CN116434570B - 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:
Step1, 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 motor vehicle left-turning special lane of an entrance lane in a direction i as a starting point S 0 of a left-turning motor vehicle running track, wherein an end point E 0 of the left-turning motor vehicle running track is on the outermost motor vehicle lane of the exit lane in a direction i+1, the perpendicular line distance between the end point E 0 and the stopping line of the entrance lane in the direction i is taken as a radius, and an arc between the starting point S 0 and the end point E 0 is taken as the left-turning motor vehicle running track 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 tangential point O 1 of the left-turning motor vehicle track relative to the origin point O in the direction i, wherein the tangential point coordinate is as follows
Step 2.3, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle of the entrance lane in the direction i+2 as a starting point S 0 ' of a left-turning motor vehicle running track, wherein an end point E 0 ' of the left-turning motor vehicle running track is on the outermost motor lane of the exit lane in the direction i+3, the perpendicular line distance between the end point E 0 ' and the stopping line of the entrance lane in the direction i+2 is taken as a radius, and an arc between the starting point S 0 ' and the end point E 0 ' is taken as the left-turning motor vehicle running track 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 tangential point O 2 of the left-turning motor vehicle track in the direction i+2 relative to the origin point O, wherein the tangential point coordinate is
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 of the intersection is R r, the width of a non-motor vehicle lane is L nmv, and the width of the motor vehicle lane is 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 a starting point S 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S 1 in a plane rectangular coordinate system XOY is S 1(nLv,-nLv-Lnmv-Rr); taking the intersection point of the stop line of the inlet road in the direction i+1 and the mechanical non-separation line of the outlet road in the direction i+1 as a terminal point E 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E 1 in a plane rectangular coordinate system XOY is E 1(-nLv-Lnmv-Rr,nLv);
Step 3.2.2, obtaining a tangential point coordinate O' 1 (x, y) of the left-turning motor car track of the entrance road in the direction i relative to the origin point O by using the formula (1);
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 v-nmv denotes a lateral safety width during travel of the vehicle;
Step 3.2.3, taking a quadratic function fitted by the starting point S 1, the end point E 1 and the tangent point O' 1 as a left-turning track of the non-motor vehicle flow in the direction i; wherein the quadratic coefficient a 1, the first order coefficient b 1, and the constant term c 1 of the quadratic function are obtained by 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 a starting point S ' 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S ' 1 under the plane rectangular coordinate system XOY is S ' 1(-nLv,nLv+Lnmv+Rr); taking the intersection point of the stop line of the inlet road in the direction i+3 and the mechanical non-separation line of the outlet road in the direction i+3 as a terminal point E ' 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E ' 1 under a plane rectangular coordinate system XOY is E ' 1(nLv+Lnmv+Rr,-nLv);
Step 3.3.2, obtaining a tangential point coordinate O ' 2 (x ', y ') of the left-turning motor vehicle track of the entrance lane in the direction i+2 relative to the origin point O by using the formula (3);
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, taking the quadratic function fitted by the starting point S ' 1, the end point E ' 1 and the tangent point O ' 2 as the left-turning track of the non-motor vehicle flow in the direction i+2; wherein the quadratic coefficient a 2, the first order coefficient b 2, and the constant term c 2 of the quadratic function are obtained by 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 represents the safety width of the running of the single non-motor vehicle at the intersection, 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 initializing m i =m-1; defining the number of lanes of the left-turn lane of the non-motor vehicle of the entrance lane in the direction i+2 as m i+2, and initializing 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 width/>, of a left-turn lane of a non-motor vehicle for an 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 g (T) and left-turning phase red light duration T r (T) of inlet road in T-th period direction i, arrival rate of left-turning motor vehicle of inlet road in T-th period lower direction iArrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i+2 under t th cycle
Step 4.5, calculating the accumulated left-turning motor vehicle number of the entrance way in the direction i in the T-th period left-turning phase red light duration T r (T) by using a formula (7)Left-turning motor vehicle number/>, accumulated by entrance way in direction i+2 in period T left-turning phase red light duration T r (T)
Calculating the number of left-turning non-motor vehicles entering the lane in the direction i in the period T, left-turning phase red light duration T r (T) by using the method (8)Left-turn non-motor vehicle number/>, of the entrance lane in direction i+2 within a period T left-turn phase red light duration T r (T)
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 vehicle parallel queuing vehicle number/>, of inlet road in direction i+2 under t th period
Step 4.6, calculating the maximum expansion width w i (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i under the t th period and the maximum expansion width w i+2 (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i+2 under the t period according to the formula (10):
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,/>Factor of j-th class factor affecting 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 bidirectional left-turning non-motor vehicle flows is also in the middle area, and the most dangerous situation between the bidirectional left-turning non-motor vehicle flows, namely, the shortest distance between the maximum expansion width of the left-turning vehicle flow and the vehicle flow track occurs, is that the shortest distance w (t) min 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 using the formula (11):
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 point formed by the maximum expansion width w i (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i in the most dangerous situation; /(I)Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the point formed by the maximum expansion width w i+2 (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i+2 in the most dangerous situation;
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＞wi(t)+wi+2(t)+Dnmv-nmv (12)
In formula (12), D nmv-nmv represents 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 i (t) of left-turning special lanes of the non-motor vehicle in the direction i and the number k i+2 (t) of left-turning special lanes of the non-motor vehicle in the direction i+2, wherein the number k i (t) of left-turning special lanes of the non-motor vehicle in the direction i is required to be set when the number of coming vehicles of the non-motor vehicle completely passes through an intersection in the left-turning phase green light time in the t-th period by utilizing the formula (13);
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＞ki (t) and m i+2＞ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14) and formula (15);
Step 6.3, if m i＞ki (t) and m i+2≤ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14);
Step 6.4, if m i≤ki (t) and m i+2＞ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (15);
step 6.5, if m i≤ki (t) and m i+2≤ki+2 (t), executing step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
Tr(t)←Tr(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):
Lq(t)＝Tg(t)·C·Ls (17)
In the formula (17), L q (t) represents the starting length of the light-emitting spike of each left-turning lane in the t-th period; l s represents a safe parking length of the 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:
Step 1, the wireless communication technology transmits the road basic condition acquired by the intelligent road side acquisition equipment to an information processing center, and the information processing center establishes a proper rectangular coordinate system at the intersection, as shown in fig. 3, and establishes 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, after the information processing center establishes a plane rectangular coordinate system shown in fig. 3, determining tangential point coordinates of left-turning motor car tracks in a direction i and a direction i+2 relative to the origin O according to the following steps:
Step 2.1, taking the midpoint position of a stopping line of a motor vehicle left-turning special lane of an entrance lane in a direction i as a starting point S 0 of a left-turning motor vehicle running track, wherein an end point E 0 of the left-turning motor vehicle running track is on the outermost motor vehicle lane of the exit lane in a direction i+1, the perpendicular line distance between the end point E 0 and the stopping line of the entrance lane in the direction i is taken as a radius, and an arc between the starting point S 0 and the end point E 0 is taken as the left-turning motor vehicle running track 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 tangential point O 1 of the left-turning motor vehicle track relative to the origin point O in the direction i, wherein the tangential point coordinate is as follows
Step 2.3, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle of the entrance lane in the direction i+2 as a starting point S 0 ' of a left-turning motor vehicle running track, wherein an end point E 0 ' of the left-turning motor vehicle running track is on the outermost motor lane of the exit lane in the direction i+3, the perpendicular line distance between the end point E 0 ' and the stopping line of the entrance lane in the direction i+2 is taken as a radius, and an arc between the starting point S 0 ' and the end point E 0 ' is taken as the left-turning motor vehicle running track 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 tangential point O 2 of the left-turning motor vehicle track in the direction i+2 relative to the origin point O, wherein the tangential point coordinate is
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 of the intersection is R r, the width of a non-motor vehicle lane is L nmv, and the width of the motor vehicle lane is 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 machine 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 1 of the left-turning non-motor vehicle flow, and the coordinates of the starting point S 1 under the plane rectangular coordinate system XOY are as follows
S 1(nLv,-nLv-Lnmv-Rr); taking the intersection point of the stop line of the inlet road in the direction i+1 and the mechanical non-separation line of the outlet road in the direction i+1 as a terminal point E 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E 1 in a plane rectangular coordinate system XOY is E 1(-nLv-Lnmv-Rr,nLv);
Step 3.2.2, obtaining a tangential point coordinate O 1' (x, y) of the left-turning motor car track of the entrance lane in the direction i relative to the origin point O by using the formula (1);
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 v-nmv denotes a lateral safety width during travel of the vehicle;
Step 3.2.3, taking a quadratic function fitted by the starting point S 1, the end point E 1 and the tangential point O 1' as a left-turning track of the non-motor vehicle flow in the direction i; wherein the quadratic coefficient a 1, the first order coefficient b 1, and the constant term c 1 of the quadratic function are obtained by 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 machine non-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 1 'of the left-turning non-motor vehicle flow, and the coordinates of the starting point S 1' under the plane rectangular coordinate system XOY are
S 1′(-nLv,nLv+Lnmv+Rr); taking the intersection point of the stop line of the inlet road in the direction i+3 and the mechanical non-separation line of the outlet road in the direction i+3 as a terminal point E 1 'of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E 1' under a plane rectangular coordinate system XOY is E 1′(nLv+Lnmv+Rr,-nLv);
Step 3.3.2, obtaining a tangential point coordinate O 2 ' (x ', y ') of the left-turning motor car track of the entrance lane in the direction i+2 relative to the origin point O by using the formula (3);
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, taking the quadratic function fitted by the starting point S 1 ', the end point E 1 ' and the tangent point O 2 ' as the left-turning track of the non-motor vehicle flow in the direction i+2; wherein the quadratic coefficient a 2, the first order coefficient b 2, and the constant term c 2 of the quadratic function are obtained by 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 represents the safety width of the running of the single non-motor vehicle at the intersection, 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 by the information processing center, and initializing m i =m-1 according to a detail flow chart 2; defining the number of lanes of the left-turn lane of the non-motor vehicle of the entrance lane in the direction i+2 as m i+2, and initializing m i+2 =m-1 according to the detailed flowchart 2;
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 width/>, of a left-turn lane of a non-motor vehicle for an entrance lane in direction i+2
Step 4.4, acquiring related data through the intelligent road side acquisition equipment: straight line distance L between start point and end point of non-motor vehicle flow, left-turning phase green light duration T g (T) and left-turning phase red light duration T r (T) of inlet road in T-th period direction i, arrival rate of left-turning motor vehicle of inlet road in T-th period lower direction iArrival rate/>, of left-turning motor vehicle at entrance lane in direction i+2 under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i+2 under t th cycle
Step 4.5, calculating the accumulated left-turning motor vehicle number of the entrance way in the direction i in the T-th period left-turning phase red light duration T r (T) by using a formula (7)Left-turning motor vehicle number/>, accumulated by entrance way in direction i+2 in period T left-turning phase red light duration T r (T)
Calculating the number of left-turning non-motor vehicles entering the lane in the direction i in the period T, left-turning phase red light duration T r (T) by using the method (8)Left-turn non-motor vehicle number/>, of the entrance lane in direction i+2 within a period T left-turn phase red light duration T r (T)
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 vehicle parallel queuing vehicle number/>, of inlet road in direction i+2 under 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. That is, the maximum expansion width w i (t) of the left-turn non-motor vehicle flow of the inlet lane in the direction i under the t-th cycle, and the maximum expansion width w i+2 (t) of the left-turn non-motor vehicle flow of the inlet lane in the direction i+2 under the t-th cycle are calculated according to the formula (10):
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,/>Factor of j-th class factor affecting 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 bidirectional left-turning non-motor vehicle flows is also in the middle area, the most dangerous situation between the bidirectional 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 in a step length of one thousandth, two points meeting the shortest distance are found, namely, the shortest distance w (t) min 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 using the formula (11):
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 point formed by the maximum expansion width w i (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i in the most dangerous situation; /(I)Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the point formed by the maximum expansion width w i+2 (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i+2 in the most dangerous situation;
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＞wi(t)+wi+2(t)+Dnmv-nmv (12)
In formula (12), D nmv-nmv represents 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 i (t) of left-turning special lanes of the non-motor vehicle in the direction i and the number k i+2 (t) of left-turning special lanes of the non-motor vehicle in the direction i+2, wherein the number k i (t) of left-turning special lanes of the non-motor vehicle in the direction i is required to be set when the number of coming vehicles of the non-motor vehicle completely passes through an intersection in the left-turning phase green light time in the t-th period by utilizing the formula (13);
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＞ki (t) and m i+2＞ki+2 (t), performing assignment operation according to the formula (14) and the formula (15), and returning to the step 4.3 for sequential execution;
Step 6.3, as can be seen from the detailed flowchart 2, if m i＞ki (t) and m i+2≤ki+2 (t), returning to step 4.3 for sequential execution after performing the assignment operation according to the formula (14);
Step 6.4, as can be seen from the detailed flowchart 2, if m i≤ki (t) and m i+2＞ki+2 (t), returning to step 4.3 for sequential execution after performing the assignment operation according to the formula (15);
step 6.5, as can be seen from the detailed flowchart 2, if m i≤ki (t) and m i+2≤ki+2 (t), execute step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
Tr(t)←Tr(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:
Lq(t)＝Tg(t)·C·Ls (17)
In the formula (17), L q (t) represents the starting length of the light-emitting spike of each left-turning lane in the t-th period; l s represents a safe parking length of the non-motor vehicle;
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 (1)
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 signal 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:
Step1, establishing a plane rectangular coordinate system:
Numbering any direction of a cross signal 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, and 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 motor vehicle left-turning special lane of an entrance lane in a direction i as a starting point S 0 of a left-turning motor vehicle running track, wherein an end point E 0 of the left-turning motor vehicle running track is on the outermost motor vehicle lane of the exit lane in a direction i+1, the perpendicular line distance between the end point E 0 and the stopping line of the entrance lane in the direction i is taken as a radius, and an arc between the starting point S 0 and the end point E 0 is taken as the left-turning motor vehicle running track 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 tangential point O 1 of the left-turning motor vehicle track relative to the origin point O in the direction i, wherein the tangential point coordinate is as follows
Step 2.3, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle of the entrance lane in the direction i+2 as a starting point S 0 ' of a left-turning motor vehicle running track, wherein an end point E 0 ' of the left-turning motor vehicle running track is on the outermost motor lane of the exit lane in the direction i+3, the perpendicular line distance between the end point E 0 ' and the stopping line of the entrance lane in the direction i+2 is taken as a radius, and an arc between the starting point S 0 ' and the end point E 0 ' is taken as the left-turning motor vehicle running track 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 tangential point O 2 of the left-turning motor vehicle track in the direction i+2 relative to the origin point O, wherein the tangential point coordinate is
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 of the intersection is R r, the width of a non-motor vehicle lane is L nmv, and the width of the motor vehicle lane is 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 a starting point S 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S 1 in a plane rectangular coordinate system XOY is S 1(nLv,-nLv-Lnmv-Rr); taking the intersection point of the stop line of the inlet road in the direction i+1 and the mechanical non-separation line of the outlet road in the direction i+1 as a terminal point E 1 of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E 1 in a plane rectangular coordinate system XOY is E 1(-nLv-Lnmv-Rr,nLv);
Step 3.2.2, obtaining a tangential point coordinate O 1' (x, y) of the left-turning motor car track of the entrance lane in the direction i relative to the origin point O by using the formula (1);
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 v-nmv denotes a lateral safety width during travel of the vehicle;
Step 3.2.3, taking a quadratic function fitted by the starting point S 1, the end point E 1 and the tangential point O 1' as a left-turning track of the non-motor vehicle flow in the direction i; wherein the quadratic coefficient a 1, the first order coefficient b 1, and the constant term c 1 of the quadratic function are obtained by 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 a starting point S 1 'of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S 1' under a plane rectangular coordinate system XOY is S 1′(-nLv,nLv+Lnmv+Rr); taking the intersection point of the stop line of the inlet road in the direction i+3 and the mechanical non-separation line of the outlet road in the direction i+3 as a terminal point E 1 'of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E 1' under a plane rectangular coordinate system XOY is E 1′(nLv+Lnmv+Rr,-nLv);
Step 3.3.2, obtaining a tangential point coordinate O 2 ' (x ', y ') of the left-turning motor car track of the entrance lane in the direction i+2 relative to the origin point O by using the formula (3);
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, taking the quadratic function fitted by the starting point S 1 ', the end point E 1 ' and the tangent point O 2 ' as the left-turning track of the non-motor vehicle flow in the direction i+2; wherein the quadratic coefficient a 2, the first order coefficient b 2, and the constant term c 2 of the quadratic function are obtained by 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 represents the safety width of the running of the single non-motor vehicle at the intersection, 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 initializing m i =m-1; defining the number of lanes of the left-turn lane of the non-motor vehicle of the entrance lane in the direction i+2 as m i+2, and initializing 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 width/>, of a left-turn lane of a non-motor vehicle for an 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 g (T) and left-turning phase red light duration T r (T) of inlet road in T-th period direction i, arrival rate of left-turning motor vehicle of inlet road in T-th period lower direction iArrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i+2 under t th cycle
Step 4.5, calculating the accumulated left-turning motor vehicle number of the entrance way in the direction i in the T-th period left-turning phase red light duration T r (T) by using a formula (7)Left-turning motor vehicle number/>, accumulated by entrance way in direction i+2 in period T left-turning phase red light duration T r (T)
Calculating the number of left-turning non-motor vehicles entering the lane in the direction i in the period T, left-turning phase red light duration T r (T) by using the method (8)Number of left-turn non-motor vehicles entering the lane in direction i+2 within the T-th cycle left-turn phase red light duration T r (T)
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 vehicle parallel queuing vehicle number/>, of inlet road in direction i+2 under t th period
Step 4.6, calculating the maximum expansion width w i (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i under the t th period and the maximum expansion width w i+2 (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i+2 under the t period according to the formula (10):
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,/>Factor of j-th class factor affecting 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 bidirectional left-turning non-motor vehicle flows is also in the middle area, and the most dangerous situation between the bidirectional left-turning non-motor vehicle flows, namely, the shortest distance between the maximum expansion width of the left-turning vehicle flow and the vehicle flow track occurs, is that the shortest distance w (t) min 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 using the formula (11):
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 point formed by the maximum expansion width w i (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i in the most dangerous situation; /(I)Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the point formed by the maximum expansion width w i+2 (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i+2 in the most dangerous situation;
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＞wi(t)+wi+2(t)+Dnmv-nmv (12)
In formula (12), D nmv-nmv represents 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 i (t) of left-turning special lanes of the non-motor vehicle in the direction i and the number k i+2 (t) of left-turning special lanes of the non-motor vehicle in the direction i+2, wherein the number k i (t) of left-turning special lanes of the non-motor vehicle in the direction i is required to be set when the number of coming vehicles of the non-motor vehicle completely passes through an intersection in the left-turning phase green light time in the t-th period by utilizing the formula (13);
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＞ki (t) and m i+2＞ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14) and formula (15);
Step 6.3, if m i＞ki (t) and m i+2≤ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14);
Step 6.4, if m i≤ki (t) and m i+2＞ki+2 (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (15);
step 6.5, if m i≤ki (t) and m i+2≤ki+2 (t), executing step 7;
step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;
Tr(t)←Tr(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):
Lq(t)＝Tg(t)·C·Ls (17)
In the formula (17), L q (t) represents the starting length of the light-emitting spike of each left-turning lane in the t-th period; l s represents a safe parking length of the 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.
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| 道路交叉口非机动车左转通行交通组织设计方法;黄晓磊;杨林山;邱猛;张卫华;;汽车与安全;20200615(第06期);全文 * |
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