of the vehicle, so that the vehicle forms continuous flow at the intersection, and the passing safety and efficiency of the intersection are improved.
The embodiment of the invention provides an intersection straight-going vehicle continuous passing method based on the Internet of things, and as shown in FIG. 1, FIG. 1 is a flow schematic diagram of the intersection straight-going vehicle continuous passing method based on the Internet of things, and the method comprises the following steps:
step S101: dividing the intersection into a control area, a main road and a secondary road according to a preset rule, wherein the main road and the secondary road respectively comprise a first control section, a second control section and a third control section;
step S102: acquiring the running speed and the vehicle position of vehicles on all straight lanes of the main road and the secondary road;
step S103: for the vehicle reaching the third control section, based on a preset expected regulation speed and the control area, adjusting the headway of the vehicle and a front vehicle in the same lane to be a minimum regulation headway before the vehicle reaches the second control section, and adjusting the running speed of the vehicle to be the preset expected regulation speed according to a preset acceleration;
step S104: and controlling the vehicle to reach the first control section at the preset expected regulation and control speed and the minimum regulation and control headway, and passing through the control area according to a preset continuous flow passing mode.
According to the intersection straight-going vehicle continuous passing method based on the Internet of things, firstly, a control area, a main road, a secondary road, a first control section, a second control section and a third control section are set, and the running speed and the vehicle position of a vehicle in a straight-going lane are obtained; secondly, adjusting the speed and the headway of the vehicle reaching the third control section, adjusting the speed of the vehicle to a preset expected regulation speed, and adjusting the headway to a minimum regulation headway; and finally, controlling the vehicle to reach the first control section at a preset expected regulation speed and a minimum regulation headway, and passing through the intersection in a preset continuous circulation mode. According to the method, information such as speed and position of the vehicle is obtained based on the Internet of things, the vehicle passes through the intersection physical area without stopping in a preset continuous flow passing mode, and a traditional passing mode that the vehicle waits for passing through a stop line is broken. By arranging the second control section and the third control section, the headway and the speed of the vehicle can be adjusted on the premise of ensuring the safety of the vehicle, so that the passing efficiency of the vehicle at the intersection after the vehicle reaches the first section is ensured, a new traffic distributed regulation and control direction for continuously driving cross collision traffic streams is created, and the application value is high.
As a preferred embodiment, in step S101, dividing the intersection into a control area, a main road and a secondary road according to a preset rule includes:
the intersection inlet direction comprises a first inlet, a second inlet, a third inlet and a fourth inlet, the first inlet and the third inlet are arranged oppositely, the second inlet and the fourth inlet are arranged oppositely, and the first inlet and the second inlet are vertically arranged; the same inlet comprises a plurality of lanes;
the vehicles on the main road have priority driving right;
the control area is a rectangular area surrounded by the extension lines of the right marking lines of all the outmost straight lanes at the inlet of the intersection in the physical area of the intersection, and vehicles on all the lanes pass at a preset expected regulation speed in the control area;
the first control section is a boundary line of the control area; the spacing distance between the second control section and the first control section is the length of a preset adaptive section; and the spacing distance between the third control section and the second control section is the length of a preset rectifying section.
As a specific example, the preset rule of the intersection is described with reference to fig. 2. As shown in fig. 2, the first inlet is an east inlet (E inlet), the second inlet is a south inlet (S inlet), the third inlet is a west inlet (W inlet), and the fourth inlet is a north inlet (N inlet).
The control area has a first side length of
The second side length is->
In a rectangular area of (a), wherein>
The sum of the widths of the first control section (the regulation and control section 1) of the north-south import;
Is the sum of the widths of the first control section (the regulation section 1) of the east-west inlet. />
After entering the control area, the straight vehicles interact with the straight vehicles in other directions in the intersection; leaving the control area without interaction with vehicles within the intersection.
In a preferred embodiment, the preset expected control speed is determined based on a road basic traffic capacity calculation model and is not greater than the maximum driving speed at the intersection.
As a specific embodiment, the preset expected regulation speed of the straight-going lane in the east-west inlet direction is set as
A preset desired regulation and control speed in the north-south direction of>
In units of%>
。
Calculating the speed of the model according to the basic traffic capacity of the road
Obtaining derivative and making it be zero, solving equation to obtain control speed-based on high-efficiency operation under the condition of large-flow continuous flow>
The recommended value of (1). The specific calculation formula of the calculation model is as follows:
n =3600/h/V =1000V/h; in the formula, N is the theoretical traffic capacity of the vehicle; h is the vehicle head spacing (m); v is the running speed (m/s); v is the running speed (km/h).
Considering the speed limit setting of the intersection, the expected regulation speed should not be greater than the maximum driving speed of the intersection
I.e. is->
And->
。
And the straight-ahead vehicles at all the inlets are required to keep a preset expected regulation and control speed on the first control section and pass through the control area of the intersection at the preset expected regulation and control speed.
It should be noted that, since the road grades of the main road and the secondary road may be different, the speed of the straight lane in the east-west entrance direction is expected to be controlled
And a desired modulation speed in the north-south entrance direction>
May be different.
As a specific embodiment, in step S102, the running speed and the position of the straight-ahead vehicle are obtained based on the internet of things technology, the position and the speed of the vehicle can be monitored and tracked in real time by using equipment such as radar, a camera, wireless communication, a GPS (compass) base station, edge computing, and the like on the roadside, the vehicle trajectory is analyzed and optimized by using a roadside regulation and control system, and the vehicle behavior can be directly regulated and controlled by interaction between the roadside regulation and control system and the road vehicle.
It should be noted that the trajectory control of the vehicle is based on the position of the center point of the vehicle head.
As a preferred embodiment, in step S104, when the straight-ahead vehicle reaches the first control section, the step of passing through the control area in a preset continuous flow manner includes:
in a passing period, the straight-going vehicles in the direction of the inlet of the main road preferentially pass through the control area, and then the straight-going vehicles in the direction of the inlet of the secondary road pass through the control area by utilizing the gap of the headway time of the vehicles in the direction of the inlet of the main road;
and when the straight vehicles in the inlet direction of the main road and the straight vehicles in the inlet direction of the secondary road in the passing period pass through the control area, entering the next passing period.
As a specific example, assuming that the main road is in the east-west direction, the vehicles traveling straight in the east-west entrance direction first pass through the control area, and then the vehicles traveling straight in the entrance direction of the secondary road (north-south direction) pass through the control area by using the headway gap between the vehicles in the entrance direction of the main road. The crossing straight-ahead vehicles thus alternate in the sequence described above, creating "interlocking perforations" to enter the crossing in a "continuous stream" and pass efficiently.
Specifically, vehicles in the east-west inlet direction and the south-north inlet direction of the intersection alternately pass through the intersection periodically, and the shortest time used in each period is as follows:
in the formula (I), the compound is shown in the specification,
for the time when a vehicle is passing through the control zone in the east-west entry direction, based on the vehicle speed>
For vehicles travelling straight in north-south directionBy controlling the time of the zone, is selected>
Is based on the shortest time used per cycle in ^ 5>
。/>
As a preferred embodiment, the passing period is determined according to the width of the first control section of each inlet, the preset expected regulation speed of each inlet, the length of the vehicle body and the reserved error time.
As a specific embodiment, the preset continuous passing mode further includes:
and checking the conflict degree of the straight-ahead vehicles which simultaneously enter the control area from different directions in the control area.
In the same period, when the straight-going vehicles on the same road in the opposite-direction entrance direction pass through the intersection at the same time, the opposite-direction straight-going vehicles respectively occupy different areas of the intersection, and no intersection exists in the track between the vehicles, so no conflict exists between the opposite-direction straight-going vehicles.
For different roads in the same period, straight vehicles in the south-north import direction (or the east-west import direction) are allowed to pass through after the east-west import direction (or the south-north import direction) completely passes through the intersection, the vehicles with crossed tracks pass through the intersection by utilizing the control area at different time, and the vehicles in the east-west direction and the south-north direction have time difference dislocation by utilizing the control area, so that the potential collision possibility does not exist for the vehicles, and the safety can be ensured.
As a specific example, the time when the straight-ahead vehicle in the east-west inlet direction passes through the control area is as follows:
in the formula (I), the compound is shown in the specification,
for the time in which a vehicle travelling straight in the east-west entry direction passes through the control zone, the unit is->
；
Is the sum of the widths of the first control section of the east-west inlet in | _ unit>
；
Straight-ahead vehicle which enters the control region simultaneously for the east-west entry direction>
Length of vehicle body in unit of->
，
(in general) in case it is->
The longest vehicle that can be set as the current first control profile);
Reserved error for time for straight-ahead driving through a control zone in unit of ^>
When the straight-going vehicle passes through the intersection strictly according to the expected regulation and control speed, the corresponding error
Is 0, and is generally set according to specific operating environment conditions.
It should be noted that the time of passage through the control area is based on a symmetrical intersection, i.e. the intersection control area is rectangular and the distance between the opposing entry directions is the same. When the intersection is an asymmetric intersection, the distance between the control sections 1 of different lanes can be calculated according to the lane center line.
Similarly, the time when the straight-ahead vehicle in the south-north entrance direction passes through the control area
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
the time of a straight-ahead vehicle passing through the control area in the north-south inlet direction is expressed in ^ 5>
；
Is the sum of the widths of the first control sections of the north and south entries in ^>
；
In straight-ahead vehicles which enter the control area simultaneously for the north-south direction of entry
Length of vehicle body in unit of->
，
(in general) in case it is->
May be set to the longest vehicle of the current first control profile).
The following describes a method for adjusting the headway and the traveling speed of the vehicle in step S103.
As a preferred embodiment, in step S103, based on the preset desired control speed and the control area, adjusting the headway of the vehicle and a preceding vehicle in the same lane to a minimum control headway before the vehicle reaches the second control section includes:
determining theoretical safe time distance between the vehicle and a front vehicle in the same lane based on a safe time distance calculation formula;
determining a passing period according to the preset expected regulation speed and the control area;
and taking the maximum value of the theoretical safe time interval and the passing period as the minimum regulation and control headway.
As a specific example, when vehicles pass through an intersection according to a passing cycle, in order to ensure the safe driving of the vehicles when an emergency occurs, the headway between the vehicles in the same lane should be not less than the shortest cycle time
(ii) a Meanwhile, the headway between vehicles should not be less than the headway corresponding to the parking sight distance between vehicles under the condition of ensuring safety. At this moment, the minimum regulation and control headway of the adjacent vehicles on the same lane is as follows:
in the formula (I), the compound is shown in the specification,
the minimum headway time distance of adjacent vehicles in the same lane is regulated and controlled in unit of->
；
In order to ensure the head time distance corresponding to the parking sight distance between the vehicles under the safe condition, the unit is ^ H>
。
As shown in fig. 3, fig. 3 visually shows the minimum regulated headway of the adjacent vehicles in the same lane through a specific traffic scene.
As a specific example, since the preset expected regulation speed is different when the road grades of the main road and the secondary road are different, the inlet direction of the main road and the inlet direction of the secondary road are calculated
And &>
And not the same. For safety reasons, in combination with a device for detecting the presence of a fire or a fire>
The larger of the two should be taken.
In the formula (I), the compound is shown in the specification,
the unit of the headstock time distance corresponding to the parking sight distance between the vehicles under the condition of ensuring the safety in the east-west inlet direction is->
；
The unit of the headway time distance corresponding to the parking sight distance between the vehicles under the condition of ensuring the safety in the south-north entrance direction is>
；
For the driver response time, 2.0 is generally selected>
(if all vehicles are automatic driving vehicles, the reaction time can be reduced according to the characteristics of the automatic driving vehicles, and the mixed driving state is valued according to the driving of people);
The longitudinal friction resistance coefficient between the road surface and the tire;
And for the safe distance, the design is determined according to the latest intersection design standard.
As a preferred embodiment, when the theoretical safety time interval is greater than the passing period, dividing the difference between the theoretical safety time interval and the passing period equally into the first entrance passing time and the second entrance passing time to obtain a first entrance control area occupation time and a second entrance control area occupation time;
the straight-going vehicles at the first inlet direction and the straight-going vehicles at the second inlet direction sequentially reach a first control section of a road corresponding to the inlet according to first alternate time and second alternate time;
wherein the first alternation time is the first inlet control zone occupancy time, and the second alternation time is the second inlet control zone occupancy time.
As a specific example, when
Time, minimum regulating headway time of adjacent vehicle>
Taking or combining>
At this time, the time per cycle is also ^ 5 to ensure the driving safety>
Then the vehicle going straight in the east-west entrance direction and the vehicle going straight in the north-south entrance direction in the same period utilize->
The time can pass the control area, but the length is still greater or less after the complete passage>
The time period control area is left unused.
To ensure the safety of the vehicle running, the length is
Time period equally divided into times when a straight-ahead vehicle passes through the control area in the east-west inlet direction>
And the time when a straight-ahead vehicle passes through the control area in the direction of the north-south entrance>
. And further describes the time for the vehicle to occupy the control area in the east-west entry direction>
And a time in the control area occupied by a straight-ahead vehicle in the direction of the north-south entrance>
。
The time of the straight-going vehicles in the east-west inlet direction occupying the control area in the same period is as follows:
in the formula (I), the compound is shown in the specification,
the unit of the time for the straight-ahead vehicle in the east-west inlet direction to occupy the control area in the same period is ^ 5>
。
The time of the straight-going vehicle occupying the control area in the south-north import direction is as follows:
in the formula (I), the compound is shown in the specification,
the unit of the time for the straight-going vehicles in the north-south entrance direction to occupy the control area in the same period is ^ 5>
。
As shown in FIG. 4 (a), when
In time, i.e. <>
Fetch and hold>
In the meantime, the degree of conflict in the control area of the straight-ahead vehicles which enter the control area simultaneously in different directions in the same period is relative to ^ based on>
Is at time, i.e. ->
Fetch and hold>
The degree of collision is smaller as shown in fig. 4 (b).
In order to ensure that the crossing traffic efficiency reaches the maximum, as an optimal embodiment, straight vehicles on different lanes corresponding to the same entrance keep driving regularly, and reach the first control section at the same time;
straight vehicles entering the same road in a bidirectional way arrive at the first control section at the same time.
As a specific example, straight vehicles on different lanes in the same entrance direction should keep driving in order while reaching the first control profile.
Vehicles traveling straight in the same road in both directions of entry (e.g., the east-west direction of entry) should reach the adjacent first control section at the same time because they pass through the control area at the same time.
Two-inlet direction (such as south-north inlet direction) straight vehicles on the same road are arranged in two-inlet direction (such as east-west inlet direction) on the other roadAfter the occupation of the control area is relieved, the vehicles arrive at the adjacent control sections 1 at the same time, namely the vehicles going straight in the east-west entrance direction and the vehicles going straight in the north-south entrance direction alternately arrive at the first control section, and the time difference exists when the vehicles arrive at the first control section, wherein the time difference is respectively
、
。
A specific mode of the vehicle passing through the control area after reaching the first control section will be described with reference to fig. 5 and 6.
Referring to fig. 5, if the main road corresponds to the east-west entrance direction, the vehicles traveling straight in the east-west entrance direction should arrive at the adjacent control section 1 at the same time, and the vehicles traveling straight in the north-south entrance direction should arrive at the adjacent control section 1 at the same time after the occupation of the control area in the east-west entrance direction is removed, so that the time difference between the vehicles traveling straight in the north-south entrance direction and the adjacent control section 1 is equal to
。
Referring to fig. 6, if the corresponding entrance direction of the main road is the north-south entrance direction, the vehicles traveling straight in the north-south entrance direction should arrive at the adjacent control section 1 at the same time, and the vehicles traveling straight in the east-west entrance direction should arrive at the adjacent control section 1 at the same time after the occupation of the control area in the north-south entrance direction is removed, so that when the north-south entrance direction arrives at the control section 1, the headway distance between the vehicles traveling straight in the east-west entrance direction and the adjacent control section 1 is equal to the headway distance
。
As a preferred embodiment, the preset fitness length is determined according to the headway of the preceding vehicle in the same lane and the preset expected regulation speed.
As a specific example, a control section 2 is set for an intersection functional area, and a straight-going vehicle runs on the same road at a desired control speed between the control section 2 and the control section 1 to adapt to the speed, and then the intersection traffic is continuously completed. The area between the control section 2 and the control section 1 is called the adaptation segment, then:
length of east and west inlet direction adapting section
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
for adaptation of the coefficient, the value is generally a positive integer, or>
The minimum head time distance of the adjacent vehicles in the same lane is regulated and controlled, and the maximum head time distance is regulated and controlled>
And the expected speed is preset and controlled for the straight lane in the east-west inlet direction.
Adapting the length of the section in the direction of the north and south inlets
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
for adaptation to a coefficient, a value is generally taken as a positive integer, in combination with a value for the value in the case of a positive integer>
The minimum head time distance of the adjacent vehicles in the same lane is regulated and controlled, and the maximum head time distance is regulated and controlled>
And presetting expected regulation and control speed for the straight lane in the south-north entrance direction.
By setting the adaptation section, instability of a driver in keeping the current state can be avoided, the driver can keep the current state to drive to adapt to the current speed and the current headway, and accordingly the vehicle can stably pass through the control area.
As a preferred embodiment, the preset commutation segment length is determined according to the running speed of the vehicle, the preset desired regulated speed and the preset acceleration.
As a specific embodiment, the straight-ahead vehicle can regulate and control the self speed and the headway between the control section 3 and the control section 2, optimize the state of reaching the regulation and control section 2, and enable the vehicle to pass through the regulation and control section 1 without stopping at the desired speed and the headway.
Setting a control section 3 for the intersection functional area, wherein the distance between the control section 3 and the control section 2 is called a rectifying section, and the lengths of the rectifying sections in the east and west inlet directions
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
for the minimum speed possible for a straight-ahead vehicle to reach the control section 3, 0 is taken>
；
For a given acceleration, the value is generally->
In the interior, the unit is->
，
Is the east-west import sideA preset desired regulated speed to the straight-ahead lane.
Length of rectifying section in south and north inlet direction
Comprises the following steps:
in the formula (I), the compound is shown in the specification,
for the minimum speed possible for a straight-ahead vehicle to reach the control section 3, 0 is taken>
；
For a given acceleration, the value is generally->
In the interior, the unit is->
，
And presetting expected regulation and control speed for the straight lane in the south-north entrance direction.
By arranging the rectifying section, the vehicle speed can be stably adjusted to the preset expected regulation speed at a given acceleration, and the driving comfort and the safety are ensured; according to the preset expected regulation and control speed and the control area, the head time distance between the vehicle and the front vehicle in the same lane is adjusted, and the traffic safety and efficiency are guaranteed.
The specific process of passing a straight-ahead vehicle through an intersection under high traffic conditions is illustrated by a specific example.
As a specific example, under the condition of large flow, the straight vehicles reach the control section 3 at a high speed with high density, the first row of vehicles after each straight lane passes through the control section 3 is taken as the straight vehicle passing through the intersection in the first period, the second row of vehicles is taken as the straight vehicle passing through the intersection in the second period, and so on.
Adjusting the speed of the straight-ahead vehicles to an expected regulation speed according to a given acceleration a, and adjusting the headway time between the straight-ahead vehicles to enable the straight-ahead vehicles to meet the vehicle formation requirement of controlling the section 1 through the direction adjacent to the entrance; the specific formation requirements are as follows: considering the principle of main road priority, vehicles in the main road bidirectional inlet direction in the same period preferably reach the control section 1 adjacent to the inlet direction and pass through the control area, and the secondary road bidirectional inlet direction passes through the time difference
Or->
To the adjacent inlet direction control section 1 and through the control zone.
And if the straight-going vehicle cannot regulate and control the speed and the headway in the current passing period, entering the next passing period to regulate and control the speed and the headway.
In the process of regulating and controlling the vehicles, vehicle track data of a straight lane at an intersection are collected and tracked through a radar and an image recognition system, and data sets of all straight vehicles at the current moment at the same moment are transmitted to the roadside regulation and control server in a wireless mode. When determining a control section of an intersection, physical parameters of a control area and expected regulation and control speeds of straight vehicles in each lane, storing the parameters as basic parameters of a system in a roadside regulation and control server; and then, the position and speed of the vehicle are regulated and controlled based on vehicle track data analysis and determination, and regulation and control information is sent to the vehicle (a person drives the vehicle, and a regulation and control instruction is received through a mobile phone APP and high-precision navigation software) in real time through wireless transmission to decide vehicle regulation and control.
The invention discloses an intersection straight-going vehicle continuous passing method based on the Internet of things, which comprises the steps of firstly, setting a control area, a main road, a secondary road, a first control section, a second control section and a third control section, and obtaining the running speed and the vehicle position of a vehicle in a straight-going lane; secondly, adjusting the speed and the headway of the vehicle reaching the third control section, adjusting the speed of the vehicle to a preset expected regulation speed, and adjusting the headway to a minimum regulation headway; and finally, controlling the vehicle to reach the first control section at a preset expected regulation speed and a minimum regulation headway, and passing through the intersection in a preset continuous circulation mode.
According to the invention, the information such as the speed and the position of the vehicle is acquired based on the Internet of things, the vehicle passes through the intersection physical area without stopping in a preset continuous flow passing mode, and the traditional passing mode that the stop line waits for passing is broken. By arranging the second control section and the third control section, the headway and the speed of the vehicle can be adjusted on the premise of ensuring the safety of the vehicle, so that the passing efficiency of the vehicle at the intersection after the vehicle reaches the first section is ensured, a new traffic distributed regulation and control direction for continuously driving cross collision traffic streams is created, and the application value is high.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. An intersection straight vehicle continuous passing method based on the Internet of things is characterized by comprising the following steps:
dividing the intersection into a control area, a main road and a secondary road according to a preset rule, wherein the main road and the secondary road respectively comprise a first control section, a second control section and a third control section;
acquiring the running speed and the vehicle position of the vehicle in the main road and the secondary road straight lanes;
for the vehicle reaching the third control section, based on a preset expected regulation speed and the control area, adjusting the headway of the vehicle and a front vehicle in the same lane to be a minimum regulation headway before the vehicle reaches the second control section, and adjusting the running speed of the vehicle to be the preset expected regulation speed according to a preset acceleration;
and controlling the vehicle to reach the first control section at the preset expected regulation and control speed and the minimum regulation and control headway, and passing through the control area according to a preset continuous flow passing mode.
2. The method for continuously passing straight-going vehicles at the intersection based on the Internet of things according to claim 1, wherein the intersection is divided into a control area, a main road and a secondary road according to a preset rule, and the method comprises the following steps:
the intersection inlet direction comprises a first inlet, a second inlet, a third inlet and a fourth inlet, the first inlet and the third inlet are arranged oppositely, the second inlet and the fourth inlet are arranged oppositely, and the first inlet and the second inlet are vertically arranged; the same inlet comprises a plurality of lanes;
the vehicles on the main road have priority driving right;
the control area is a rectangular area surrounded by the extension lines of the right marking lines of the outmost straight lanes at the inlet of the intersection in the physical area of the intersection;
the first control section is a boundary line of the control area; the spacing distance between the second control section and the first control section is the length of a preset adaptive section; and the spacing distance between the third control section and the second control section is the length of a preset rectifying section.
3. The method for continuously passing vehicles at the intersection through the internet of things as claimed in claim 1, wherein the preset expected regulation and control speed is determined based on a basic traffic capacity calculation model of a road and is not greater than the maximum driving speed at the intersection.
4. The method for continuously passing straight-ahead vehicles at the intersection based on the Internet of things of claim 2, wherein the step of passing through the control area according to a preset continuous flow passing mode comprises the following steps:
in a passing period, the straight-going vehicles in the direction of the inlet of the main road preferentially pass through the control area, and then the straight-going vehicles in the direction of the inlet of the secondary road pass through the control area by utilizing the gap of the headway time of the vehicles in the direction of the inlet of the main road;
and when the straight vehicles in the inlet direction of the main road and the straight vehicles in the inlet direction of the secondary road in the passing period pass through the control area, entering the next passing period.
5. The method for continuously passing straight vehicles at the intersection based on the Internet of things of claim 4, wherein the passing period is determined according to the width of the first control section of each inlet, the preset expected regulation speed of each inlet, the length of the vehicle body and the reserved error time.
6. The method for continuously passing straight vehicles through the intersection based on the internet of things according to claim 2, wherein the step of adjusting the headway of the vehicle and a front vehicle in the same lane to be a minimum regulated headway before the vehicle reaches the second control section based on the preset expected regulated speed and the control area comprises the following steps:
determining theoretical safe time distance between the vehicle and a front vehicle in the same lane based on a safe time distance calculation formula;
determining a first inlet passing time and a second inlet passing time according to the preset expected regulation speed and the control area;
obtaining a passing period according to the first inlet passing time and the second inlet passing time;
and taking the maximum value of the theoretical safe time interval and the traffic cycle as the minimum control headway.
7. The intersection straight-going vehicle continuous passing method based on the Internet of things is characterized in that when the theoretical safe time distance is larger than the passing period, the difference value between the theoretical safe time distance and the passing period is divided into the first entrance passing time and the second entrance passing time in an equal mode, and the first entrance control area occupation time and the second entrance control area occupation time are obtained;
the straight-going vehicle and the straight-going vehicle at the second inlet in the first inlet direction sequentially reach the first control section of the road corresponding to the inlet according to the first alternating time and the second alternating time;
wherein the first alternation time is the first inlet control zone occupancy time, and the second alternation time is the second inlet control zone occupancy time.
8. The method for continuously passing straight-ahead vehicles at the intersection based on the Internet of things of claim 2, further comprising the following steps of:
straight vehicles on different lanes corresponding to the same entrance keep running regularly, and simultaneously reach the first control section;
straight vehicles entering the same road in a bidirectional way arrive at the first control section at the same time.
9. The intersection straight vehicle continuous passing method based on the internet of things as claimed in claim 2, wherein the preset fitness length is determined according to a headway of a preceding vehicle in the same lane and the preset expected regulation and control speed.
10. The method for continuously passing straight-ahead vehicles at the intersection based on the Internet of things of claim 2, wherein the preset commutation segment length is determined according to the running speed of the vehicles, the preset expected regulation speed and the preset acceleration.
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