CN116486627A - Main line and ramp cooperative control method for expressway interweaving area - Google Patents
Main line and ramp cooperative control method for expressway interweaving area Download PDFInfo
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- CN116486627A CN116486627A CN202310431043.4A CN202310431043A CN116486627A CN 116486627 A CN116486627 A CN 116486627A CN 202310431043 A CN202310431043 A CN 202310431043A CN 116486627 A CN116486627 A CN 116486627A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/075—Ramp control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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- Y02A30/60—Planning or developing urban green infrastructure
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Abstract
The invention discloses a cooperative control method for a main line and a ramp of an interweaved area of a highway, which comprises the steps of obtaining traffic flow information and vehicle information of the main line and the ramp of the interweaved area of the highway; predicting information of the undeployed detection equipment road section to complement the traffic flow model; judging whether a control strategy needs to be developed or not; outputting a ramp control strategy according to the calculation module; judging whether the afflux ramp reaches a queuing threshold value or not; and outputting a main line and ramp cooperative control strategy according to the calculation module. The invention focuses on the problem that bottleneck traffic occurs in the expressway interweaving area, combines main line control and ramp control, maximizes the traffic capacity of the whole interweaving area, eases the differentiation of the sign points of the interweaving area, is beneficial to improving the efficiency of the expressway network intelligent traffic system and perfecting the method adopting the interweaving area control strategy.
Description
Technical Field
The invention belongs to the field of cooperative control over variable speed limit control and ramp control of a main line, and particularly relates to a cooperative control method for the main line and ramp of an interweaved area of a highway.
Background
The intelligent network traffic technology and the communication network technology are developed to provide convenience for the acquisition and transmission of traffic information and the output and execution of decision control, the running state of the expressway interleaving area is acquired and monitored in real time according to traffic flow prediction completion on road side layout equipment and the basis thereof, and a reasonable ramp control strategy and a cooperative control strategy are issued through calculation output, so that the communication capability and the running efficiency of the whole system are maximized, and the intelligent network traffic system is a key for improving the running condition of the expressway interleaving area and improving the control method level of the interleaving area.
Disclosure of Invention
Technical problems: the invention aims to solve the technical problem of how to organically combine independent main line variable speed limit control and ramp control to achieve the optimal control effect on the basis of an intelligent networking environment, and based on the evaluation and control decision of real-time traffic flow data on the running state, the corresponding control method under the current state can be output and obtained, so that the efficiency of the whole system is improved.
The technical scheme is as follows: in order to solve the technical problems, the invention provides a method for cooperatively controlling a main line and a ramp in an interweaving area of a highway, which comprises the following steps:
the method comprises the steps that (1) a main line traffic flow detection module obtains real-time traffic state information of an interweaved area through a main line traffic flow detector arranged on a road side, and the real-time traffic state information of an uncovered area is estimated and complemented by a traffic estimation module, and the complete traffic flow information is transmitted to a calculation module by a communication system and is applied to the step (2);
step (2), the calculation module judges whether the traffic flow of the interweaved section reaches a threshold value according to the complete traffic flow information of the step (1), if the traffic flow of the interweaved section does not reach the threshold value, control is not needed, and the control flow is ended; if the traffic volume of the interleaving area exceeds the threshold value, entering a step (3) for control;
and (3) after judging to start the control measures, the calculation module preferably adopts ramp control for limiting the afflux speed, and outputs the ramp control speed so as to reduce the traffic flow of the afflux main line. The ramp control rate output by the calculation module is transmitted to the ramp control module through the communication system, and the ramp control module limits the incoming flow;
step (4), the ramp control module receives the ramp control rate output by the calculation module in the step (3), starts to implement ramp control of ramp flow converging limitation, increases the ramp queuing length due to the limitation of converging flow, monitors the queuing length in real time by a ramp traffic flow detection module arranged at the ramp entrance, feeds information back to the calculation unit and the ramp control module, judges whether the queuing length reaches a preset threshold value or not, and if the queuing length does not reach the threshold value, maintains the converging rate of ramp control; if the threshold value is reached, the ramp cannot meet the limit rate through queuing, and the step (5) is entered;
and (5) after judging that the ramp queuing reaches the threshold value, outputting the ramp limiting remittance rate and the main line variable speed limit control rate updated in the cooperative control by the calculation module, and respectively transmitting the ramp limiting remittance rate and the main line variable speed limit control rate to the ramp control module and the main line control module to implement cooperative control. Wherein the updated ramp limit sink rate is equal to the ramp queue arrival flow size to maintain the queue length within a threshold; the speed-limiting control speed of the main line is determined according to ramp afflux speed difference before and after updating, and the speed-limiting control speed of the main line is used for relieving the influence of the increased afflux flow after updating on the traffic flow of the interweaving area.
Further, ramp control for limiting the rate of entry in the step specifically includes:
the control module at the entrance ramp receives traffic flow information from the interweaving area and main line side facilities at the upstream of the interweaving area and ramp queuing state information of the queuing detector, and adopts corresponding control strategies for different main line traffic flow densities and queuing conditions; when the main line flow is smooth free flow, the ramp control module does not take control measures; when synchronous flow formed by interweaving the main line and the ramp is continuously increased, the ramp control module relieves the confluence pressure in a mode of limiting the speed of the afflux vehicle; when the adopted limiting import strategy causes the vehicle queuing reaching the entrance ramp to reach the threshold value, the ramp control module allows the vehicles to import by adopting the rate of equivalent ramp queuing reaching flow, and the updated import rate increases the interleaving flow and influences the optimizing effect of the interleaving area confluence.
The traffic flow information includes, but is not limited to, one or more of traffic flow, speed profile, density profile, and system assessment of main line traffic conditions.
Further, the main line variable speed limit control in the step specifically comprises the following steps:
the road side equipment of each section collects real-time traffic flow information of the section to which the road side equipment belongs and transmits the real-time traffic flow information to a system and a calculating unit through a communication system, the calculating unit obtains an optimal value of variable speed limit through algorithm processing according to actual traffic conditions and requirements, the optimal value is used as an expected speed value to be sent to a networked vehicle, and the networked vehicle uses the received expected speed value as an actual running speed. The network-connected vehicles start to receive control instructions at a certain expected distance before an interweaving section by uploading information of self speed, position and the like, and enter the interweaving section by fusing the preset main line traffic flow and ramp-in traffic flow after speed limiting control.
The beneficial effects are that: compared with the prior art, the technical scheme of the invention has the following beneficial technical effects:
according to the system and the method for cooperative control of the main line and the ramp in the expressway interweaving area, the main line traffic capacity requirement is preferably met in the proposed cooperative control method, and the control strategy deployment is adopted under the optimization target with the highest overall system efficiency. According to the real-time overall traffic flow data acquired in the network environment, a basis for adopting a control strategy is built, and the independent variable speed limit of the main line and ramp control are combined and an application method is provided, so that the method is beneficial to perfecting an overall intelligent traffic system and relieving interweaving regional disease nodes.
Drawings
FIG. 1 is a sub-module diagram of a highway interleaving area main line and ramp cooperative control system in the present invention.
FIG. 2 is a flow chart of the present invention for controlling the main line and ramp in cooperation.
FIG. 3 is a schematic diagram of a cooperative control strategy implementation process according to the present invention.
Detailed Description
Embodiments of the present invention will be described below with reference to the drawings.
As shown in fig. 2, the present invention provides a method for cooperatively controlling a main line and a ramp in an interweaving area of a highway, comprising the following steps:
the method comprises the steps that (1) a main line traffic flow detection module obtains real-time traffic state information of an interweaved area through a main line traffic flow detector arranged on a road side, and the real-time traffic state information of an uncovered area is estimated and complemented by a traffic estimation module, and the complete traffic flow information is transmitted to a calculation module by a communication system and is applied to the step (2);
step (2), the calculation module judges whether the traffic flow of the interweaved section reaches a threshold value according to the complete traffic flow information of the step (1), if the traffic flow of the interweaved section does not reach the threshold value, control is not needed, and the control flow is ended; if the traffic volume of the interleaving area exceeds the threshold value, entering a step (3) for control;
and (3) after judging to start the control measures, the calculation module preferably adopts ramp control for limiting the afflux speed, and outputs the ramp control speed so as to reduce the traffic flow of the afflux main line. The ramp control rate output by the calculation module is transmitted to the ramp control module through the communication system, and the ramp control module limits the incoming flow;
step (4), the ramp control module receives the ramp control rate output by the calculation module in the step (3), starts to implement ramp control of ramp flow converging limitation, increases the ramp queuing length due to the limitation of converging flow, monitors the queuing length in real time by a ramp traffic flow detection module arranged at the ramp entrance, feeds information back to the calculation unit and the ramp control module, judges whether the queuing length reaches a preset threshold value or not, and if the queuing length does not reach the threshold value, maintains the converging rate of ramp control; if the threshold value is reached, the ramp cannot meet the limit rate through queuing, and the step (5) is entered;
and (5) after judging that the ramp queuing reaches the threshold value, outputting the ramp limiting remittance rate and the main line variable speed limit control rate updated in the cooperative control by the calculation module, and respectively transmitting the ramp limiting remittance rate and the main line variable speed limit control rate to the ramp control module and the main line control module to implement cooperative control. Wherein the updated ramp limit sink rate is equal to the ramp queue arrival flow size to maintain the queue length within a threshold; the speed-limiting control speed of the main line is determined according to ramp afflux speed difference before and after updating, and the speed-limiting control speed of the main line is used for relieving the influence of the increased afflux flow after updating on the traffic flow of the interweaving area.
The ramp control for limiting the afflux rate in the steps comprises the following specific steps:
the control module at the entrance ramp receives traffic flow information from the interweaving area and main line side facilities at the upstream of the interweaving area and ramp queuing state information of the queuing detector, and adopts corresponding control strategies for different main line traffic flow densities and queuing conditions; when the main line flow is smooth free flow, the ramp control module does not take control measures; when synchronous flow formed by interweaving the main line and the ramp is continuously increased, the ramp control module relieves the confluence pressure in a mode of limiting the speed of the afflux vehicle; when the adopted limiting import strategy causes the vehicle queuing reaching the entrance ramp to reach the threshold value, the ramp control module allows the vehicles to import by adopting the rate of equivalent ramp queuing reaching flow, and the updated import rate increases the interleaving flow and influences the optimizing effect of the interleaving area confluence.
The traffic flow information includes, but is not limited to, one or more of traffic flow, speed profile, density profile, and system assessment of main line traffic conditions.
The main line variable speed limit control in the step is specifically as follows:
the road side equipment of each section collects real-time traffic flow information of the section to which the road side equipment belongs and transmits the real-time traffic flow information to a system and a calculating unit through a communication system, the calculating unit obtains an optimal value of variable speed limit through algorithm processing according to actual traffic conditions and requirements, the optimal value is used as an expected speed value to be sent to a networked vehicle, and the networked vehicle uses the received expected speed value as an actual running speed. The network-connected vehicles start to receive control instructions at a certain expected distance before an interweaving section by uploading information of self speed, position and the like, and enter the interweaving section by fusing the preset main line traffic flow and ramp-in traffic flow after speed limiting control.
In summary, the method of the present invention discovers and improves the symptomatic point of the interleaved region based on real-time traffic flow model features. The invention has important significance for perfecting the intelligent traffic system of the expressway and researching the control behavior of the bottleneck region, can improve the passing efficiency and the service level of the whole system in the bottleneck region, and supplements the strategy of the cooperative control method of the main line and the ramp, and improves the effect of the control strategy.
Claims (5)
1. The method for cooperatively controlling the main line and the ramp in the interweaving area of the expressway is characterized by comprising the following steps of:
the method comprises the steps that (1) a main line traffic flow detection module obtains real-time traffic state information of an interweaved area through a main line traffic flow detector arranged on a road side, and the real-time traffic state information of an uncovered area is estimated and complemented by a traffic estimation module, and the complete traffic flow information is transmitted to a calculation module by a communication system and is applied to the step (2);
step (2), the calculation module judges whether the traffic flow of the interweaved section reaches a threshold value according to the complete traffic flow information of the step (1), if the traffic flow of the interweaved section does not reach the threshold value, control is not needed, and the control flow is ended; if the traffic volume of the interleaving area exceeds the threshold value, entering a step (3) for control;
step (3), after judging to start the control measures, the calculation module is used for preferentially taking ramp control for limiting the afflux speed, and outputting the ramp control speed to reduce the traffic flow of the afflux main line; the ramp control rate output by the calculation module is transmitted to the ramp control module through the communication system, and the ramp control module limits the incoming flow;
step (4), the ramp control module receives the ramp control rate output by the calculation module in the step (3), starts to implement ramp control of ramp flow converging limitation, increases the ramp queuing length due to the limitation of converging flow, monitors the queuing length in real time by a ramp traffic flow detection module arranged at the ramp entrance, feeds information back to the calculation unit and the ramp control module, judges whether the queuing length reaches a preset threshold value or not, and if the queuing length does not reach the threshold value, maintains the converging rate of ramp control; if the threshold value is reached, the ramp cannot meet the limit rate through queuing, and the step (5) is entered;
step (5), after judging that the ramp queuing reaches the threshold, the calculating module outputs the updated ramp limiting import rate and the main line variable speed limit control rate in the cooperative control, and respectively transmits the ramp limiting import rate and the main line variable speed limit control rate to the ramp control module and the main line control module to implement the cooperative control, wherein the queuing length is maintained within the threshold through the updated ramp limiting import rate; the speed-limiting control speed of the main line is determined according to ramp afflux speed difference before and after updating, and the speed-limiting control speed of the main line is used for relieving the influence of the increased afflux flow after updating on the traffic flow of the interweaving area.
2. The method for controlling main line and ramp cooperation in highway interleaving area according to claim 1, wherein in step (4), ramp control for limiting the rate of entry in the step is specifically: the control module at the entrance ramp receives traffic flow information from the interweaving area and main line side facilities at the upstream of the interweaving area and ramp queuing state information of the queuing detector, and adopts corresponding control strategies for different main line traffic flow densities and queuing conditions; when the main line flow is smooth free flow, the ramp control module does not take control measures; when synchronous flow formed by interweaving the main line and the ramp is continuously increased, the ramp control module relieves the confluence pressure in a mode of limiting the speed of the afflux vehicle; when the adopted limiting import strategy causes the arrival of the vehicles on the entrance ramp to be queued to reach the threshold value, the ramp control module allows the vehicles to import at the rate of equal ramp queuing arrival flow, and the updated import rate causes the interleaving flow to increase.
3. A method of co-controlling a main line and a ramp in a highway interleaved region according to claim 2 wherein the traffic flow information includes, but is not limited to, one or more of traffic flow, speed profile, density profile and system estimation of main line traffic conditions.
4. A method for controlling the main line and ramp cooperation in an interleaved section of a highway according to claim 1, 2 or 3, wherein in step (5), the main line variable speed limit control in the step is specifically: the road side equipment of each section collects real-time traffic flow information of the section to which the road side equipment belongs, the real-time traffic flow information is transmitted to a system and a calculating unit through a communication system, the calculating unit obtains an optimal value of variable speed limit through algorithm processing according to actual traffic conditions and requirements, the optimal value is used as an expected speed value to be transmitted to the internet-connected vehicle, the internet-connected vehicle takes the received expected speed value as the actual running speed, the internet-connected vehicle starts to receive a control instruction at a certain expected distance before an interweaving section through uploading speed and position information, and the control instruction is merged into the interweaving section through a preset main line traffic flow and ramp inlet traffic flow after speed limit control.
5. The method of claim 1, wherein in step (5), the updated ramp limiting rate is equal to the ramp queuing arrival stream size.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310431043.4A CN116486627A (en) | 2023-04-20 | 2023-04-20 | Main line and ramp cooperative control method for expressway interweaving area |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117238138A (en) * | 2023-09-26 | 2023-12-15 | 南京感动科技有限公司 | Method and system for determining highway junction node channeling management and control strategy |
| CN117975737A (en) * | 2024-04-02 | 2024-05-03 | 北京中交华安科技有限公司 | Vehicle active guidance and intelligent control method for highway interweaving area |
| CN117975737B (en) * | 2024-04-02 | 2024-05-31 | 北京中交华安科技有限公司 | Vehicle active guidance and intelligent control method for highway interweaving area |
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2023
- 2023-04-20 CN CN202310431043.4A patent/CN116486627A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117238138A (en) * | 2023-09-26 | 2023-12-15 | 南京感动科技有限公司 | Method and system for determining highway junction node channeling management and control strategy |
| CN117238138B (en) * | 2023-09-26 | 2024-05-03 | 南京感动科技有限公司 | Method and system for determining highway junction node channeling management and control strategy |
| CN117975737A (en) * | 2024-04-02 | 2024-05-03 | 北京中交华安科技有限公司 | Vehicle active guidance and intelligent control method for highway interweaving area |
| CN117975737B (en) * | 2024-04-02 | 2024-05-31 | 北京中交华安科技有限公司 | Vehicle active guidance and intelligent control method for highway interweaving area |
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