CN117272654A - Method for setting speed limit sign position of special expressway for small bus - Google Patents
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Abstract
The invention relates to the field of intelligent public transportation, and discloses a method for setting the speed limit sign position of a special expressway of a small bus, which comprises the following steps: step 1: collecting the special expressway road and traffic related parameters of the minibus; step 2: performing a real vehicle experiment to obtain vision and response characteristic parameters of a driver in an ultra-high speed state; step 3: calculating the discovery distance d from the obtained parameters 1 Determining distance d 2 Decision distance d 3 Distance d of reaction operation 4 Visual recognition deceleration distance L 1 Maximum tolerance distance L 2 The method comprises the steps of carrying out a first treatment on the surface of the Step 4: according to the visual recognition deceleration distance L 1 And a maximum tolerance distance L 2 Determining a selectable range gamma of the front distance of the speed limit sign; step 5: simulation software is utilized to simulate the front distance of speed limit signs with different selectable rangesPerforming true experiment; step 6: and calculating scores of different prepositions of the speed limit signs through analytic hierarchy process, and selecting the setting position of the speed limit sign of the optimal special speed limit road section. So as to solve the speed limiting problem of the special high-speed section of the small bus.
Description
Technical Field
The invention relates to the field of intelligent public transportation, in particular to a method for setting the speed limit sign position of a special expressway of a small bus.
Background
By the end of 2022, the quantity of the automobiles in China is up to 4.17 hundred million, 2129 ten thousand automobiles in China are increased, 2064 ten thousand drivers are increased, and the total quantity breaks through 5 hundred million people. Along with the continuous increase of vehicles passing through the expressway, the contradiction of the mixed traffic flow is also more and more activated, the speed difference among vehicles is unavoidable due to the vehicle types and performance differences, and the traffic condition of the coaches and other vehicles is caused to reduce the service level of the expressway, so that partial road congestion is caused, and even traffic accidents occur. In order to solve the increasingly prominent problem, passenger-cargo diversion is a key method, and the special expressway for the minibus has higher service level and traffic capacity, but also has higher requirements on the setting of traffic signs.
The latest edition of Highway engineering technical Standard (JTG B01-2014) prescribes that the highest design speed of the highway in China is 120km/h. However, along with improvement of road conditions and improvement of automobile performance in China, construction of 'high speed special for small coaches' with design speed exceeding 120km/h becomes possible, but the existing research lacks research on setting positions of 'high speed special for small coaches' speed limit signs. The service level of the road section is classified in the technical guidelines of engineering for special expressways for minibuses (TCHTS 10042-2021) issued by China Highway society, the design speeds of the special expressways for minibuses are 100km/h, 120km/h and 140km/h, special expressways for minibuses with the design speeds of 160km/h and 180km/h appear in the future, a certain section of the expressway needs to carry out special speed limit due to the limitation of road conditions, and a difference value exists between a special speed limit value and the basic speed limit of the road, so that some vehicles do not notice the speed limit mark of the special speed limit road section or cannot reduce to a target speed limit value due to the fact that the speed of the vehicle is too fast, traffic accidents such as rear-end collision, rollover and the like occur, and the setting problem of the speed limit mark of the special speed limit road section is significant for improving the traffic safety of the expressway. And for the special expressway of the minibus with the design speed far higher than that of the common expressway, the reasonable requirement for setting the speed limit sign position of the special speed limit road section is higher, and reasonable demonstration is needed. Based on the speed limit sign position setting method of the special speed limit road section of the expressway special for the minibus is provided by the invention, and the method is suitable for determining the speed limit problem of the special speed limit road section of the expressway special for the minibus.
Disclosure of Invention
The invention aims to provide a method for setting the speed limit sign position of a special expressway of a small bus, so as to solve the speed limit problem of a special expressway section of the small bus.
In order to achieve the above purpose, the invention adopts the following technical scheme: the method for setting the speed limit sign position of the special expressway of the small bus comprises the following steps:
step 1: collecting expressway roads and traffic related parameters special for a small bus, wherein the expressway roads and traffic related parameters comprise the number of lanes of the road, the width of the lanes, the width of shoulders of the road, the lateral clearance distance of the road, the basic speed limit value of a general speed limit road section and the running speed of the vehicle in front of a special speed limit road section;
step 2: performing a real vehicle experiment to obtain vision and response characteristic parameters of a driver in an ultra-high speed state;
step 3: calculating the discovery distance d from the obtained parameters 1 Determining distance d 2 Decision distance d 3 Distance d of reaction operation 4 Visual recognition deceleration distance L 1 Maximum tolerance distance L 2 ；
Step 4: according to the visual recognition deceleration distance L 1 And a maximum tolerance distance L 2 Determining a selectable range gamma of the front distance of the speed limit sign;
step 5: simulation software is utilized to carry out simulation experiments on the front distances of different speed limit signs in the optional range gamma, and a special expressway model of the passenger car is built;
step 6: and calculating scores of different prepositions of the speed limit signs through analytic hierarchy process, and further selecting the setting position of the speed limit sign of the optimal special speed limit road section.
The beneficial effect of this scheme is:
1. according to the vision and response characteristic parameters of a real vehicle test driver in an ultra-high speed state, the obtained setting parameters can be adapted to the vision recognition characteristics and the cognitive behaviors of the driver, the accuracy of test data and results can be ensured by the real vehicle test, and the road infrastructure can meet the increasingly growing traffic demands; the method comprehensively considers a plurality of factors such as road geometry, lane number, lane width and the like to determine the optimal setting position, so that the actual effectiveness of the speed limit sign can be improved.
2. The simulation software is used for experiments, road traffic conditions under different speed limit sign prepositions can be simulated to evaluate the effects of different setting options, visual and reliable basis is provided for the evaluation selection of the next step, and the selection of the optimal setting position is facilitated.
3. And (3) applying an analytic hierarchy process to the evaluation of different setting positions, and comprehensively evaluating different prepositions of the speed limit sign in a reference range by combining the analytic hierarchy process with the result data after the vissim simulation to obtain the optimal speed limit sign setting position.
Preferably, as a modification, the step 6 specifically includes the following steps:
step 6.1: selecting indexes for hierarchical analysis, wherein the indexes comprise average delay, average speed, driving safety and driving comfort of a special speed-limiting road section; comparing the indexes in pairs, establishing a judgment matrix according to the relative importance degree, and carrying out column normalization processing on the judgment matrix by using an arithmetic average method to obtain a feature vector omega of the judgment matrix;
step 6.2: under different indexes of a criterion layer, respectively establishing a judgment matrix for the prepositive distances of different speed limit signs in a selectable range gamma to obtain feature vectors, wherein the feature vectors comprise feature vectors alpha under the average delay indexes of special speed limit road sections 1 Feature vector alpha under average speed index of special speed-limiting road section 2 Feature vector alpha under running safety index 3 Feature vector α under driving comfort 4 ；
Step 6.3: and carrying out weighted average on the criterion layer feature vector omega and feature vectors of different speed limit sign leading distances to respectively obtain scores of different speed limit sign leading distances, and selecting the leading distance corresponding to the highest score as the best special speed limit road section sign leading distance.
The beneficial effects are as follows: according to the technical scheme, a plurality of indexes such as delay, speed, safety and driving comfort are considered, so that the effect of different speed limit sign front distances is evaluated, and various factors can be comprehensively considered to make a more comprehensive decision; the judgment matrixes are subjected to column normalization processing, so that the scale difference among different judgment matrixes is eliminated, and the evaluation accuracy is improved; and establishing a judgment matrix and a feature vector under different indexes, so that a more specific evaluation result can be obtained to determine the optimal prepositive distance.
Preferably, as an improvement, the visual and response characteristic parameters include a time t for the driver to find the speed limit sign 1 Determination time t 2 Time t of decision 3 And reaction operation time t 4 。
The beneficial effects are as follows: the setting position of the speed limit sign can be determined more accurately by considering the discovery, judgment, decision and reaction time of the driver, so that the driver can be ensured to have enough time to reduce the speed after seeing the sign, and the risk of traffic accidents is reduced; by considering the response characteristics of the driver, the emergency brake caused by abrupt speed limiting change of the driver can be reduced, accidents can be avoided, and the traffic safety of the road can be improved; meanwhile, the enough reaction time given to a driver can be ensured, and the driving comfort is improved.
Preferably, as an improvement, step 3 specifically includes:
step 3.1: the found distance d of the driver is calculated using the following formula 1 ：
d 1 ＝(v 1 /3.6)*t 1
Step 3.2: the determination distance d of the driver is calculated using the following formula 2 ：
d 2 ＝(v 1 /3.6)*t 2
Step 3.3: the decision distance d of the driver is calculated using the following formula 3 ：
d 3 ＝(v 1 /3.6)*t 3
Step 3.4: the reaction operation distance d of the driver is calculated using the following formula 4 ：
d 4 ＝v 1 *t 4 +(v 1 2 -v 2 2 )/(2*3.6 2 *a)
Step 3.5: the driver visual recognition deceleration distance L is calculated using the following formula 1 ：
L 1 ＝d 1 +d 2 +d 3 +d 4
Step 3.6: the distance from the position of the vehicle at the speed limit sign found by the driver to the speed limit starting point of the special speed limit road section is the maximum tolerance distance L 2 。
The beneficial effects are as follows: the method can more accurately calculate the reaction distances of the driver under different conditions, ensure that the driver has enough distance to react after seeing the speed limit sign, and reduce the risk of traffic accidents; the reaction time, the vehicle speed and other factors of the driver are comprehensively considered, so that different reaction distances can be calculated according to different road conditions and traffic conditions.
Preferably, as a modification, the ultra-high speed state in step 2 includes 140km/h, 160km/h and 180km/h ultra-high speed states.
The beneficial effects are as follows: the response time and the distance under different speed states can be different, the speed limit sign can be planned and set better through testing different ultra-high speed states, the setting position of the speed limit sign is ensured to be based on objective data, the capability of a driver is considered, so that the safety of a road is improved, and the accident risk is reduced.
Preferably, as an improvement, special road section speed limit signs are arranged on both sides of the road.
The beneficial effects are as follows: the speed limit signs of the special road section are arranged on the two sides of the road, so that the visibility of the signs can be improved, no matter which side of the lane the driver is on, the signs can be clearly seen, and the driver is ensured to know the speed limit requirement of the special road section in time; the clear speed limit sign can improve the safety of the road, and a driver knows when the speed needs to be reduced so as to adapt to the requirements of a special road section, thereby reducing the risk of traffic accidents.
Drawings
FIG. 1 is a schematic illustration of steps of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a driver's visual recognition of a speed limit sign and a speed reduction process according to an embodiment of the present invention;
fig. 3 is a schematic diagram of setting a speed limit sign of a special speed limit road section according to an embodiment of the invention.
Detailed Description
The following is a further detailed description of the embodiments:
reference numerals in the drawings of the specification include: the finding distance 1, the judging distance 2, the decision distance 3, the reaction operation distance 4, the visual recognition deceleration distance 5, the maximum tolerance distance 6, the optional range 7 and the speed limit sign 8.
Examples
The embodiment is basically shown in fig. 1-3, and the method for setting the speed limit sign position of the special expressway of the small bus is shown in fig. 1 and comprises the following steps.
Step 1: the method for collecting the parameters related to the expressway road and the traffic condition special for the minibus comprises the following steps: the number of lanes of the road, the width of the lanes, the width of the road shoulder, the lateral clearance distance of the road and the basic speed limit value of a general speed limit road section.
And (3) surveying the established roads in the field, and collecting the number of unidirectional lanes, the lane width, the road shoulder width, the road lateral clearance distance and the basic speed limit value, and determining the parameters for the non-planned roads according to the project design.
Step 2: recruiting drivers to perform real-vehicle experiments on the closed road segments to obtain visual and perceptual response characteristic parameters of the drivers in the ultra-high speed state, comprising: the discovery time, judgment time, decision time and reaction operation time of the driver to the speed limit sign 8; the ultra-high speed states comprise 140km/h, 160km/h and 180km/h ultra-high speed states, the reaction time and the distance under different speed states can be different, the speed limit sign 8 can be planned and set better through testing different ultra-high speed states, the setting position of the speed limit sign 8 is ensured to be based on objective data, the capability of a driver is considered, the safety of a road is improved, and the accident risk is reduced.
The speed of the motor is extremely high under the high-speed running condition special for the small bus, the traditional dynamic vision data can lose effectiveness, the perceptual response characteristic of the driver is also influenced by the speed, and real-vehicle experiments are carried out to obtain the related data of the visual and perceptual response of the driver under the ultra-high-speed condition; the setting position of the speed limit sign 8 can be determined more accurately, so that a driver can be ensured to have enough time to decelerate after seeing the sign, and the risk of traffic accidents is reduced; meanwhile, the enough reaction time given to a driver can be ensured, and the driving comfort is improved.
Step 3: calculating a discovery distance 1 (d) based on the acquired flag discovery time, judgment time, decision time, reaction operation time, and corresponding section vehicle speed 1 ) Determine distance 2 (d 2 ) Decision distance 3 (d) 3 ) Reaction distance 4 (d) 4 ) Visual recognition deceleration distance 5 (L) 1 ) Maximum tolerance distance 6 (L 2 ). The specific calculation method is as follows:
step 3.1: the found distance 1 (d) of the driver is calculated using the following formula 1 )：
d 1 ＝(v 1 /3.6)*t 1
Step 3.2: the determination distance 2 (d) of the driver is calculated using the following formula 2 )：
d 2 ＝(v 1 /3.6)*t 2
Step 3.3: the decision distance 3 (d) of the driver is calculated using the following formula 3 )：
d 3 ＝(v 1 /3.6)*t 3
Step 3.4: the reaction operation distance 4 (d) of the driver is calculated using the following formula 4 )：
d 4 ＝v 1 *t 4 +(v 1 2 -v 2 2 )/(2*3.6 2 *a)
Step 3.5: the driver visual recognition deceleration distance 5 (L) is calculated using the following formula 1 )：
L 1 ＝d 1 +d 2 +d 3 +d 4
The method can more accurately calculate the reaction distances of the driver under different conditions, ensure that the driver has enough distance to react after seeing the speed limit sign 8, and reduce the risk of traffic accidents; the reaction time, the vehicle speed and other factors of the driver are comprehensively considered, so that different reaction distances can be calculated according to different road conditions and traffic conditions.
Step 5: simulation experiments are carried out on the front distances of different speed limit signs 8 in the optional range 7 (gamma) by using vissim simulation software. A special expressway model of the unidirectional 4-lane minibus is built, the lane width is 3.75m, the minibus accounts for 100%, and the main line traffic is 1000 vehicles/hour/lane.
Step 6: four indexes in the analytic hierarchy process criterion layer are as follows: the average delay, the average speed, the driving safety and the driving comfort of the special speed-limiting road section are compared pairwise, a judgment matrix is established according to the relative importance degree, and then the judgment matrix is subjected to column normalization processing by an arithmetic average method to obtain the characteristic vector omega of the judgment matrix, namely the weight value of each index.
And then respectively establishing judgment matrixes for the front distances of different speed limit marks 8 in the optional range 7 (gamma) under different indexes of a criterion layer to obtain feature vectors.
Feature vector alpha under average delay index of special speed-limiting road section 1 Feature vector alpha under average speed index of special speed-limiting road section 2 Feature vector alpha under running safety index 3 Feature vector α under driving comfort 4 。
And finally, carrying out weighted average on the criterion layer feature vector omega and feature vectors of the leading distances of different speed limit signs 8 to respectively obtain scores of the leading distances of the different speed limit signs 8, and selecting the leading distance corresponding to the highest score as the leading distance of the sign of the optimal special speed limit road section.
Step 7: in order to ensure that drivers of all lanes can find out, speed limit marks 8 of special road sections are simultaneously arranged on two sides of a road, no matter which side of the lanes the drivers are on, the marks can be clearly seen, and the drivers can know the speed limit requirements of the special road sections in time.
The steps are described by taking a unidirectional four-lane special highway as an example.
Step 1: collecting relevant parameters of a highway road and traffic conditions special for a small bus:
step 2: recruiting drivers to perform real-vehicle experiments on the closed road sections to acquire visual and perceptual response characteristic parameters of the drivers in ultra-high speed states (140 km/h, 160km/h and 180 km/h);
the real vehicle experiment is carried out in the ultra-high speed state of 160km/h, and the acquired driving characteristics of the driver are as follows:
| discovery time | T1＝0.2s |
| Judging time | T2＝0.8s |
| Decision time | T3＝0.5s |
| Reaction time | T4＝1.5s |
Step 3: calculating a discovery distance 1 (d) based on the acquired flag discovery time, judgment time, decision time, reaction operation time, and corresponding section vehicle speed 1 ) Determine distance 2 (d 2 ) Decision distance 3 (d 3 ) Reaction operating distance 4 (d 4 ) Visual recognition deceleration distance 5 (L 1 ) Maximum tolerance distance 6 (L 2 ). The specific calculation method is as follows:
suppose that the running speed v before the speed limit sign 8 is found 1 The speed limit value of the target road section is 100km/h, and the optimal deceleration of the vehicle is 6m/s2.
3.1 According to the speed v before the speed limit sign 8 of the collection statistics 1 And a driver-to-sign discovery time t1, a driver-to-sign discovery distance 1 (d 1 )。
d 1 ＝(150/3.6)*T 1 ＝41.7T 1
3.2 According to v) 1 And the judgment time t of the content of the speed limit sign 8 by the driver 2 The determination distance 2 (d) of the speed limit sign 8 by the driver is calculated 2 )。
d 2 ＝(150/3.6)*T 2 ＝41.7T 2
3.3 According to v) 1 And the time t for the driver to make a decision on the speed limit sign 8 3 The decision distance 3 (d) of the driver to the speed limit sign 8 is calculated 3 )。
d 3 ＝(150/3.6)*T 3 ＝41.7T 3
3.4 According to v) 1 Reaction time t before driver operation 4 Speed limit value v of target special road section 2 The optimal deceleration a of the vehicle, and the reaction operation distance 4 (d 4 )。
d 4 ＝41.7*T 4 +(160 2 -100 2 )/(2*3.62*6)＝41.7T 4 +100.3
3.5 According to the found distance 1 (d) of the driver 1 ) Judging distance2 (d) 2 ) Decision distance 3 (d) 3 ) Reaction distance 4 (d) 4 ) The driver visual recognition deceleration distance 5 (L) 1 )。
L 1 ＝41.7T 1 +41.7T 2 +41.7T 3 +41.7T 4 +100.3＝267m
3.6 From the position of the vehicle at the speed limit sign 8 found by the driver to the speed limit starting point of the special speed limit section is the maximum tolerance distance 6 (L) 2 )。
L 2 ＝400m
Step 4: the front distance of the speed limit sign 8 is the distance of the sign set point to advance the speed limit starting point. According to the visual recognition deceleration distance 5 (L 1 ) And a maximum tolerance distance of 6 (L 2 ) The speed limit sign 8 is set repeatedly within a selectable range 7 (γ) of the distance over which the speed limit sign 8 is set.
γ＝L 2 -41.7T 1 +41.7T 2 +41.7T 3 +41.7T 4 +100.3＝400-267＝2133m
Step 5: simulation experiments are carried out on the front distances of different speed limit signs 8 in the optional range 7 (gamma) by using vissim simulation software. After simulation, selecting the following front distance: 270m, 300m, 330m, 360m, four sets of forward distances were reevaluated.
Step 6: comparing the four indexes in pairs, normalizing the judgment matrix to obtain a feature vector omega (0.25,0.30,0.30,0.15), and evaluating the four prepositions under different indexes of a criterion layer to obtain a feature vector alpha under the average delay index of a special speed-limiting road section of different prepositions 1 (0.25,0.35,0.20,0.20); feature vector alpha under average speed index of special speed-limiting road section 2 (0.35,0.25,0.25,0.15); feature vector alpha under driving safety index 3 (0.15,0.25,0.30,0.30); feature vector α under driving comfort 4 (0.15,0.25,0.30,0.30). Finally, the evaluation vectors (0.2575,0.2775,0.2475,0.2475) of different front distances are obtained. Therefore, the front distance was selected to be 300m based on the evaluation result.
Step 7: and special road section speed limit signs 8 are simultaneously arranged on two sides of the road.
The foregoing is merely exemplary of the present invention, and specific technical solutions and/or features that are well known in the art have not been described in detail herein. It should be noted that, for those skilled in the art, several variations and modifications can be made without departing from the technical solution of the present invention, and these should also be regarded as the protection scope of the present invention, which does not affect the effect of the implementation of the present invention and the practical applicability of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (6)
1. The method for setting the speed limit sign position of the special expressway of the small bus is characterized by comprising the following steps of: the method comprises the following steps:
step 1: collecting expressway roads and traffic related parameters special for a small bus, wherein the expressway roads and traffic related parameters comprise the number of lanes of the road, the width of the lanes, the width of shoulders of the road, the lateral clearance distance of the road, the basic speed limit value of a general speed limit road section and the running speed of the vehicle in front of a special speed limit road section;
step 2: performing a real vehicle experiment to obtain vision and response characteristic parameters of a driver in an ultra-high speed state;
step 3: calculating the discovery distance d from the obtained parameters 1 Determining distance d 2 Decision distance d 3 Distance d of reaction operation 4 Visual recognition deceleration distance L 1 Maximum tolerance distance L 2 ；
Step 4: according to the visual recognition deceleration distance L 1 And a maximum tolerance distance L 2 Determining a selectable range gamma of the front distance of the speed limit sign;
step 5: simulation software is utilized to carry out simulation experiments on the front distances of different speed limit signs in the optional range gamma, and a special expressway model of the passenger car is built;
step 6: and calculating scores of different prepositions of the speed limit signs through analytic hierarchy process, and further selecting the setting position of the speed limit sign of the optimal special speed limit road section.
2. The method for setting the speed limit sign position of the special expressway for the small bus according to claim 1, wherein the method comprises the following steps: the step 6 specifically comprises the following steps:
step 6.1: selecting indexes for hierarchical analysis, wherein the indexes comprise average delay, average speed, driving safety and driving comfort of a special speed-limiting road section; comparing the indexes in pairs, establishing a judgment matrix according to the relative importance degree, and carrying out column normalization processing on the judgment matrix by using an arithmetic average method to obtain a feature vector omega of the judgment matrix;
step 6.2: under different indexes of a criterion layer, respectively establishing a judgment matrix for the prepositive distances of different speed limit signs in a selectable range gamma to obtain feature vectors, wherein the feature vectors comprise feature vectors alpha under the average delay indexes of special speed limit road sections 1 Feature vector alpha under average speed index of special speed-limiting road section 2 Feature vector alpha under running safety index 3 Feature vector α under driving comfort 4 ；
Step 6.3: and carrying out weighted average on the criterion layer feature vector omega and feature vectors of different speed limit sign leading distances to respectively obtain scores of different speed limit sign leading distances, and selecting the leading distance corresponding to the highest score as the best special speed limit road section sign leading distance.
3. The method for setting the speed limit sign position of the special expressway for the small bus according to claim 2, wherein the method comprises the following steps of: the visual and response characteristic parameters comprise the discovery time t of the speed limit sign by the driver 1 Determination time t 2 Time t of decision 3 And reaction operation time t 4 。
4. The highway speed limit sign position setting method for the buses according to claim 3, wherein: the step 3 specifically comprises the following steps:
step 3.1: the found distance d of the driver is calculated using the following formula 1 ：
d 1 ＝(v 1 /3.6)*t 1
Step 3.2: usingThe following formula calculates the judgment distance d of the driver 2 ：
d 2 ＝(v 1 /3.6)*t 2
Step 3.3: the decision distance d of the driver is calculated using the following formula 3 ：
d 3 ＝(v 1 /3.6)*t 3
Step 3.4: the reaction operation distance d of the driver is calculated using the following formula 4 ：
d 4 ＝v 1 *t 4 +(v 1 2 -v 2 2 )/(2*3.6 2 *a)
Step 3.5: the driver visual recognition deceleration distance L is calculated using the following formula 1 ：
L 1 ＝d 1 +d 2 +d 3 +d 4
Step 3.6: the distance from the position of the vehicle at the speed limit sign found by the driver to the speed limit starting point of the special speed limit road section is the maximum tolerance distance L 2 。
5. The method for setting the speed limit sign position of the special expressway for the small bus according to claim 4, wherein the method comprises the following steps of: the ultra-high speed states in step 2 include 140km/h, 160km/h and 180km/h ultra-high speed states.
6. The method for setting the speed limit sign position of the special expressway for the small bus according to claim 5, wherein the method comprises the following steps of: special road section speed limit signs are arranged on two sides of the road.
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Citations (8)
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