CN115953903A - A method for continuous passage of straight vehicles at intersections based on the Internet of Things - Google Patents

Abstract

The present application discloses a method for continuous passage of through-going vehicles at intersections based on the Internet of Things, including: setting up partitions for intersections according to preset rules, and obtaining the driving speed and vehicle position of vehicles in the through lanes of main roads and secondary roads; The vehicle in the third control section adjusts the headway between the vehicle and the vehicle ahead in the same lane to the minimum before the vehicle reaches the second control section based on the preset expected speed and control area, and adjusts the headway according to the preset acceleration Adjusting the driving speed to the preset desired regulation speed; controlling the vehicle to reach the first control section at the preset desired regulation speed and the minimum regulation headway, and passing through the control area according to the preset continuous flow mode. The invention can adjust the headway and vehicle speed of the vehicle under the premise of ensuring the safety of the vehicle, and make the vehicle pass through the physical area of the intersection without stopping through the preset continuous flow mode, thereby improving the efficiency and safety of the vehicle passing through the intersection sex.

Description

A method for continuous passage of straight-moving vehicles at intersections based on the Internet of Things

Technical Field

The present invention relates to the field of intelligent transportation technology, and in particular to a method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things.

Background Art

Existing intersections generally use centralized traffic control modes such as signal light control, which requires vehicles to stop and wait at the stop line and pass through the signal intersection at a lower speed during the green light phase, which seriously affects the traffic efficiency of the intersection. With the development of vehicle-road collaboration and Internet of Things technology, the Internet of Things technology can be used to monitor and track the vehicle position and speed in real time on the roadside, and the roadside control system can be used to analyze and optimize the vehicle trajectory. At the same time, the interaction between the roadside control system and road vehicles can directly control vehicle behavior, so that refined control strategies can be implemented.

In order to ensure the safe and efficient passage of vehicles at intersections, the control strategy needs to consider the conflicts between vehicles going straight from different entrance directions at intersections, especially to ensure the safety of vehicles going straight from different entrance directions when they pass through the intersection continuously at the same time. In addition to the oncoming traffic, the traffic from each entrance direction of the intersection affects each other. When passing through the intersection, the vehicle trajectories have a common area in the physical area of the intersection and cannot form a continuous flow, which reduces the traffic efficiency of the intersection and makes the intersection a key node of urban congestion. The traffic characteristics of vehicles at the intersection that affect each other are also the difficulty of the continuous passage of traffic at the intersection and the refined control strategy.

Therefore, it is necessary to provide a method for continuous passage of straight-moving vehicles at intersections based on the Internet of Things to solve the problem that in the prior art, the passage of vehicles is managed through centralized traffic control modes such as signal light control at intersections, and vehicles cannot form a continuous flow at intersections, resulting in low vehicle passage safety and efficiency.

Summary of the invention

In view of this, it is necessary to provide a method for continuous passage of straight-moving vehicles at intersections based on the Internet of Things, so as to solve the technical problem that in the prior art, the passage of vehicles is managed through centralized traffic control modes such as signal light control at intersections, and vehicles cannot form a continuous flow at intersections, resulting in low safety and efficiency of vehicle passage.

In order to solve the above problems, the present invention provides a method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things, comprising:

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 each include a first control section, a second control section and a third control section;

Obtaining the driving speed and vehicle position of the vehicles in the through lanes of the main road and the secondary road;

For the vehicle arriving at the third control section, based on the preset expected control speed and the control area, before the vehicle arrives at the second control section, the headway between the vehicle and the preceding vehicle in the same lane is adjusted to the minimum control headway, and the driving speed of the vehicle is adjusted to the preset expected control speed according to the preset acceleration;

The vehicle is controlled to reach the first control section at the preset expected control speed and the minimum control headway, and passes through the control area in a preset continuous flow mode.

Furthermore, the intersection is divided into a control area, a main road and a secondary road according to preset rules, including:

The intersection entrance direction includes a first entrance, a second entrance, a third entrance and a fourth entrance, the first entrance and the third entrance are arranged opposite to each other, the second entrance and the fourth entrance are arranged opposite to each other, and the first entrance and the second entrance are arranged perpendicularly; the same entrance includes multiple lanes;

Vehicles on the main road have the right of priority;

The control area is a rectangular area enclosed by the extension of the right side markings of the outermost through lanes at each entrance of the intersection in the physical area of the intersection;

The first control section is the boundary line of the control area; the distance between the second control section and the first control section is the preset adaptation section length; the distance between the third control section and the second control section is the preset rectification section length.

Furthermore, the preset expected control speed is determined based on a basic road capacity calculation model and is not greater than the maximum driving speed of the intersection.

Further, based on the preset expected control speed and the control area, before the vehicle reaches the second control section, the headway between the vehicle and the preceding vehicle in the same lane is adjusted to a minimum control headway, including:

In a traffic cycle, straight-moving vehicles in the import direction of the main road have priority to pass through the control area, and then straight-moving vehicles in the import direction of the secondary road use the gap between the headway of vehicles in the import direction of the main road to pass through the control area;

When both the straight-moving vehicles in the entrance direction of the main road and the straight-moving vehicles in the entrance direction of the secondary road pass through the control area within the traffic cycle, the next traffic cycle is entered.

Furthermore, the passage cycle is determined according to the width of the first control section of each of the entrances, the preset expected control speed of each of the entrances, the body length of the vehicle and the reserved error time.

Further, based on the preset desired control speed and the control area, adjusting the headway time between the vehicle and a preceding vehicle in the same lane includes:

Determining a theoretical safe time distance between the vehicle and a preceding vehicle in the same lane based on a safe time distance calculation formula;

Determine a first inlet passage time and a second inlet passage time according to the preset desired control speed and the control area;

Obtaining a transit period according to the first import transit time and the second import transit time;

The maximum value between the theoretical safety time headway and the traffic cycle is used as the minimum regulated headway.

Furthermore, when the theoretical safety time head is greater than the traffic cycle, the difference between the theoretical safety time head and the traffic cycle is equally divided into the first import traffic time and the second import traffic time to obtain the first import control area occupation time and the second import control area occupation time;

The straight-going vehicles in the first import direction and the straight-going vehicles in the second import direction arrive at the first control section of the road corresponding to the import in sequence according to the first alternation time and the second alternation time;

The first alternating time is the occupation time of the first import control area, and the second alternating time is the occupation time of the second import control area.

Furthermore, the straight-moving vehicles on different lanes corresponding to the same entrance keep moving in an orderly manner and reach the first control section at the same time;

The straight-moving vehicles at the two-way entrances of the same road arrive at the first control section at the same time.

Furthermore, the preset fitness length is determined according to the headway of the preceding vehicle in the same lane and the preset expected control speed.

Furthermore, the preset straightening section length is determined according to the driving speed of the vehicle, the preset expected control speed and the preset acceleration.

Compared with the prior art, the beneficial effects of the present invention include: first, setting a control area, a main road, a secondary road, and a first control section, a second control section, and a third control section, and obtaining the driving speed and vehicle position of the vehicle in the straight lane; second, adjusting the vehicle speed and headway of the vehicle arriving at the third control section, adjusting the vehicle speed to a preset expected control speed, and adjusting the headway to a minimum control headway; finally, controlling the vehicle to arrive at the first control section at a preset expected control speed and a minimum control headway, and passing through the intersection in a preset continuous flow mode. The present invention obtains information such as the speed and position of the vehicle based on the Internet of Things, and allows the vehicle to pass through the physical area of the intersection without stopping through a preset continuous flow mode, breaking the traditional traffic mode of waiting for release at the stop line. By setting the second control section and the third control section, the headway and vehicle speed of the vehicle can be adjusted under the premise of ensuring vehicle safety, thereby ensuring the traffic efficiency of the vehicle at the intersection after arriving at the first section, creating a new direction of traffic distributed control for continuous driving of cross-conflicting traffic, and having extremely high application value.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of an embodiment of a method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things provided by the present invention;

FIG2 is a schematic diagram of an embodiment of the intersection area division provided by the present invention;

FIG3 is a schematic diagram of an embodiment of the minimum control headway time between adjacent vehicles in the same lane provided by the present invention;

FIG4 (a) is a schematic diagram of an embodiment of executing the conflict degree of vehicles in the control area when the theoretical safety time head is greater than the traffic cycle provided by the present invention;

FIG4( b ) is a schematic diagram of an embodiment of executing the conflict degree of vehicles in the control area when the theoretical safety time headroom provided by the present invention is not greater than the traffic cycle;

5 is a schematic diagram of an embodiment of a main road provided by the present invention corresponding to an east-west import direction of the vehicle passing through the intersection;

FIG6 is a schematic diagram of an embodiment of the present invention wherein the main road corresponding to the entrance direction is a north-south entrance direction for vehicles passing through an intersection.

DETAILED DESCRIPTION

The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

Before describing the embodiments, the relevant terms of the present application are first explained.

Intersection physical area: refers to the overlapping part of the intersecting roads, which is limited to the intersection corner and all adjacent boundaries and is usually considered to be the entrance of the intersection.

The inventive concept of the present application is described below.

In the prior art, intersections generally use centralized traffic management modes such as signal light control. Vehicles need to stop and wait at the stop line and pass through the signal intersection at a lower speed during the green light phase, which seriously affects the traffic efficiency of the intersection.

With the development of vehicle-road collaboration and Internet of Things technology, the location and speed of vehicles can be monitored and tracked in real time on the roadside through the Internet of Things technology. The present invention uses the Internet of Things technology to detect the location and speed of vehicles in real time, formulates a reasonable and efficient control strategy, manages the traffic of vehicles based on the location and speed of vehicles, and forms a continuous flow of vehicles at the intersection, thereby improving the traffic safety and efficiency of the intersection.

An embodiment of the present invention provides a method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things, as shown in FIG1 , which is a schematic flow chart of the method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things, including:

Step S101: Divide 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 each include a first control section, a second control section and a third control section;

Step S102: Acquire the driving speed and vehicle position of vehicles on all through lanes of the main road and the secondary road;

Step S103: For the vehicle arriving at the third control section, based on the preset expected control speed and the control area, before the vehicle arrives at the second control section, the headway between the vehicle and the preceding vehicle in the same lane is adjusted to the minimum control headway, and the driving speed of the vehicle is adjusted to the preset expected control speed according to the preset acceleration;

Step S104: Control the vehicle to reach the first control section at the preset expected control speed and the minimum control headway, and pass through the control area in a preset continuous flow mode.

The method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things provided in this embodiment first sets a control area, a main road, a secondary road, and the first control section, the second control section, and the third control section, and obtains the driving speed and vehicle position of the vehicle in the straight lane; secondly, adjusts the vehicle speed and headway time of the vehicle arriving at the third control section, adjusts the vehicle speed to the preset expected control speed, and adjusts the headway time to the minimum control headway time; finally, controls the vehicle to arrive at the first control section at the preset expected control speed and the minimum control headway time, and passes through the intersection in a preset continuous flow mode. The method of this embodiment obtains information such as the speed and position of the vehicle based on the Internet of Things, and allows the vehicle to pass through the physical area of the intersection without stopping through the preset continuous flow mode, breaking the traditional traffic mode of waiting for release at the stop line. By setting the second control section and the third control section, the headway and speed of the vehicle can be adjusted under the premise of ensuring vehicle safety, thereby ensuring the traffic efficiency of the vehicle at the intersection after reaching the first section, creating a new direction of distributed traffic control for continuous driving of cross-conflicting traffic, and has extremely high application value.

As a preferred embodiment, in step S101, the intersection is divided into a control area, a main road and a secondary road according to a preset rule, including:

The intersection entrance direction includes a first entrance, a second entrance, a third entrance and a fourth entrance, the first entrance and the third entrance are arranged opposite to each other, the second entrance and the fourth entrance are arranged opposite to each other, and the first entrance and the second entrance are arranged perpendicularly; the same entrance includes multiple lanes;

Vehicles on the main road have the right of priority;

The control area is a rectangular area enclosed by the extension of the right side markings of the outermost through lanes at each entrance of the intersection in the physical area of the intersection. Within the control area, vehicles on each lane pass at a preset expected control speed;

The first control section is the boundary line of the control area; the distance between the second control section and the first control section is the preset adaptation section length; the distance between the third control section and the second control section is the preset rectification section length.

As a specific embodiment, the preset rules of the above intersection are described in conjunction with Figure 2. As shown in Figure 2, in Figure 2, the first entrance is the east entrance (E entrance), the second entrance is the south entrance (S entrance), the third entrance is the west entrance (W entrance), and the fourth entrance is the north entrance (N entrance).

、第二边长为

的矩形区域，其中，

为南北进口第一控制断面（调控断面1）的宽度之和；

为东西进口第一控制断面（调控断面1）的宽度之和。The control area is a first side with a length of

, the second side length is

A rectangular area, where

It is the sum of the widths of the first control section (regulation section 1) of the north and south inlets;

It is the sum of the widths of the first control section (regulatory section 1) of the east-west entrance.

After a straight-moving vehicle enters the control area, it will interact with straight-moving vehicles in other directions in the intersection; after leaving the control area, it will not interact with vehicles in the intersection.

As a preferred embodiment, the preset expected control speed is determined based on a basic road capacity calculation model and is not greater than the maximum driving speed of the intersection.

，南北进口方向的预设期望调控速度为

，单位为

。As a specific embodiment, the preset expected control speed of the straight lane in the east-west import direction is

, the preset expected control speed in the north-south import direction is

, the unit is

.

求导并令为零，求解方程，得到大流量连续流情况下高效运行的控制速度

的推荐值。所述计算模型的具体计算公式为：According to the basic road capacity calculation model, the vehicle speed

Take the derivative and set it to zero, solve the equation, and get the control speed for efficient operation under large flow continuous flow conditions

The specific calculation formula of the calculation model is:

N=3600/h/v=1000V/h; where N is the theoretical vehicle capacity; h is the headway (m); v is the vehicle speed (m/s); and V is the vehicle speed (km/h).

，即

且

。Considering the speed limit setting of the intersection itself, the expected control speed should not be greater than the maximum driving speed of the intersection.

,Right now

and

.

Each through-going vehicle at the entrance should maintain a preset expected control speed at the first control section and pass through the control area of the intersection at the preset expected control speed.

和南北进口方向期望调控速度

可能不同。It should be noted that since the road grades of the main road and the secondary road may be different, the expected speed control of the through lanes in the east-west entrance direction is

and the expected control speed in the north-south import direction

May be different.

As a specific embodiment, in step S102, the speed and position of the straight-moving vehicle are obtained based on the Internet of Things technology. The vehicle position and speed can be monitored and tracked in real time on the roadside through radar, cameras, wireless communications, GPS (Beidou) base stations, edge computing and other equipment, and the roadside control system can be used to analyze and optimize the vehicle trajectory. At the same time, the interaction between the roadside control system and road vehicles can directly control vehicle behavior.

It should be noted that the trajectory control of the vehicle is based on the position of the center point of the vehicle's front.

As a preferred embodiment, in step S104, when the straight-moving vehicle reaches the first control section, passing through the control area in a preset continuous flow manner includes:

In a traffic cycle, straight-moving vehicles in the import direction of the main road have priority to pass through the control area, and then straight-moving vehicles in the import direction of the secondary road use the gap between the headway of vehicles in the import direction of the main road to pass through the control area;

When both the straight-moving vehicles in the entrance direction of the main road and the straight-moving vehicles in the entrance direction of the secondary road pass through the control area within the traffic cycle, the next traffic cycle is entered.

As a specific example, assuming that the main road is in the east-west direction, the straight vehicles in the east-west entrance direction pass through the control area first, and then the straight vehicles in the secondary road (north-south direction) entrance direction use the headway gap between vehicles in the main road entrance direction to pass through the control area. Thus, the straight vehicles at the intersection alternate in the above order, forming a "locked perforation" to enter the intersection in a "continuous flow" and pass efficiently.

Specifically, vehicles entering from the east and west and from the north and south of the intersection periodically alternate through the intersection, and the shortest time used for each cycle is:

（1）

(1)

为东西进口方向直行车辆通过控制区域的时间，

为南北进口方向直行车辆通过控制区域的时间，

为每周期所用最短时间，单位为

。In the formula,

The time it takes for vehicles going straight in the east-west import direction to pass through the control area.

The time it takes for vehicles going straight in the north-south direction to pass through the control area.

The shortest time per cycle, in units of

.

As a preferred embodiment, the passage cycle is determined according to the width of the first control section of each of the entrances, the preset expected control speed of each of the entrances, the body length of the vehicle and the reserved error time.

As a specific embodiment, the preset continuous passage mode also includes:

The conflict degree of straight-moving vehicles entering the control area from different directions at the same time in the control area is tested.

In the same cycle, when the straight-moving vehicles from the same road passing through the intersection at the same time, the straight-moving vehicles occupy different areas of the intersection respectively, and there is no intersection between the trajectories of the vehicles, so there is no conflict between the straight-moving vehicles.

For different roads within the same cycle, vehicles going straight in the north-south direction (or east-west direction) are allowed to pass only after the east-west entrance direction (or north-south entrance direction) has completely passed the intersection. Vehicles with intersecting trajectories use the control area to pass the intersection at different times. There is a time difference when east-west and north-south vehicles use the control area, so there is no potential possibility of collision between vehicles and safety can be guaranteed.

As a specific embodiment, the time for the straight-going vehicles in the east-west import direction to pass through the control area is:

（2）

(2)

为东西进口方向直行车辆通过控制区域的时间，单位为

；

为东西进口第一控制断面的宽度之和，单位为

；

为东西进口方向同时进入控制区域直行车辆中第

辆车的车身长度，单位为

，

，（一般情况下

可以设定为当前第一控制断面的最长车辆）；

为直行车辆通过控制区域时间的预留误差，单位为

In the formula,

It is the time for vehicles going straight in the east-west import direction to pass through the control area, in units of

;

It is the sum of the widths of the first control sections of the east and west entrances, in units of

;

The first vehicle to enter the control area from both the east and west directions.

The length of the vehicle in

,

, (Generally

Can be set to the longest vehicle in the current first control section);

It is the reserved error of the time for straight-moving vehicles to pass through the control area, in units of

为0，一般情况下，视具体运行环境情况设置。When the straight-moving vehicle passes the intersection strictly according to the expected control speed, the corresponding error

It is 0. Generally, it is set according to the specific operating environment.

It should be noted that the time to pass the control area is based on a symmetrical intersection, that is, the intersection control area is rectangular and the distances between opposite entrance directions are the same. When the intersection is an asymmetrical intersection, the distances between different lane control sections 1 can be calculated based on the lane centerline and brought into the calculation.

为：Similarly, the time it takes for the straight vehicles in the north-south import direction to pass through the control area is

for:

（3）

(3)

为南北进口方向直行车辆通过控制区域的时间，单位为

；

为南北进口第一控制断面的宽度之和，单位为

；

为南北进口方向同时进入控制区域直行车辆中第

辆车的车身长度，单位为

，

（一般情况下

可以设定为当前第一控制断面的最长车辆）。In the formula,

It is the time for the straight vehicles in the north-south import direction to pass through the control area, in units of

;

It is the sum of the widths of the first control sections of the north and south entrances, in units of

;

The first vehicle to enter the control area from both the north and south directions.

The length of the vehicle in

,

(Generally

Can be set to the longest vehicle in the current first control section).

The method for adjusting the headway and the driving speed of the vehicle in step S103 is described in detail below.

As a preferred embodiment, in step S103, based on the preset expected control speed and the control area, before the vehicle reaches the second control section, the headway between the vehicle and the preceding vehicle in the same lane is adjusted to a minimum control headway, including:

Determining a theoretical safe time distance between the vehicle and a preceding vehicle in the same lane based on a safe time distance calculation formula;

Determining a traffic cycle according to the preset desired control speed and the control area;

The maximum value between the theoretical safety time headway and the traffic cycle is used as the minimum regulated headway.

；同时，车辆间车头时距应当不小于保证安全情况下车辆间停车视距对应的车头时距。此时，同一车道相邻车辆最小调控车头时距为：As a specific embodiment, when vehicles pass through an intersection according to the traffic cycle, in order to ensure the safe driving of vehicles in the event of an emergency, the headway between vehicles in the same lane should not be less than the shortest cycle time.

; At the same time, the headway between vehicles should not be less than the headway between vehicles corresponding to the parking sight distance between vehicles under the condition of ensuring safety. At this time, the minimum headway between adjacent vehicles in the same lane is:

（4）

(4)

为同一车道相邻车辆最小调控车头时距，单位为

；

为保证安全情况下车辆间停车视距对应的车头时距，单位为

。In the formula,

is the minimum headway time for adjacent vehicles in the same lane, in units of

;

To ensure the headway time between vehicles corresponding to the parking sight distance under safety conditions, the unit is

.

As shown in FIG. 3 , FIG. 3 intuitively illustrates the minimum controlled headway time of adjacent vehicles in the same lane through a specific traffic scenario.

和

也不相同。为保证安全，

应取两者中的较大值。As a specific embodiment, when the road grades of the main road and the secondary road are different, the preset expected control speed is different, and the entrance direction of the main road and the entrance direction of the secondary road are calculated.

and

To ensure safety,

The larger value of the two should be taken.

（5）

(5)

为东西进口方向保证安全情况下车辆间停车视距对应的车头时距，单位为

；

为南北进口方向保证安全情况下车辆间停车视距对应的车头时距，单位为

；

为驾驶员反应时间，一般取2.0

，（若车辆全部为自动驾驶车辆，反应时间可按自动驾驶车辆特性缩小该值，混驾状态按人驾驶取值）；

为路面与轮胎之间的纵向摩擦阻系数；

为安全距离，建议按最新交叉口设计标准确定。In the formula,

The headway time between vehicles corresponding to the stopping sight distance between vehicles to ensure safety in the east-west import direction, in units of

;

The headway time between vehicles corresponding to the parking sight distance between vehicles to ensure safety in the north-south import direction, in units of

;

is the driver's reaction time, usually 2.0

, (If all vehicles are self-driving vehicles, the reaction time can be reduced according to the characteristics of the self-driving vehicles, and the mixed driving state is based on human driving);

is the longitudinal friction coefficient between the road surface and the tire;

For safe distance, it is recommended to determine it according to the latest intersection design standards.

As a preferred embodiment, when the theoretical safety time head is greater than the traffic cycle, the difference between the theoretical safety time head and the traffic cycle is equally divided into the first import traffic time and the second import traffic time to obtain the first import control area occupation time and the second import control area occupation time;

The straight-going vehicles in the first import direction and the straight-going vehicles in the second import direction arrive at the first control section of the road corresponding to the import in sequence according to the first alternation time and the second alternation time;

The first alternating time is the occupation time of the first import control area, and the second alternating time is the occupation time of the second import control area.

时，相邻车辆最小调控车头时距

取

，此时为保证行车安全，每周期时间也为

，则同一周期的东西进口方向直行车辆和南北进口方向直行车辆利用

时间即可通过控制区域，但完全通过后仍存在长度为

时间段控制区域被空用。As a specific example, when

When the adjacent vehicles have the minimum headway time

Pick

At this time, in order to ensure driving safety, each cycle time is also

, then the east-west import direction straight vehicles and north-south import direction straight vehicles of the same cycle use

time to pass through the control area, but after completely passing through, there is still a length of

The time period control area is empty.

时间段平分至东西进口方向直行车辆通过控制区域的时间

和南北进口方向直行车辆通过控制区域的时间

。进而描述东西进口方向直行车辆占用控制区域的时间

和南北进口方向直行车辆占用控制区域的时间

。To ensure the safety of vehicle driving, the length is

The time period is divided equally into the time for vehicles going straight in the east-west import direction to pass through the control area

and the time it takes for vehicles going straight in the north-south direction to pass through the control area

Then describe the time that the through vehicles in the east-west import direction occupy the control area

The time that through vehicles from the north and south directions occupy the control area

.

The time that through vehicles in the east-west import direction occupy the control area in the same cycle is:

（6）

(6)

同一周期东西进口方向直行车辆占用控制区域的时间，单位为

。In the formula,

The time that the through vehicles in the east-west import direction occupy the control area in the same cycle, in units of

.

The time that through vehicles in the north-south import direction occupy the control area is:

（7）

(7)

同一周期南北进口方向直行车辆占用控制区域的时间，单位为

。In the formula,

The time that the through vehicles in the north-south import direction occupy the control area in the same cycle, in units of

.

时，即

取

时，同一周期不同方向同时进入控制区域的直行车辆在控制区域的冲突程度，相对于

时，即

取

时的冲突程度更小，如图4（b）所示。As shown in Figure 4(a), when

When

Pick

When , the conflict degree of straight vehicles entering the control area from different directions at the same time in the same cycle in the control area is relative to

When

Pick

The conflict degree is smaller when , as shown in Figure 4(b).

To ensure the maximum traffic efficiency at the intersection, as a preferred embodiment, straight-moving vehicles on different lanes corresponding to the same entrance keep driving in an orderly manner and reach the first control section at the same time;

The straight-moving vehicles at the two-way entrances of the same road arrive at the first control section at the same time.

As a specific embodiment, straight-moving vehicles on different lanes in the same import direction should keep driving in an orderly manner and reach the first control section at the same time.

Since straight-moving vehicles in both directions of the same road (such as the east-west direction) pass through the control area at the same time, they should arrive at the adjacent first control section at the same time.

、

。The straight vehicles in the two entrance directions of the same road (such as the north-south entrance direction) should arrive at the adjacent control section 1 at the same time after the two entrance directions of the other road (such as the east-west entrance direction) release the occupation of the control area, that is, the straight vehicles in the east-west entrance direction and the straight vehicles in the north-south entrance direction arrive at the first control section alternately, and there is a time difference in arriving at the first control section, and the time difference is respectively

,

.

5 and 6 , the specific manner in which the vehicle passes through the control area after reaching the first control section is described below.

。Please refer to Figure 5. If the main road's corresponding entrance direction is the east-west entrance direction, then the east-west entrance through-going vehicles should arrive at the adjacent control section 1 at the same time, and the north-south entrance through-going vehicles should arrive at the adjacent control section 1 at the same time after the east-west entrance direction releases the occupation of the control area. Therefore, when the east-west entrance direction arrives at the control section 1, the time difference between the north-south entrance through-going vehicles and the adjacent control section 1 is

.

。Please refer to Figure 6. If the main road's corresponding import direction is the north-south import direction, then the north-south import straight vehicles should arrive at the adjacent control section 1 at the same time, and the east-west import straight vehicles should arrive at the adjacent control section 1 at the same time after the north-south import direction releases the occupation of the control area. Therefore, when the north-south import direction arrives at the control section 1, the headway time between the east-west import straight vehicles and the adjacent control section 1 is

.

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 control speed.

As a specific embodiment, control section 2 is set for the intersection functional area. On the same road, straight-moving vehicles maintain the desired regulated speed between control section 2 and control section 1 to adapt to the speed and continue to pass the intersection. The area between control section 2 and control section 1 is called the adaptation section, then:

为：Length of the adaptation section in the east and west import directions

for:

（8）

(8)

为适应系数，取值一般为正整数，

为同一车道相邻车辆最小调控车头时距，

为东西进口方向直行车道的预设期望调控速度。In the formula,

is the adaptation coefficient, which is generally a positive integer.

Minimum headway adjustment for adjacent vehicles in the same lane.

It is the preset expected control speed for the through lanes in the east-west import direction.

为：Length of the adaptation section in the south and north import directions

for:

（9）

(9)

为适应系数，取值一般为正整数，

为同一车道相邻车辆最小调控车头时距，

为南北进口方向直行车道的预设期望调控速度。In the formula,

is the adaptation coefficient, which is generally a positive integer.

Minimum headway adjustment for adjacent vehicles in the same lane.

It is the preset expected control speed of the through lane in the north-south import direction.

By setting the adaptation section, the driver's instability in maintaining the current state can be avoided, and the driver can maintain the current state to adapt to the current speed and headway, thereby allowing the vehicle to stably pass through the control area.

As a preferred embodiment, the preset straightening section length is determined according to the driving speed of the vehicle, the preset expected control speed and a preset acceleration.

As a specific embodiment, the straight-moving vehicle will adjust its own speed and headway between control section 3 and control section 2 to optimize the state of reaching control section 2, and allow the vehicle to pass control section 1 without stopping at the expected speed and headway.

为：Control section 3 is set for the intersection functional area. The distance between control section 3 and control section 2 is called the straightening section. The length of the straightening section in the east and west entrance directions is

for:

（10）

(10)

为直行车辆到达控制断面3所可能的最小速度，取0

；

为给定的加速度，一般取值在

内，单位为

，

为东西进口方向直行车道的预设期望调控速度。In the formula,

is the minimum possible speed for a straight-moving vehicle to reach control section 3, which is 0

;

is a given acceleration, generally taken as

The unit is

,

It is the preset expected control speed for the through lanes in the east-west import direction.

为：Length of the rectifying section in the south and north inlet directions

for:

（11）

(11)

为直行车辆到达控制断面3所可能的最小速度，取0

；

为给定的加速度，一般取值在

内，单位为

，

为南北进口方向直行车道的预设期望调控速度。In the formula,

is the minimum possible speed for a straight-moving vehicle to reach control section 3, which is 0

;

is a given acceleration, generally taken as

The unit is

,

It is the preset expected control speed of the through lane in the north-south import direction.

By setting the rectifying section, the vehicle can smoothly adjust the speed to the preset expected control speed at a given acceleration, thereby ensuring driving comfort and safety; according to the preset expected control speed and the control area, the headway between the vehicle and the preceding vehicle in the same lane is adjusted, thereby ensuring traffic safety and efficiency.

The following is a specific example to illustrate the specific process of a straight-moving vehicle passing through an intersection under heavy traffic conditions.

As a specific embodiment, under heavy traffic conditions, straight-moving vehicles maintain high density and high speed to reach control section 3. The first row of vehicles in each straight lane after passing through control section 3 is regarded as the straight-moving vehicles passing through the intersection in the first cycle, the second row of vehicles is regarded as the straight-moving vehicles passing through the intersection in the second cycle, and so on.

或

到达邻近进口方向控制断面1并通过控制区域。According to the given acceleration a, the speed of the straight-moving vehicles is adjusted to the expected control speed, and the headway time between the straight-moving vehicles is adjusted so that the straight-moving vehicles meet the vehicle formation requirements of passing through the adjacent import direction control section 1; the specific formation requirements are: considering the main road priority principle, the vehicles in the two-way import direction of the main road in the same cycle have priority to arrive at the adjacent import direction control section 1 and pass through the control area, and the vehicles in the two-way import direction of the secondary road have priority to arrive at the adjacent import direction control section 1 and pass through the control area.

or

Arrive at control section 1 adjacent to the import direction and pass through the control area.

If the straight-moving vehicle cannot complete the regulation of speed and headway in the current traffic cycle, it will enter the next traffic cycle to complete the regulation of speed and headway.

In the process of controlling the vehicle, the vehicle trajectory data of the through lane of the intersection is collected and tracked through the radar and image recognition system, and the data set of all through vehicles at the same time is wirelessly transmitted to the roadside control server. When determining the control section of the intersection, the physical parameters of the control area and the expected control speed of the through vehicles in each lane, they are stored as the basic parameters of the system in the roadside control server; then the vehicle's control of its own position and speed is analyzed and determined based on the vehicle trajectory data, and the control information is sent to the vehicle (human-driven vehicle, receiving control instructions through mobile phone APP and high-precision navigation software) in real time through wireless transmission to decide on vehicle control.

The present invention discloses a method for continuous passage of straight-moving vehicles at an intersection based on the Internet of Things. First, 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 driving speed and vehicle position of the vehicle in the straight lane are obtained; secondly, the vehicle speed and headway time of the vehicle arriving at the third control section are adjusted, and the vehicle speed is adjusted to a preset expected control speed, and the headway time is adjusted to a minimum control headway time; finally, the vehicle is controlled to arrive at the first control section at the preset expected control speed and the minimum control headway time, and passes through the intersection in a preset continuous flow manner.

The present invention obtains information such as the speed and position of the vehicle based on the Internet of Things, and allows the vehicle to pass through the physical area of the intersection without stopping by presetting the continuous flow mode, breaking the traditional traffic mode of waiting for release at the stop line. By setting the second control section and the third control section, the headway and vehicle speed of the vehicle can be adjusted under the premise of ensuring vehicle safety, thereby ensuring the traffic efficiency of the vehicle at the intersection after reaching the first section, creating a new direction of distributed traffic control for continuous driving of intersecting conflicting vehicles, and has extremely high application value.

The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

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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