CN116434570A - Method for regulating and controlling left-turning lane of non-motor vehicle based on expansion characteristic of riding traffic flow - Google Patents
Method for regulating and controlling left-turning lane of non-motor vehicle based on expansion characteristic of riding traffic flow Download PDFInfo
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Abstract
The invention discloses a method for regulating and controlling a left-turning special road of a non-motor vehicle based on the expansion characteristic of riding traffic flow, which is suitable for a cross intersection of the non-motor vehicle which is controlled by four-phase signal lamps to turn left once and cross a street, wherein the intersection is distinguished into the left-turning special road and the right-turning special road of the non-motor vehicle by luminous spikes, and comprises the following steps: 1, establishing a plane rectangular coordinate system; 2, finding the coordinate of a tangential point of the left-turning motor vehicle track relative to the central point of the signalized intersection to determine the left-turning track of the non-motor vehicle flow; 3 determining the maximum expansion width of the left-turning non-motor vehicle flow and the shortest distance between tracks; and 4, dynamically adjusting the number of the left-turn special lanes of the non-motor vehicle and the red light duration according to the interval requirement. The invention can help to reduce the conflict between the non-motor vehicles at the intersection, improve the left turn safety and the traffic capacity of the non-motor vehicles at the intersection, and provide a method support for the traffic organization optimization of the left turn non-motor vehicles at the signalized intersection.
Description
Technical Field
The invention belongs to the field of non-motor vehicle regulation and control, and particularly relates to a method for regulating and controlling a left-turning lane of a non-motor vehicle based on the expansion characteristic of riding traffic flow.
Background
With the further popularization of sustainable development green traffic concepts, the proportion of non-motor vehicles in traffic compositions is high, and with the development of communication technology and the gradual maturity of intelligent driving, the conflict between motor vehicles in road traffic in China can be greatly reduced, but due to the influence of objective conditions, the conflict between the non-motor vehicles and the non-motor vehicles still exists, and especially when the non-motor vehicles and the motor vehicles are integrated at the intersection, the influence between the two-way non-motor vehicles is high. When the green light traffic phase of the intersection begins, the non-motor vehicles are very flexible to operate, and the non-motor vehicles are urgent to preferentially pass through the intersection in the limited green light time, fluid can be diffused to two sides like the fluid when passing through the intersection to occupy the space of the intersection, and the expansion phenomenon of the whole non-motor vehicle flow occurs, so that the collision between the non-motor vehicles and the non-motor vehicles occurs.
On the one hand, the implementation effect of secondary street crossing of the non-motor vehicle is not ideal, and the conflict between the two-way non-motor vehicles is larger when the non-motor vehicle and the motor vehicle are integrated in a left turning way; on the other hand, the existing urban roads have a plurality of non-motor vehicle lanes which are not divided into a left-turn special lane and a right-turn lane, so that random parking in all directions causes a certain delay, even the waste of road resources, and the danger that the non-motor vehicle flows through an intersection is increased.
Disclosure of Invention
The invention provides a method for regulating and controlling left-turning lanes of a non-motor vehicle based on the expansion characteristic of riding traffic flow, aiming at reducing the expansion width of the non-motor vehicle flow by dynamically regulating and controlling the number of left-turning lanes and the left-turning phase red light duration of the non-motor vehicle on the premise of ensuring traffic operation safety so as to reduce traffic friction or traffic accidents between two-way non-motor vehicle flows at an intersection and improve the safety and road traffic capacity of the non-motor vehicle traffic operation.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention relates to a method for regulating and controlling a left-turning lane of a non-motor vehicle based on the expansion characteristic of riding traffic flow, which has the application scene of a cross signal intersection in a network environment, wherein the motor vehicle in the network environment is a network automatic driving vehicle, and the non-motor vehicle is a non-network vehicle; a special four-phase signal lamp with a left-turn phase is arranged at the cross intersection to control motor vehicles and non-motor vehicles in four directions of the intersection; the lane at each intersection is divided into an entrance lane and an exit lane by double yellow lines, each entrance lane and each exit lane are respectively divided into n motor lanes and m non-motor lanes by white marked lines, the entrance lane in each direction is provided with a motor vehicle left-turning special lane, and the luminous spikes are arranged on m+1 non-motor lane lines on the entrance lane in each direction; the dynamic regulation and control method is characterized by comprising the following steps of:
numbering any direction of a cross intersection as i, sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, taking the central point of the signal intersection as an origin O, taking the running direction of the exit vehicle in the direction i+3 as the positive direction of an X axis, extending reversely, and taking the running direction of the exit vehicle in the direction i+2 as the positive direction of a Y axis, extending reversely, so as to establish a plane rectangular coordinate system XOY;
step 2.1, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle at an entrance lane in the direction i as a starting point S of a running track of the left-turning motor vehicle 0 The end point E of the running track of the left-turning motor vehicle 0 In the outermost motor vehicle lane of the exit in direction i+1, the end point E 0 Perpendicular distance from stop line of entrance track in direction i as radius, the starting point S 0 And end point E 0 The arc between the two is used as the running track of the left-turning motor car in the direction i;
2.2, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track and the diagonal line of the intersection in the direction i on an arc as a tangent point O of the left-turning motor vehicle track relative to the origin point O in the direction i 1 The tangential point coordinates are
Step 2.3, taking the midpoint position of the stopping line of the left-turning special lane of the motor vehicle at the entrance lane in the direction i+2 as the starting point S of the running track of the left-turning motor vehicle 0 ' the end point E of the running track of the left-turning motor vehicle 0 ' in the outermost Motor vehicle lane of the exit in the direction i+3, terminal E 0 ' perpendicular distance from the stop line of the entrance way in direction i+2 as radius, the starting point S 0 ' and endpoint E 0 The arc between' is used as the running track of the left-turning motor car in the direction i+2;
2.4, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track in the direction i+2 and the diagonal line of the intersection on the circular arc as a tangent point O of the left-turning motor vehicle track in the direction i+2 relative to the origin point O 2 The tangential point coordinates are
Step 3, determining a non-motor vehicle flow left-hand tracking equation of the direction i and the direction i+2:
step 3.1, acquiring intersection related data: the turning radius of the border stone at the intersection is R r Width of non-motor vehicle lane L nmv Width of motor vehicle lane L v ；
Step 3.2, determining a non-motor vehicle flow left-hand tracking equation of the direction i:
step 3.2.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i and the stop line of the inlet road in the direction i as the starting point S of the left-turning non-motor vehicle flow 1 The starting point S 1 The coordinate under the plane rectangular coordinate system XOY is S 1 (nL v ,-nL v -L nmv -R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+1 and the mechanical non-separation line of the outlet channel in the direction i+1 as the end point E of the left-turning non-motor vehicle flow 1 The end point E 1 The coordinate under the plane rectangular coordinate system XOY is E 1 (-nL v -L nmv -R r ,nL v )；
Step 3.2.2, obtaining the tangential point coordinate O 'of the left-turning motor car track of the entrance road in the direction i relative to the original point O by utilizing the step (1)' 1 (x,y)；
In the formula (1), (x, y) represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i under a plane rectangular coordinate system relative to the tangent point at the origin O; d (D) v-nmv Representing a lateral safety width during travel of the vehicle;
step 3.2.3 to be started from the starting point S 1 Endpoint E 1 And tangent point O' 1 The fitted quadratic function is used as a left-turning track of the non-motor vehicle flow in the direction i; wherein the quadratic term coefficient a of the quadratic function 1 Coefficient b of primary term 1 And constant term c 1 Obtained from the formula (2):
step 3.3, determining a non-motor vehicle flow left-hand tracking equation of the direction i+2:
step 3.3.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i+2 and the stop line of the inlet road in the direction i+2 as the starting point S 'of the left-turning non-motor vehicle flow' 1 The starting point S' 1 The coordinate under the plane rectangular coordinate system XOY is S' 1 (-nL v ,nL v +L nmv +R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+3 and the mechanical non-separation line of the outlet channel in the direction i+3 as the end point E 'of the left-turning non-motor vehicle flow' 1 The end point E' 1 The coordinates under the plane rectangular coordinate system XOY are E' 1 (nL v +L nmv +R r ,-nL v )；
Step 3.3.2, obtaining the tangential point coordinate O 'of the left-turning motor car track of the entrance way in the direction i+2 relative to the original point O by utilizing the step (3)' 2 (x′,y′)；
In the formula (3), (x ', y') represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i+2 under a plane rectangular coordinate system relative to the tangential point at the origin O;
step 3.3.3, to be taken from the starting point S' 1 Endpoint E' 1 And tangent point O' 2 The fitted quadratic function is used as a left-turning track of the non-motor vehicle flow in the direction i+2; wherein the quadratic term coefficient a of the quadratic function 2 Coefficient b of primary term 2 And constant term c 2 Obtained from the formula (4):
step 4, determining the maximum expansion width of the non-motor vehicle flow turning left in the direction i and the direction i+2:
step 4.1, calculating the number m of lanes of the non-motor vehicle by using the formula (5):
in the formula (5), L 0 Indicating the safety width of the intersection where a single non-motor vehicle is traveling,
is rounded downwards;
step 4.2, defining the number of lanes of the left-turning lane of the non-motor vehicle of the entrance lane in the direction i as m i And initialize m i =m-1; the number of lanes of the left-turn lane of the non-motor vehicle defining the entrance lane in the direction i+2 is m i+2 And initialize m i+2 ＝m-1；
Step 4.3, calculating the width of the left-turning special lane of the non-motor vehicle of the entrance lane in the direction i by using the method (6)
And the width of the non-motor vehicle left-turn lane of the entrance lane in direction i+2 +.>
Step 4.4, acquiring related data: straight line distance L between start point and end point of non-motor vehicle flow, left-turning phase green light duration T of inlet road in T-th period direction i g (T) and left-hand phase red light duration T r (t) arrival rate of left-turning motor vehicle at entrance lane in direction i under the t th cycle
Arrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycle
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i under t th cycle +.>
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i+2 under t th cycle +.>
Step 4.5, calculating the T-th period left-turn phase red light duration T by using the formula (7) r (t) number of left-hand motor vehicles accumulated in the inlet lane in direction i
T-th period left-turn phase red light duration T r (t) number of left-hand motor vehicles accumulated in the entrance way in the direction i+2 +.>
Calculating the T-th period left-turn phase red light duration T by using the method (8) r (t) number of left-turn non-motor vehicles entering the aisle in direction i
T-th period left-turn phase red light duration T r (t) number of left-turn non-motor vehicles entering the lane in direction i+2 +.>
Calculating the parallel rows of non-motor vehicles of the inlet road in the direction i under the t-th period by using the method (9)Team number of vehicles
Non-motor parallel queuing vehicle number of entrance way in the direction i+2 under the t th period +.>
Step 4.6, calculating the maximum expansion width w of the left-turning non-motor vehicle flow of the inlet channel in the direction i under the t th period according to the step (10) i (t), maximum expansion width w of left-turning non-motor vehicle flow of inlet road in direction i+2 under t period i+2 (t)：
In the formula (10), the amino acid sequence of the compound,
to influence the constant term of the maximum expansion width in direction i +.>
To influence the constant term of the maximum expansion width in direction i+2,/i>
For the factor of the j-th class factor affecting the maximum expansion width in direction i>
Coefficients for a j-th type factor affecting the maximum expansion width in the direction i+2;
step 5, determining the shortest distance between the left-turning non-motor vehicle flow tracks and judging whether the shortest distance meets the safety spacing requirement:
step 5.1, left turnThe maximum expansion width of the non-motor vehicle flows occurs in the middle area of the left-turn vehicle flow, the shortest distance between the two-way left-turn non-motor vehicle flows is also in the middle area, and the most dangerous situation between the two-way left-turn non-motor vehicle flows, namely, the maximum expansion width of the left-turn vehicle flows occurs at the shortest distance between the vehicle flow tracks, the shortest distance w (t) between the left-turn track of the non-motor vehicle flows in the direction i and the left-turn track of the non-motor vehicle flows in the direction i+2 under the t-th period is obtained by utilizing the formula (11) min ：
In the formula (11), the amino acid sequence of the compound,
representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i in the most dangerous situation i (t) the formed dots; />
Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i+2 in the most dangerous situation i+2 (t) the formed dots;
step 5.2, if the formula (12) is satisfied, proceeding to step 8; if the formula (12) is not satisfied, the process proceeds to step 6;
w(t) min ＞w i (t)+w i+2 (t)+D nmv-nmv (12)
in the formula (12), D nmv-nmv Representing a lateral safety width during travel of the non-motor vehicle;
step 6, adjusting the number of left-turning special lanes of the non-motor vehicle to ensure the safety of the left-turning expansion space of the non-motor vehicle in the bidirectional entrance road;
step 6.1, calculating the setting required by the number of the non-motor vehicles passing through the intersection in the left-turning phase green light time in the t-th period by using the step (13)Number k of left turn lanes of non-motor vehicle in direction i i (t) and the number of left-turn lanes k of the non-motor vehicle in the direction i+2 i+2 (t)；
In the formula (13), C is the maximum traffic capacity of a road section of a non-motor vehicle lane;
is rounded upwards;
step 6.2, if m i ＞k i (t) and m i+2 ＞k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formulas (14) and (15);
step 6.3, if m i ＞k i (t) and m i+2 ≤k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (14);
step 6.4, if m i ≤k i (t) and m i+2 ＞k i+2 (t), returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (15);
step 6.5, if m i ≤k i (t) and m i+2 ≤k i+2 (t) then executing step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
T r (t)←T r (t)-ΔT(16)
in equation (16), Δt is a red light time step;
step 8, calculating the starting length of each left-turn special lane luminous spike by using the method (17):
L q (t)＝T g (t)·C·L s (17)
in the formula (17), L q (t) represents the light-emitting spike activation length of each left-turn lane for the t-th cycle; l (L) s Representing the safe parking length of a non-motor vehicle;
step 9, rotating the coordinate axis clockwise by 90 degrees by taking the origin as a rotation center, marking the reverse direction of the Y axis as the direction i of the non-motor vehicle, and sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, so as to regulate the expansion width of the non-motor vehicle of the inlet road which is not regulated at the intersection according to the sequence from step 2 to step 8;
and step 10, after t+1 is assigned to t, returning to the step 1 for sequential execution, so as to regulate and control the expansion width of the non-motor vehicle at the next periodic intersection.
The invention relates to a special left-turning lane regulating and controlling device for a non-motor vehicle, which is characterized by receiving and storing data transmitted by a wireless communication mode, establishing a plane rectangular coordinate system at an intersection, and calculating a motor vehicle track and a non-motor vehicle track equation by using known data; establishing a mathematical relationship between the maximum expansion width of the left turn of the non-motor vehicle flow and influence factors thereof, namely a multiple regression equation, and obtaining the maximum expansion width; therefore, according to the shortest distance requirement on the track of the non-motor vehicle, whether the number of special left-turn lanes of the non-motor vehicle is required to be adjusted or the left-turn phase red light duration is required to be adjusted is judged, and the wireless communication mode is utilized to feed back to the luminous spike or the intelligent annunciator.
Compared with the prior art, the invention has the beneficial technical effects that:
1. according to the invention, the information interaction between the intelligent road-side acquisition equipment and the information processing center is used for acquiring and processing related data in real time, judging whether the shortest distance between the bidirectional non-motor vehicle tracks meets the minimum requirement, and dynamically controlling the number of left-turn special lanes and the red light duration of the non-motor vehicle to control the expansion width of the non-motor vehicle flow on the premise of ensuring the traffic operation safety, so that the conflict between the bidirectional non-motor vehicle flows at the intersection is reduced, and the safety of the left-turn expansion space of the non-motor vehicle and the high road traffic capacity are improved.
2. According to the invention, from the angle of the non-motor vehicle, different judging conditions are adopted to judge the number of the left-turn special lanes of the non-motor vehicle and whether the red light duration needs to be adjusted or not in each period according to different scenes, so that the judging accuracy is improved.
3. The invention utilizes the luminous spike to realize the dynamic change of the number of the left-turn special lanes of the non-motor vehicle, overcomes the defect of static allocation of the non-motor vehicle lanes in the traditional traffic environment, and improves the traffic capacity of the road.
Drawings
FIG. 1 is a general flow chart of the present invention;
FIG. 2 is a detailed flow chart of the present invention;
FIG. 3 is a schematic view of an intersection of the present invention;
fig. 4 is a detailed view of a non-motorized lane of the present invention.
Detailed Description
In this embodiment, the implementation scene is a cross signal intersection and only has one left-turning lane, but the technical idea of the invention is not limited to the cross intersection and a single left-turning non-motor lane, and other embodiments obtained by a person of ordinary skill in the art without making creative work are all within the scope of the invention. In this embodiment, as shown in fig. 1, in order to reduce the collision between two-way non-motor vehicles and improve the safety of traffic operation and the overall traffic capacity of roads, a method for regulating and controlling the left turn lane of a non-motor vehicle based on the expansion characteristic of riding traffic flow is performed according to the following steps:
numbering any direction of a cross intersection as i, sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, taking the central point of the signal intersection as an origin O, taking the running direction of the exit vehicle in the direction i+3 as the positive direction of an X axis, extending reversely, and taking the running direction of the exit vehicle in the direction i+2 as the positive direction of a Y axis, extending reversely, so as to establish a plane rectangular coordinate system XOY;
step 2.1, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle at an entrance lane in the direction i as a starting point S of a running track of the left-turning motor vehicle 0 The end point E of the running track of the left-turning motor vehicle 0 In the outermost motor vehicle lane of the exit in direction i+1, the end point E 0 Perpendicular distance from stop line of entrance track in direction i as radius, the starting point S 0 And end point E 0 The arc between the two is used as the running track of the left-turning motor car in the direction i;
2.2, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track and the diagonal line of the intersection in the direction i on an arc as a tangent point O of the left-turning motor vehicle track relative to the origin point O in the direction i 1 The tangential point coordinates are
Step 2.3, taking the midpoint position of the stopping line of the left-turning special lane of the motor vehicle at the entrance lane in the direction i+2 as the starting point S of the running track of the left-turning motor vehicle 0 ' the end point E of the running track of the left-turning motor vehicle 0 ' in the outermost Motor vehicle lane of the exit in the direction i+3, terminal E 0 ' perpendicular distance from the stop line of the entrance way in direction i+2 as radius, the starting point S 0 ' and endpoint E 0 The arc between' is used as the running track of the left-turning motor car in the direction i+2;
2.4, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track in the direction i+2 and the diagonal line of the intersection on the circular arc as a tangent point O of the left-turning motor vehicle track in the direction i+2 relative to the origin point O 2 Tangent pointCoordinates are
Step 3, determining a non-motor vehicle flow left-hand tracking equation of the direction i and the direction i+2:
step 3.1, acquiring intersection related data through intelligent acquisition equipment at the road side: the turning radius of the border stone at the intersection is R r Width of non-motor vehicle lane L nmv Width of motor vehicle lane L v ；
Step 3.2, determining a non-motor vehicle flow left-hand tracking equation of the direction i:
step 3.2.1, the information processing center performs information interaction with the intelligent collection device at the road side, as shown in fig. 3, the intersection point of the mechanical non-separation line of the entrance road in the direction i and the stop line of the entrance road in the direction i is used as the starting point S of the left-turning non-motor vehicle flow 1 The starting point S 1 The coordinates in the rectangular plane coordinate system XOY are
S 1 (nL v ,-nL v -L nmv -R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+1 and the mechanical non-separation line of the outlet channel in the direction i+1 as the end point E of the left-turning non-motor vehicle flow 1 The end point E 1 The coordinate under the plane rectangular coordinate system XOY is E 1 (-nL v -L nmv -R r ,nL v )；
Step 3.2.2, obtaining the tangential point coordinate O of the left-turning motor train track of the entrance way in the direction i relative to the origin O by using the method (1) 1 ′(x,y)；
In the formula (1), (x, y) represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i under a plane rectangular coordinate system relative to the tangent point at the origin O; d (D) v-nmv Representing a lateral safety width during travel of the vehicle;
step 3.2.3 to be started from the starting point S 1 Endpoint E 1 And tangent point O 1 The' fitted quadratic function is taken as the left-turn trajectory of the non-motor vehicle flow in direction i; wherein the quadratic term coefficient a of the quadratic function 1 Coefficient b of primary term 1 And constant term c 1 Obtained from the formula (2):
step 3.3, determining a non-motor vehicle flow left-hand tracking equation of the direction i+2:
step 3.3.1, the information processing center performs information interaction with the intelligent collection device at the road side, as shown in fig. 3, the intersection point of the mechanical-mechanical separation line of the entrance road in the direction i+2 and the stop line of the entrance road in the direction i+2 is used as the starting point S of the left-turning non-motor vehicle flow 1 ' the starting point S 1 The coordinates under the rectangular plane coordinate system XOY are
S 1 ′(-nL v ,nL v +L nmv +R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+3 and the mechanical non-separation line of the outlet channel in the direction i+3 as the end point E of the left-turning non-motor vehicle flow 1 ' end point E 1 The' coordinate under the plane rectangular coordinate system XOY is E 1 ′(nL v +L nmv +R r ,-nL v )；
Step 3.3.2, obtaining the tangential point coordinate O of the left-turning motor car track of the entrance way in the direction i+2 relative to the original point O by utilizing the step (3) 2 ′(x′,y′)；
In the formula (3), (x ', y') represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i+2 under a plane rectangular coordinate system relative to the tangential point at the origin O;
step 3.3.3, to be started from the starting point S 1 ' endpoint E 1 ' and tangent point O 2 ' fitted quadratic function as left turn rail of non-motor vehicle flow in direction i+2A trace; wherein the quadratic term coefficient a of the quadratic function 2 Coefficient b of primary term 2 And constant term c 2 Obtained from the formula (4):
step 4, determining the maximum expansion width of the non-motor vehicle flow turning left in the direction i and the direction i+2:
step 4.1, calculating the number m of lanes of the non-motor vehicle by using the formula (5):
in the formula (5), L 0 Indicating the safety width of the intersection where a single non-motor vehicle is traveling,
is rounded downwards;
step 4.2, the information processing center defines that the number of lanes of the left-turning special lane of the non-motor vehicle of the entrance lane in the direction i is m i And initializing m according to detail flowchart 2 i =m-1; the number of lanes of the left-turn lane of the non-motor vehicle defining the entrance lane in the direction i+2 is m i+2 And initializing m according to detail flowchart 2 i+2 ＝m-1；
Step 4.3, the information processing center calculates the width of the left-turning special lane of the non-motor vehicle of the entrance lane in the direction i by using the step (6)
And the width of the non-motor vehicle left-turn lane of the entrance lane in direction i+2 +.>
Step 4.4,Acquiring related data through a road side intelligent acquisition device: straight line distance L between start point and end point of non-motor vehicle flow, left-turning phase green light duration T of inlet road in T-th period direction i g (T) and left-hand phase red light duration T r (t) arrival rate of left-turning motor vehicle at entrance lane in direction i under the t th cycle
Arrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycle +.>
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i under t th cycle
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i+2 under t th cycle +.>
Step 4.5, calculating the T-th period left-turn phase red light duration T by using the formula (7) r (t) number of left-hand motor vehicles accumulated in the inlet lane in direction i
T-th period left-turn phase red light duration T r (t) number of left-hand motor vehicles accumulated in the entrance way in the direction i+2 +.>
Calculating the T-th period left-turn phase red light duration T by using the method (8) r (t) number of left-turn non-motor vehicles entering the aisle in direction i
T-th period left-turn phase red light duration T r (t) number of left-turn non-motor vehicles entering the lane in direction i+2 +.>
Calculating the number of non-motor vehicle parallel queuing vehicles of the inlet road in the direction i under the t period by using the method (9)
Non-motor parallel queuing vehicle number of entrance way in the direction i+2 under the t th period +.>
And 4.6, in the red light period, all the non-motor vehicles are queued up after stopping the line, after the non-motor vehicles are given the right of way, the non-motor vehicles are urgent to preferentially pass through the intersection in the limited green light time, the non-motor vehicle flow can spread towards two sides like fluid, and finally the vehicle flow track is integrally in spindle shape. The information processing center establishes a left-turning non-motor vehicle flow expansion width regression model according to the number of the non-motor vehicles which are left-turned, the queuing parallel number of the non-motor vehicles, the number of the left-turning motor vehicles, the width of the non-motor vehicle lanes, the duration of a left-turning green light signal and the linear distance between the starting point and the ending point of the non-motor vehicle flow, and the related significant variables affecting the expansion width of the non-motor vehicles so as to reflect the mathematical relationship between one dependent variable and a plurality of independent variables. I.e. calculating the maximum expansion width w of the left-turning non-motor vehicle flow of the inlet road in the direction i under the t-th period according to formula (10) i (t), maximum expansion width w of left-turning non-motor vehicle flow of inlet road in direction i+2 under t period i+2 (t)：
In the formula (10), the amino acid sequence of the compound,
to influence the constant term of the maximum expansion width in direction i +.>
To influence the constant term of the maximum expansion width in direction i+2,/i>
For the factor of the j-th class factor affecting the maximum expansion width in direction i>
Coefficients for a j-th type factor affecting the maximum expansion width in the direction i+2;
step 5, determining the shortest distance between the left-turning non-motor vehicle flow tracks and judging whether the shortest distance meets the safety spacing requirement:
step 5.1, the maximum expansion width of the left-turning non-motor vehicle flow occurs in the middle area of the left-turning vehicle flow, the shortest distance between the two-way left-turning non-motor vehicle flows is also in the middle area, the most dangerous situation between the two-way left-turning non-motor vehicle flows is that the maximum expansion width of the left-turning vehicle flow occurs at the shortest distance between vehicle flow tracks, the inlet left-turning non-motor vehicle flow starting point in the direction i and the inlet left-turning non-motor vehicle flow end point in the direction i+2 are connected, the information processing center translates the connecting line along the diagonal direction perpendicular to the intersection by taking one thousandth step length as step length, and finds out two points conforming to the shortest distance, namely, the shortest distance w (t) between the left-turning track of the non-motor vehicle flow in the direction i and the left-turning track of the non-motor vehicle flow in the direction i+2 is obtained by utilizing the formula (11) min ：
In the formula (11), the amino acid sequence of the compound,
representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i in the most dangerous situation i (t) the formed dots; />
Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i+2 in the most dangerous situation i+2 (t) the formed dots;
step 5.2, if the formula (12) is satisfied, proceeding to step 8; if the formula (12) is not satisfied, the process proceeds to step 6;
w(t) min ＞w i (t)+w i+2 (t)+D nmv-nmv (12)
in the formula (12), D nmv-nmv Representing a lateral safety width during travel of the non-motor vehicle;
step 6, when the distance between the tracks of the opposite non-motor vehicles is not satisfied, the information processing center adjusts the number of lanes special for the left turn of the non-motor vehicles through calculation to ensure the safety of the expansion space for the left turn of the non-motor vehicles in the bidirectional entrance way;
step 6.1, calculating the number k of special left-turning lanes of the non-motor vehicle in the direction i required to be set for completely passing through the intersection in the left-turning phase green light time in the t-th period by utilizing the step (13) i (t) and the number of left-turn lanes k of the non-motor vehicle in the direction i+2 i+2 (t)；
In the formula (13), C is the maximum traffic capacity of a road section of a non-motor vehicle lane;
is rounded upwards;
step 6.2, as can be seen from the detailed flowchart 2, if m i ＞k i (t) and m i+2 ＞k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formulas (14) and (15);
step 6.3, as can be seen from the detailed flowchart 2, if m i ＞k i (t) and m i+2 ≤k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (14);
step 6.4, as can be seen from the detailed flowchart 2, if m i ≤k i (t) and m i+2 ＞k i+2 (t), returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (15);
step 6.5, as can be seen from the detailed flowchart 2, if m i ≤k i (t) and m i+2 ≤k i+2 (t) then executing step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
T r (t)←T r (t)-ΔT(16)
in equation (16), Δt is a red light time step;
step 8, the information processing center calculates the starting length of the luminous spike of each left-turning special lane by using the step 17, and the specific form can be seen in fig. 4:
L q (t)＝T g (t)·C·L s (17)
in the formula (17), L q (t) represents the light-emitting spike activation length of each left-turn lane for the t-th cycle; l (L) s Indicating a safe stop of a non-motor vehicleLength of the material is put;
in this embodiment, a non-motor vehicle left turn special road regulation and control device based on traffic flow expansion characteristic rides connects road side intelligent acquisition equipment, information processing center, luminous spike and intelligent annunciator through wireless communication technology, has realized the real-time interaction of information, improves the transmission efficiency of information, specifically includes:
a road side intelligent acquisition device can rapidly and accurately acquire data related to road geometric features of intersections, traffic flow and the like, and an information processing center is sent by using a wireless communication technology.
A luminous spike is uniformly arranged on each entrance non-motor vehicle lane in each direction, and after the calculation result of an information processing center is received, the luminous spike on a left-turning special lane is started by quickly responding.
An intelligent annunciator intelligently adjusts the time step of a left-turn phase red light to change the expansion width under the condition that the number of bidirectional non-motor vehicle lanes cannot be changed, so that the safety of a left-turn expansion space of a bidirectional non-motor vehicle is ensured.
The information processing center is used for receiving and storing data transmitted by a wireless communication technology, establishing a proper plane rectangular coordinate system at an intersection, and calculating a network vehicle connection track and a non-motor vehicle track equation by using known data; establishing a mathematical relationship between the maximum expansion width of the left turn of the non-motor vehicle flow and influence factors thereof, namely a multiple regression equation, and obtaining the maximum expansion width; and judging whether the number of left-turning special lanes of the non-motor vehicle is required to be adjusted or the left-turning phase red light duration is required to be adjusted according to the shortest distance requirement on the track of the non-motor vehicle, and feeding back the left-turning special lanes to the luminous spike or the intelligent annunciator by utilizing a wireless communication technology.
Claims (2)
1. A method for regulating and controlling a left-turn lane of a non-motor vehicle based on the expansion characteristic of riding traffic flow is characterized in that the application scene of the method is a cross signal intersection in a network environment, the motor vehicle in the network environment is a network automatic driving vehicle, and the non-motor vehicle is a non-network vehicle; a special four-phase signal lamp with a left-turn phase is arranged at the cross intersection to control motor vehicles and non-motor vehicles in four directions of the intersection; the lane at each intersection is divided into an entrance lane and an exit lane by double yellow lines, each entrance lane and each exit lane are respectively divided into n motor lanes and m non-motor lanes by white marked lines, the entrance lane in each direction is provided with a motor vehicle left-turning special lane, and the luminous spikes are arranged on m+1 non-motor lane lines on the entrance lane in each direction; the dynamic regulation and control method is characterized by comprising the following steps of:
step 1, establishing a plane rectangular coordinate system:
numbering any direction of a cross intersection as i, sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, taking the central point of the signal intersection as an origin O, taking the running direction of the exit vehicle in the direction i+3 as the positive direction of an X axis, extending reversely, and taking the running direction of the exit vehicle in the direction i+2 as the positive direction of a Y axis, extending reversely, so as to establish a plane rectangular coordinate system XOY;
step 2, determining the tangential point coordinates of the left-turning motor car track in the direction i and the direction i+2 relative to the origin O:
step 2.1, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle at an entrance lane in the direction i as a starting point S of a running track of the left-turning motor vehicle 0 The end point E of the running track of the left-turning motor vehicle 0 In the outermost motor vehicle lane of the exit in direction i+1, the end point E 0 Perpendicular distance from stop line of entrance track in direction i as radius, the starting point S 0 And end point E 0 The arc between the two is used as the running track of the left-turning motor car in the direction i;
2.2, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track and the diagonal line of the intersection in the direction i on an arc as a tangent point O of the left-turning motor vehicle track relative to the origin point O in the direction i 1 The tangential point coordinates are
Step 2.3, in the directionThe middle point position of the stopping line of the left-turning special lane of the motor vehicle of the inlet lane on the i+2 is used as the starting point S of the running track of the left-turning motor vehicle 0 ' the end point E of the running track of the left-turning motor vehicle 0 ' in the outermost Motor vehicle lane of the exit in the direction i+3, terminal E 0 ' perpendicular distance from the stop line of the entrance way in direction i+2 as radius, the starting point S 0 ' and endpoint E 0 The arc between' is used as the running track of the left-turning motor car in the direction i+2;
2.4, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track in the direction i+2 and the diagonal line of the intersection on the circular arc as a tangent point O of the left-turning motor vehicle track in the direction i+2 relative to the origin point O 2 The tangential point coordinates are
Step 3, determining a non-motor vehicle flow left-hand tracking equation of the direction i and the direction i+2:
step 3.1, acquiring intersection related data: the turning radius of the border stone at the intersection is R r Width of non-motor vehicle lane L nmv Width of motor vehicle lane L v ；
Step 3.2, determining a non-motor vehicle flow left-hand tracking equation of the direction i:
step 3.2.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i and the stop line of the inlet road in the direction i as the starting point S of the left-turning non-motor vehicle flow 1 The starting point S 1 The coordinate under the plane rectangular coordinate system XOY is S 1 (nL v ,-nL v -L nmv -R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+1 and the mechanical non-separation line of the outlet channel in the direction i+1 as the end point E of the left-turning non-motor vehicle flow 1 The end point E 1 The coordinate under the plane rectangular coordinate system XOY is E 1 (-nL v -L nmv -R r ,nL v )；
Step 3.2.2, obtaining the tangential point coordinate O of the left-turning motor train track of the entrance way in the direction i relative to the origin O by using the method (1) 1 ′(x,y)；
In the formula (1), (x, y) represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i under a plane rectangular coordinate system relative to the tangent point at the origin O; d (D) v-nmv Representing a lateral safety width during travel of the vehicle;
step 3.2.3 to be started from the starting point S 1 Endpoint E 1 And tangent point O 1 The' fitted quadratic function is taken as the left-turn trajectory of the non-motor vehicle flow in direction i; wherein the quadratic term coefficient a of the quadratic function 1 Coefficient b of primary term 1 And constant term c 1 Obtained from the formula (2):
step 3.3, determining a non-motor vehicle flow left-hand tracking equation of the direction i+2:
step 3.3.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i+2 and the stop line of the inlet road in the direction i+2 as the starting point S of the left-turning non-motor vehicle flow 1 ' the starting point S 1 The coordinate under the rectangular plane coordinate system XOY is S 1 ′(-nL v ,nL v +L nmv +R r ) The method comprises the steps of carrying out a first treatment on the surface of the Taking the intersection point of the stop line of the inlet channel in the direction i+3 and the mechanical non-separation line of the outlet channel in the direction i+3 as the end point E of the left-turning non-motor vehicle flow 1 ' end point E 1 The' coordinate under the plane rectangular coordinate system XOY is E 1 ′(nL v +L nmv +R r ,-nL v )；
Step 3.3.2, obtaining the tangential point coordinate O of the left-turning motor car track of the entrance way in the direction i+2 relative to the original point O by utilizing the step (3) 2 ′(x′,y′)；
In the formula (3), (x ', y') represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i+2 under a plane rectangular coordinate system relative to the tangential point at the origin O;
step 3.3.3, to be started from the starting point S 1 ' endpoint E 1 ' and tangent point O 2 The' fitted quadratic function is taken as the left turn trajectory of the non-motor vehicle flow in direction i+2; wherein the quadratic term coefficient a of the quadratic function 2 Coefficient b of primary term 2 And constant term c 2 Obtained from the formula (4):
step 4, determining the maximum expansion width of the non-motor vehicle flow turning left in the direction i and the direction i+2:
step 4.1, calculating the number m of lanes of the non-motor vehicle by using the formula (5):
in the formula (5), L 0 Indicating the safety width of the intersection where a single non-motor vehicle is traveling,
is rounded downwards;
step 4.2, defining the number of lanes of the left-turning lane of the non-motor vehicle of the entrance lane in the direction i as m i And initialize m i =m-1; the number of lanes of the left-turn lane of the non-motor vehicle defining the entrance lane in the direction i+2 is m i+2 And initialize m i+2 ＝m-1；
Step 4.3, calculating the width of the left-turning special lane of the non-motor vehicle of the entrance lane in the direction i by using the method (6)
And non-machine of inlet channel in direction i+2Width of left-turn special lane of motor car>
Step 4.4, acquiring related data: straight line distance L between start point and end point of non-motor vehicle flow, left-turning phase green light duration T of inlet road in T-th period direction i g (T) and left-hand phase red light duration T r (t) arrival rate of left-turning motor vehicle at entrance lane in direction i under the t th cycle
Arrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycle
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i under t th cycle +.>
Arrival rate of left-turn non-motor vehicle at entrance lane in direction i+2 under t th cycle +.>
Step 4.5, calculating the T-th period left-turn phase red light duration T by using the formula (7) r (t) number of left-hand motor vehicles accumulated in the inlet lane in direction i
T-th period left-turn phase red light duration T r (t) number of left-hand motor vehicles accumulated in the entrance way in the direction i+2 +.>
Calculating the T-th period left-turn phase red light duration T by using the method (8) r (t) number of left-turn non-motor vehicles entering the aisle in direction i
T-th period left-turn phase red light duration T r (t) number of left-turn non-motor vehicles entering the lane in direction i+2
Calculating the number of non-motor vehicle parallel queuing vehicles of the inlet road in the direction i under the t period by using the method (9)
Non-motor parallel queuing vehicle number of entrance way in the direction i+2 under the t th period +.>
Step 4.6, calculating the maximum expansion width w of the left-turning non-motor vehicle flow of the inlet channel in the direction i under the t th period according to the step (10) i (t), maximum expansion width w of left-turning non-motor vehicle flow of inlet road in direction i+2 under t period i+2 (t)：
In the formula (10), the amino acid sequence of the compound,
to influence the constant term of the maximum expansion width in direction i +.>
To influence the constant term of the maximum expansion width in direction i+2,/i>
For the factor of the j-th class factor affecting the maximum expansion width in direction i>
Coefficients for a j-th type factor affecting the maximum expansion width in the direction i+2;
step 5, determining the shortest distance between the left-turning non-motor vehicle flow tracks and judging whether the shortest distance meets the safety spacing requirement:
step 5.1, the maximum expansion width of the left-turning non-motor vehicle flow occurs in the middle area of the left-turning vehicle flow, the shortest distance between the two-way left-turning non-motor vehicle flows is also in the middle area, and the most dangerous situation between the two-way left-turning non-motor vehicle flows, namely, the maximum expansion width of the left-turning vehicle flow occurs at the shortest distance between the vehicle flow tracks, the shortest distance w (t) between the left-turning track of the non-motor vehicle flow in the direction i and the left-turning track of the non-motor vehicle flow in the direction i+2 under the t-th period is obtained by utilizing the formula (11) min ：
In the formula (11), the amino acid sequence of the compound,
representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i in the most dangerous situation i (t) the formed dots; />
Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the maximum expansion width w of the left-turn non-motor vehicle flow of the inlet road in direction i+2 in the most dangerous situation i+2 (t) the formed dots;
step 5.2, if the formula (12) is satisfied, proceeding to step 8; if the formula (12) is not satisfied, the process proceeds to step 6;
w(t) min ＞w i (t)+w i+2 (t)+D nmv-nmv (12)
in the formula (12), D nmv-nmv Representing a lateral safety width during travel of the non-motor vehicle;
step 6, adjusting the number of left-turning special lanes of the non-motor vehicle to ensure the safety of the left-turning expansion space of the non-motor vehicle in the bidirectional entrance road;
step 6.1, calculating the number k of special left-turning lanes of the non-motor vehicle in the direction i required to be set for completely passing through the intersection in the left-turning phase green light time in the t-th period by utilizing the step (13) i (t) and the number of left-turn lanes k of the non-motor vehicle in the direction i+2 i+2 (t)；
In the formula (13), C is the maximum traffic capacity of a road section of a non-motor vehicle lane;
is rounded upwards;
step 6.2, if m i ＞k i (t) and m i+2 ＞k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formulas (14) and (15);
step 6.3, if m i ＞k i (t) and m i+2 ≤k i+2 (t) returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (14);
step 6.4, if m i ≤k i (t) and m i+2 ＞k i+2 (t), returning to the step 4.3 for sequential execution after performing assignment operation according to the formula (15);
step 6.5, if m i ≤k i (t) and m i+2 ≤k i+2 (t) then executing step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
T r (t)←T r (t)-ΔT(16)
in equation (16), Δt is a red light time step;
step 8, calculating the starting length of each left-turn special lane luminous spike by using the method (17):
L q (t)＝T g (t)·C·L s (17)
in the formula (17), L q (t) represents the light-emitting spike activation length of each left-turn lane for the t-th cycle; l (L) s Representing the safe parking length of a non-motor vehicle;
step 9, rotating the coordinate axis clockwise by 90 degrees by taking the origin as a rotation center, marking the reverse direction of the Y axis as the direction i of the non-motor vehicle, and sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, so as to regulate the expansion width of the non-motor vehicle of the inlet road which is not regulated at the intersection according to the sequence from step 2 to step 8;
and step 10, after t+1 is assigned to t, returning to the step 1 for sequential execution, so as to regulate and control the expansion width of the non-motor vehicle at the next periodic intersection.
2. A non-motor vehicle left turn lane regulating and controlling device, characterized in that the device receives and stores data transmitted by a wireless communication mode, establishes a plane rectangular coordinate system at an intersection, and calculates the motor vehicle track and the non-motor vehicle track equation according to claim 1 by using the known data; establishing a mathematical relationship between the maximum expansion width of the left turn of the non-motor vehicle flow and influence factors thereof, namely a multiple regression equation, and obtaining the maximum expansion width; therefore, according to the shortest distance requirement on the track of the non-motor vehicle, whether the number of special left-turn lanes of the non-motor vehicle is required to be adjusted or the left-turn phase red light duration is required to be adjusted is judged, and the wireless communication mode is utilized to feed back to the luminous spike or the intelligent annunciator.
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