CN117671964B - Annular intersection control method based on token ring in intelligent networking environment - Google Patents
Annular intersection control method based on token ring in intelligent networking environment Download PDFInfo
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Abstract
The invention relates to a token ring-based annular intersection control method in an intelligent networking environment, belongs to the technical field of intelligent traffic, and solves the problems that signal intervention in the prior art can influence driving experience, phase limitation leads to significant reduction of fluency, local or large-area congestion, priority judgment failure and neglect of pedestrians and non-motor vehicles. The invention realizes the correspondence of the solid annular intersection space and the token ring token space through the construction of the token ring, and simultaneously each vehicle and the token can accurately construct a unique one-to-one mapping, thereby ensuring that the road right protection range of each vehicle in the intersection is not violated, ensuring the driving experience of vehicle drivers and the fluency of road traffic, effectively avoiding local or large-area congestion, ensuring clear priority judgment, ensuring the right and the safety of pedestrian and non-motor vehicle plane crossing, and realizing the time-sharing independent control of all entrance and exit roads.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a token ring-based annular intersection control method in an intelligent networking environment.
Background
With the development of emerging technologies such as automatic driving and vehicle-road coordination, the problem of cooperative control of intelligent network-connected vehicles at signalless intersections has become an important research branch in the field of intelligent transportation. Compared with common cross intersections, Y-shaped intersections and multi-fork intersections, the annular intersections eliminate cross conflicts, and the number of conflict points is reduced due to the annular shape characteristics, so that the method has stronger adaptability to the signal-free control method naturally, and the annular intersections without signal control are built in a plurality of cities at home and abroad.
Vehicles in the signalless intersection are time-varying, continuous, uncertain and unstable objects, the technology of internet of vehicles, vehicle-road coordination and automatic driving is rapidly developed and gradually applied nowadays, and how to purposefully design a logically fair, reasonable, simple and effective annular intersection vehicle control method is an important point and a difficult point in the field. At present, the traditional signal control technology is still widely applied, for example, intelligent network vehicles can learn own right of passage through the modes of visually sensing the color of a front signal lamp through a sensor or accepting the networking information of the issued signal lamp during timing, so as to control the vehicles to drive in and out of the intersection, meanwhile, the annular intersection without signal control mostly adopts complete vehicle autonomy, and the research on the control problem of the annular intersection in the intelligent network environment is less. In addition, many intersection control methods ignore pedestrians and non-motor vehicles, only consider how the automatic driving vehicles avoid each other through game and other modes, or only propose to motorized pedestrians by simply adopting a ferry way, and lack attention on how to protect pedestrians and non-motor vehicles from crossing the street on an autonomous plane in an intelligent networking environment.
The control method based on the traditional theory mainly has the following defects when controlling the vehicles at the annular intersection: (1) In the signal control mode, under the condition that the traffic volume is smaller or the traffic volume of each flow direction is more balanced, the intervention of the signal can influence driving experience, and the fluency is obviously reduced due to phase limitation; (2) Under the common no-signal control of the annular intersection, namely in a vehicle self-organizing mode, the inconsistent or nonstandard behavior of the vehicle causes local congestion and possibly spreads to the whole loop, and the vehicle has potential deadlock risks, namely the priority judgment failure problem caused by the equal passing right among vehicles; (3) Many intersection control methods neglect pedestrians and non-motor vehicles, only consider how the automatic driving vehicles avoid each other, and do not consider other traffic participants, and a class of methods considering the ferry vehicles are proposed by a learner to better avoid the problem of pedestrian walking and crossing, but corresponding pedestrians are limited by the station and departure time of the ferry vehicles, and the ferry vehicles are limited by intersection characteristics, upstream and downstream road structures and the like, so that the problem of controlling the vehicles of the intersection with no signal is not studied by combining autonomous crossing of the pedestrians and the non-motor vehicles.
In summary, the prior art has the problems that signal intervention affects driving experience, phase limitation leads to significant reduction of traffic fluency, local or large-area congestion, failure of traffic priority judgment and neglecting of pedestrian and non-motor vehicle plane crossing behaviors.
Disclosure of Invention
In view of the above problems, the invention provides a token ring-based annular intersection control method in an intelligent networking environment, which solves the problems that in the prior art, signal intervention affects driving experience, phase limitation causes traffic smoothness to be obviously reduced, local or large-area congestion, judgment of passing priority is invalid, and plane crossing behaviors of pedestrians and non-motor vehicles are ignored.
The invention provides a control method of an annular intersection based on a token ring in an intelligent networking environment, which comprises the following steps:
s1, acquiring information of an upstream vehicle, and calculating to obtain estimated arrival time of the vehicle; the estimated arrival time of the vehicle refers to the time when an upstream vehicle is estimated to arrive at an inlet of a corresponding downstream annular intersection of an upstream road;
s2, judging whether the street crossing condition is met, if so, opening the street crossing authority, triggering an upstream vehicle control mechanism, recalculating to obtain the estimated arrival time of the vehicle, crossing the street by pedestrians and/or non-motor vehicles, and recording the time required for crossing the street; otherwise, the right of crossing the street is not opened, and pedestrians and/or non-motor vehicles wait for crossing the street;
s3, dividing the annular intersection into a plurality of sections of loops according to the information of the upstream vehicle and combining the corresponding radius of the vehicle running center line in the annular intersection, and constructing a token on each section of loop to obtain a token sequence;
s4, inputting the estimated arrival time, the time required by crossing the street and the token sequence of the vehicles into an annular intersection control model based on token rings, limiting the relative sequence relation of the vehicles before and after, requiring that the tokens of each loop occupy only one vehicle at the same time, and setting an objective function of control optimization as the total delay of the vehiclesAt the lowest, outputting token instruction information;
s5, the vehicle executes the token instruction information and updates the token sequence;
updating the estimated arrival time of the vehicle, if the estimated arrival time of the vehicle is abundant, transmitting the street crossing indication information to pedestrians and/or non-motor vehicles, otherwise, not transmitting the street crossing indication information;
if the pedestrian and/or the non-motor vehicle receives the street crossing indication information or the street crossing requirement meets the street crossing condition, opening the street crossing authority, and updating the time required by the street crossing of the pedestrian and/or the non-motor vehicle; otherwise, the pedestrian and/or the non-motor vehicle wait for crossing the street;
and returning to the step S4.
Further, the step S1 specifically includes:
the information of the upstream vehicle is acquired by using an upstream road sensor and vehicle-mounted monitoring equipment of the upstream vehicle and is sent to the cloud end in a wired or wireless mode; wherein the information of the upstream vehicle includes longitudinal position information of the upstream vehicleSpeed informationAnd Length information->，/>A sequence number representing an upstream link; />Serial numbers representing upstream vehicles, from an inlet close to a downstream annular intersection to an inlet far from the downstream annular intersection, from small numbers to large numbers in sequence;
according to the actual road size data, combining the information of the upstream vehicle, firstly calculating to obtain the upstream vehicle and the corresponding inlet of the upstream roadIs>Then calculate the estimated arrival time of the vehicle +.>。
Further, step S2 specifically includes:
in the tolerance time window before the current moment, if the pedestrian and/or the non-motor vehicle have/has the street crossing behavior and the pedestrian and/or the non-motor vehicle waiting for crossing the street does not reach the threshold value of the number of people waiting for the street, the street crossing authority is not opened, and the pedestrian and/or the non-motor vehicle waits for crossing the street; if the pedestrian and/or non-motor vehicle does not have the street crossing behavior or the pedestrian and/or non-motor vehicle waiting for the street crossing reaches the threshold value of the number of people waiting, triggering an upstream vehicle control mechanism to slow down or stop the upstream vehicle, and recalculating to obtain the estimated arrival time of the vehicleAnd opens the right of crossing the street, and pedestrians and/or non-motor vehicles wait for crossing the street, and records the time required by crossing the street +.>。
Further, the step S3 specifically includes:
according to the length information of the upstream vehicle and the corresponding radius of the vehicle running center line in the annular intersection, dividing the annular intersection into a plurality of sections of loops, constructing a token on each section of loop, and numbering clockwise from the first section of loop at the left side of the twelve o' clock direction to obtain a token sequence.
Further, the token is a virtual beacon constructed based on a token identity verification idea in the computer and is used for judging whether the accessed vehicle has the right to enter the entrance of the annular intersection or not, wherein the virtual beacon comprises three basic attributes of an idle state or an occupied state, occupied time and token space, and the token space corresponds to a section of space in an actual loop; the token ring is a constructed virtual loop and is used for projecting a real loop, and the token is transmitted in the virtual loop; a vehicle having a token can use it to access services, through a ring intersection, a single moment token is granted to a single vehicle or a certain fleet of vehicles.
Further, in step S4, the token ring-based control model of the circular intersection is specifically expressed as:
；
；
；
wherein,is->First>Maximum vehicle speed of a vehicle upstream of the vehicle; />Is->Upstream road firstLength information of a vehicle upstream of the vehicle; />Is->The first part of the upstream inlet channel>Estimated time of arrival of vehicle upstream of the vehicle;for calculating the reference moment +.>First->Personal token->Is a central angle of (2); />For the elapsed time->Rear->Personal token->Is a central angle of (2); />Idle rotation of the token in idle state indicates unoccupied turns of the token before the arrival of the matching authorized vehicle in the bypassing process; />For angular velocity +.>The rotation angle represents the angle through which the token in the idle state rotates.
Further, the token ring based annular intersection control model also comprises a token allocation status flag，Is a 0-1 variable; when->When indicate->The vehicle is assigned the +.>Rights of individual tokens, th->Vehicle carrying the->The tokens travel in the corresponding loops and finally leave through the annular intersection; when->At the time, represent the firstThe vehicle is not designated to grant +.>Rights of individual tokens, not allowed to occupy tokens +.>Through the circular intersection.
Further, the token has uniqueness to the authorization of the vehicle if and only ifWhen the token grant time satisfies +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>。
Further, the token instruction information comprises tail car data, time when the token is in an idle state and central angle of the token; wherein, the tail car data is obtained by the following way:
setting the objective function of control optimization as the total delay of the vehicleLowest, solving annular intersection control based on token ring by adopting optimization algorithmThe model obtains the value of the token allocation status flag and the corresponding time when the vehicle is permitted to enter the intersection;
transmitting the time of allowing the vehicle to enter the intersection to the upstream vehicleExecuting to obtain tail car data, and sorting the vehicle numbers into 1;
after obtaining the tail car data, taking the tail car data as constraint and solving an annular intersection control model based on a token ring to obtain the time of the token in an idle state and the central angle of the token; wherein the constraint is expressed asRepresents->First>The upstream vehicle is a tail vehicle, +.>Estimated time of arrival for the vehicle of the tail car, < >>For the speed information of the tail car, +.>Is the length information of the tail car.
Further, step S5 further includes a security check, configured to protect the security of the pedestrian and/or the non-motor vehicle when the pedestrian and/or the non-motor vehicle does not receive the street crossing indication information and the street crossing requirement thereof does not meet the street crossing condition, and the pedestrian and/or the non-motor vehicle still crosses the street; the security review specifically includes:
obtaining the pedestrian's fast street crossing speedAnd the fast street crossing speed of the non-motor vehicle +.>；
Setting pedestrian limit crossing safety protection timeAnd the non-motor vehicle limit crossing safety protection time +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the distance of crossing the street;
if pedestrian or non-motor vehicle is authorized to start crossing the street after the pedestrian limit crossing safety protection time or the non-motor vehicle limit crossing safety protection time is reached, triggering a token changing mechanism to output a corresponding vehicle step S4And adding 1 to the value to calculate the token authorized time, so that the upstream vehicle is decelerated or stopped, and the next opportunity of entering the annular intersection is waited.
Compared with the prior art, the invention has at least the following beneficial effects:
(1) The token ring-based annular intersection control method in the intelligent networking environment applies the token ring idea in computer network communication to logic control of vehicle road rights, realizes the correspondence between the entity annular intersection space and the token ring token space through the token and token ring construction, and simultaneously, each vehicle and the token can accurately construct a unique one-to-one mapping, thereby ensuring that the road right protection range of each vehicle in the intersection is not violated, ensuring the driving experience of vehicle drivers and the fluency of road traffic, effectively avoiding local or large-area congestion, and ensuring clear priority judgment.
(2) The annular intersection control method based on the token ring in the intelligent networking environment combines signal control and no-signal lamp control, provides two specific control methods for pedestrian and non-motor vehicle crossing, particularly considers the waiting tolerance of pedestrians and non-motor vehicles, combines the pedestrian and non-motor vehicle crossing problem with the vehicle token authorization, ensures the right and safety of pedestrian and non-motor vehicle plane crossing, and can realize time-sharing independent control of all entrance and exit channels.
(3) The annular intersection control method based on the token ring in the intelligent networking environment forms dynamic interaction fusion between the annular intersection space and the vehicle, so that the control logic is clearer, the algorithm is easy to realize, the method is suitable for a short-time window, and the method can be applied to a longer-time window under the condition of low upstream traffic flow by means of the proposed idle rotation variable.
(4) The annular intersection control method based on the token ring in the intelligent networking environment can realize the intelligent traffic control of the annular intersection under special conditions, realize the preferential running of part of vehicles through the directional transmission and the space construction of all or appointed tokens, and realize the effect of complete stop by canceling the authorization of all the tokens.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a flow chart of a token ring based annular intersection control method in an intelligent networking environment;
fig. 2 is a schematic diagram of a circular intersection scenario.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other. In addition, the invention may be practiced otherwise than as specifically described and thus the scope of the invention is not limited by the specific embodiments disclosed herein.
The invention discloses a control method of an annular intersection based on a token ring in an intelligent networking environment, which comprises the following steps:
s1, acquiring information of an upstream vehicle, and calculating to obtain estimated arrival time of the vehicle; where the estimated time of arrival of a vehicle refers to the time that an upstream vehicle is expected to reach the entrance of the corresponding downstream annular intersection on the road on which it is located.
Specifically, the information of the upstream vehicle is acquired by using an upstream road sensor and vehicle-mounted monitoring equipment of the upstream vehicle and is sent to the cloud end in a wired or wireless mode; wherein the information of the upstream vehicle includes longitudinal position information of the upstream vehicleSpeed information->And Length information->，/>The serial numbers representing the upstream roads are numbered from small to large in sequence from inside to outside; />The serial numbers representing the upstream vehicles are numbered from the inlet close to the downstream annular intersection to the inlet far from the downstream annular intersection in sequence from small to large.
According to the actual road size data, combining the information of the upstream vehicle, firstly calculating to obtain the upstream vehicle and the corresponding inlet of the upstream roadIs>Then calculate the estimated arrival time of the vehicle +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein, import->The position of the inlet is specifically the position of the parking line.
S2, judging whether the street crossing condition is met, if so, opening the street crossing authority, triggering an upstream vehicle control mechanism, recalculating to obtain the estimated arrival time of the vehicle, crossing the street by pedestrians and/or non-motor vehicles, and recording the time required for crossing the street; otherwise, the right of crossing the street is not opened, and pedestrians and/or non-motor vehicles wait for crossing the street.
Specifically, a tolerance time window before the current timeIn the interior, if the pedestrian and/or the non-motor vehicle have crossed the street and the pedestrian and/or the non-motor vehicle waiting for crossing the street does not reach the threshold value of the waiting number +.>The right of crossing the street is not opened, and pedestrians and/or non-motor vehicles wait for crossing the street; if no street crossing of the pedestrian and/or non-motor vehicle occurs or the pedestrian and/or non-motor vehicle waiting for the street crossing has reached the threshold value of waiting number +.>Triggering an upstream vehicle control mechanism to enable the upstream vehicle to slow down or stop, and recalculating to obtain the estimated arrival time of the vehicle +.>And opens the right of crossing the street, and pedestrians and/or non-motor vehicles wait for crossing the street, and records the time required by crossing the street +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein, tolerance time window->The average value of the maximum waiting time acceptable to pedestrians after the experience preset value or the statistical investigation is adopted; />Refers to the street corner->Go to street corner->A maximum waiting population threshold for directional population.
Notably, the waiting number thresholdThe specific calculation method of (a) is as follows:
according to the width of the street corner sidewalkAnd the width of the crosswalk in the road +.>According to->And calculating to obtain the total occupied area of the pedestrian waiting time.
Dividing the total occupied area of pedestrian waiting time by the average occupied area of pedestrian waiting timeThen rounding downwards, and calculating to obtain the maximum number of pedestrians which can be accommodated in the total occupied area when the pedestrians wait>As a threshold for waiting people.
And judging whether the pedestrian and/or the non-motor vehicle reach the threshold value of the number of waiting people, and calculating according to 0.5-1 pedestrian by one non-motor vehicle.
S3, dividing the annular intersection into a plurality of sections of loops according to the information of the upstream vehicle and combining the corresponding radius of the vehicle running center line in the annular intersection, and constructing a token on each section of loop to obtain a token sequence.
Specifically, based on length information of upstream vehiclesRadius corresponding to vehicle running center line in annular intersectionDividing the annular intersection into a plurality of sections of loops, constructing a token on each section of loop, wherein each token has a token space, and the concentric inscribed rectangle side length of the token space is +.>，/>The token space is the area covered by the corresponding central angle for uniform speed safety distance; and numbering clockwise from the first loop at the left side of the twelve o' clock direction to obtain a token sequence.
The token is a virtual beacon constructed based on token identity verification thought in the computer and is used for judging whether the accessed vehicle has permission to enter an entrance of the annular intersection or not, wherein the virtual beacon comprises three basic attributes of an idle state or an occupied state, occupied time and token space, and the token space corresponds to a section of space in an actual loop; the token ring is a constructed virtual loop and is used for projecting a real loop, and the token is transmitted in the virtual loop; a vehicle having a token can use it to access services, through a ring intersection, a single moment token is granted to a single vehicle or a certain fleet of vehicles.
The annular intersection control model based on the token ring is specifically expressed as:
；
；
；
wherein,is->First>Maximum vehicle speed of a vehicle upstream of the vehicle; />For limiting vehicles not to allow overtaking; />Is->Upstream road->Length information of a vehicle upstream of the vehicle; />Is->The first part of the upstream inlet channel>Estimated time of arrival of vehicle upstream of the vehicle; />For calculating the reference moment +.>First->Personal token->The angle of the central angle of the first quadrant is set up to be a plane rectangular coordinate system by using the center of the circle, the vertical axis of the first quadrant represents 0 or 360 degrees, and the clockwise angles are sequentially increased; />For the elapsed time->Rear->Personal token->Is a central angle of (2); />Idle rotation of the token in idle state indicates unoccupied turns of the token before the arrival of the matching authorized vehicle in the bypassing process; />In order to be able to achieve an angular velocity,the rotation angle represents the angle through which the token in the idle state rotates.
The annular intersection control model based on the token ring also comprises a token distribution state flag，/>Is a 0-1 variable; when->When indicate->The vehicle is assigned the +.>Rights of individual tokens, th->Vehicle carrying the->The tokens travel in the corresponding loops and finally leave through the annular intersection; when->At the time, represent the firstThe vehicle is not designated to grant +.>Rights of individual tokens, not allowed to occupy tokens +.>Through the circular intersection.
The token has uniqueness to the authorization of the vehicle if and only ifWhen the token authorization time satisfiesThe method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>。
Notably, the token instruction information includes trailer data, time the token is in an idle state, and a central angle of the token; wherein, the tail car data is obtained by the following way:
setting the objective function of control optimization as the total delay of the vehicleAt the lowest, solving an annular intersection control model based on a token ring by adopting an optimization algorithm to obtain a value of a token allocation state mark; illustratively, the optimization algorithm is a branch-and-bound method.
Transmitting the time of allowing the vehicle to enter the intersection to the upstream vehicleExecuting to obtain tail car data, and sorting the vehicle numbers in order of 1.
After obtaining the tail car data, taking the tail car data as constraint and solving the token ring basedThe control model of the annular intersection obtains the time of the token in an idle state and the central angle of the token; wherein the constraint is expressed asRepresents->First>The upstream vehicle is a tail vehicle, +.>Estimated time of arrival for the vehicle of the tail car, < >>For the speed information of the tail car, +.>Is the length information of the tail car.
S4, inputting the estimated arrival time, the time required by crossing the street and the token sequence of the vehicles into an annular intersection control model based on token rings, limiting the relative sequence relation of the vehicles before and after, requiring that the tokens of each loop occupy only one vehicle at the same time, and setting an objective function of control optimization as the total delay of the vehiclesAnd outputting the token instruction information at the lowest level.
S5, the vehicle executes the token instruction information and updates the token sequence.
And updating the estimated arrival time of the vehicle, if the estimated arrival time of the vehicle is abundant, transmitting the street crossing indication information to pedestrians and/or non-motor vehicles, otherwise, not transmitting the street crossing indication information.
If the pedestrian and/or the non-motor vehicle receives the street crossing indication information or the street crossing requirement meets the street crossing condition, opening the street crossing authority, and updating the time required by the street crossing of the pedestrian and/or the non-motor vehicle; otherwise, the pedestrian and/or the non-motor vehicle wait for crossing the street.
And returning to the step S4.
The indication information of the crossing includes the estimated arrival time of the vehicleDisplaying countdown +_in the street display device to pedestrians and/or non-motor vehicles>，/>The safety redundancy time is preset; if it is known through calculation that the pedestrian and/or the non-motor vehicle is difficult to finish crossing the street before the countdown is finished, a warning is sent to the pedestrian and/or the non-motor vehicle, specifically: setting its lowest average speed for non-motor vehicles>Non-motor vehicles are->Finish crossing street, reach +.>Flashing at the same time to warn the non-motor vehicle to accelerate crossing street or wait for the next opportunity to cross street,/>Is the distance of crossing the street; setting its lowest average speed for a normal pedestrian>Arrive +.>The flashing alert typically accelerates the pedestrian across the street or waits for the next opportunity to cross the street. When a special pedestrian with slow pace fails to cross the street within a time window, such as below 0.5m/s, a street crossing mode of taking a shared automobile or a bus is recommended, if the special pedestrian must walk independently, an independent indication is provided for informing the special pedestrian, and when the special pedestrian is in a certain complete stateTolerance time window->If the street crossing is not achieved, setting independent exclusive street crossing time, and allowing the vehicle to pass after the monitored street crossing is completed. Considering that pedestrians are expected to cross the street after warning or other special behaviors are sent out under extremely individual conditions, safety check is needed, the rapid cross-street speed value of the pedestrians and/or the non-motor vehicles is introduced, the limit cross-street safety protection time of the pedestrians and/or the non-motor vehicles is calculated according to the token sequence updated in the step S5, if the pedestrians and/or the non-motor vehicles still start to cross the street after the pedestrians and/or the non-motor vehicles arrive, a token change mechanism is triggered, the token authorization time of the vehicles is backward, the vehicles are decelerated or stopped, and the next opportunity of entering the intersection is waited.
It is easy to understand that the safety check is used for protecting the safety of the pedestrian and/or the non-motor vehicle under the condition that the pedestrian and/or the non-motor vehicle does not receive the street crossing indication information and the street crossing requirement does not meet the street crossing condition; the security review specifically includes:
obtaining the pedestrian's fast street crossing speedAnd the fast street crossing speed of the non-motor vehicle +.>。
Setting pedestrian limit crossing safety protection timeAnd the non-motor vehicle limit crossing safety protection time +.>。
If pedestrian or non-motor vehicle is authorized to start crossing the street after the pedestrian limit crossing safety protection time or the non-motor vehicle limit crossing safety protection time is reached, triggering a token changing mechanism to output a corresponding vehicle step S4And adding 1 to the value to calculate the token authorized time, so that the upstream vehicle is decelerated or stopped, and the next opportunity of entering the annular intersection is waited.
Compared with the prior art, the annular intersection control method based on the token ring in the intelligent networking environment applies the token ring idea in computer network communication to logic control of vehicle road rights, realizes the correspondence between the entity annular intersection space and the token ring token space through the token and token ring construction, and simultaneously can accurately construct a unique one-to-one mapping between each vehicle and the token, thereby ensuring that the road right protection range of each vehicle in the intersection is not violated, ensuring the driving experience of vehicle drivers and the fluency of road traffic, effectively avoiding local or large-area congestion, and ensuring clear priority judgment; the signal control is combined with the no-signal lamp control, two specific control methods for pedestrian and non-motor vehicle crossing are provided, particularly, the waiting tolerance of the pedestrian and the non-motor vehicle is considered, the pedestrian and the non-motor vehicle crossing problem is combined with the vehicle token authorization, the right and the safety of the pedestrian and the non-motor vehicle plane crossing are ensured, and the time-sharing independent control of all entrance and exit roads can be realized; the annular intersection space and the vehicle form dynamic interactive fusion, so that the control logic is clearer, the algorithm is easy to realize, the method is suitable for a short-time window, and the method can also be applied to a longer-time window under the condition of low upstream traffic flow by means of the proposed idle rotation variable; the intelligent traffic control of the annular intersection under special conditions can be realized, the preferential running of partial vehicles is realized through the directional transmission and the space construction of all or designated tokens, and the effect of complete stop is realized by canceling the authorization of all the tokens.
In order to illustrate the effectiveness of the method according to the present invention, the following describes the above technical solution of the present invention in detail by means of a specific embodiment, which is as follows:
example 1
Taking a certain annular intersection as an example, the annular intersection is a single lane, the inner diameter is 15m, the lane width is 4m, the four inlets are connected, and pedestrians and/or non-motor vehicles are plane streets.
The information of the upstream vehicles is acquired by using an upstream road sensor and an on-board monitoring device of the upstream vehicles and is transmitted to a cloud end in a wired or wireless mode, 8 vehicles are generated in a poisson distribution mode, 2 vehicles are respectively at 4 entrance roads, and the information is obtainedMerging into a one-dimensional array can be expressed as:
；
the one-dimensional array is expressed in the order of north, south and east, and the unit is meter. The running direction of the vehicle is randomly generated, 2 vehicles from north to south respectively turn left and go straight, 2 vehicles from south to north respectively turn right and go straight, 2 vehicles from east to west respectively turn right and go straight, and 2 vehicles from west to east respectively turn straight and turn left.
And judging the street crossing requirements of pedestrians and/or non-motor vehicles. At this time, the width of the street corner pavement3m, crosswalk width in road +.>5 m->m2, setting the average occupied area of pedestrians to be square with side length of 0.5m and inner diagonal length approaching 0.75m according to the interval lower limit of basically comfortable waiting for the pedestrians to cross the street of 0.5m and the width of the lowest single-row pedestrian crossing the street of 0.75m, and calculating ++>Maximum admissible within an area +.>The number of squares is the street corner +.>Go to street corner->Maximum waiting number threshold for directional populationAnd (5) a person. Considering the general cross-street waiting time of the existing signal control intersection, the pedestrian cross-street tolerance time can be set to be 1.5 to 3 minutes, when a certain pedestrian and a certain non-motor vehicle flow to the previous set tolerance time window for 2 minutes, the cross-street behavior is realized, and when the number of pedestrians and non-motor vehicles gathered at the cross-street waiting position does not reach the waiting number threshold value 15, an upstream vehicle control mechanism is not triggered; otherwise, when the flow direction is within 2 minutes of the previous setting tolerance time window, the pedestrian and the non-motor vehicle gathered at the waiting position of the cross street do not reach the waiting number threshold 15, an upstream vehicle control mechanism is triggered, the time required for the first or second cross street is calculated, and a subsequent vehicle control model based on a token ring is input. At the present moment, pedestrians finish crossing the street within the tolerance time window of the previous 2 minutes, only one street crossing direction is accumulated to 15, and 1 pedestrian in the figure 2 represents that the number of people waiting for the pedestrian is in the threshold value of the number of people waiting for the pedestrian +.>The range of the street traffic from the north-west street angle to the south-west street angle is 15 people and 2 non-motor vehicles, and one non-motor vehicle calculates according to 0.5 pedestrian, and 16 people are converted in total. For the direction, the middle safety island without the street crossing considers one street crossing, and the position information of the rearmost pedestrian is sent to the cloud, wherein the position is 1.3m away from the edge of the road; and for all other directions, the pedestrians and the motor vehicles continue to wait, whether the vehicles cross the street or not is selected according to the indication information, and the open street crossing authority of the vehicles is not independently fed back by the cloud.
Construction of token sequences. The radius of the vehicle running center line in the annular intersection is 8m, and the collected length information of each import vehicle is expressed as:
；
the data unit is meter, a uniform safe distance 2m is set in each token space, the token space in the lane circle is divided into 8 tokens according to the uniform safe distance, as shown in figure 2, and the intersection space is divided intoTo->Is not included in the token space.
And (5) establishing and solving a control model based on the token ring. Establishing a mixed integer programming model and setting，/>For counting the last time of the pedestrian to finish crossing the street, namely (12+1.3)/1=13.3 s,/for the moment>At this moment, the head car is not likely to collide in the speed limit range, and the uniqueness of the token is that of the token authorization tokenFormula +.>Is established uniquely by the equal sign of>. Setting the objective function of the control optimization to be total delay of the vehicle +.>Lowest. And solving the model by adopting a branch-and-bound method to obtain an optimal solution, and outputting and storing all variable values.
And feeding back the obtained token instruction information to the vehicle for executing and updating the token attribute: according to the variable value, the appointed arrival time of each vehicle is recorded as a one-dimensional array form:
；
and the unit is seconds, the unit is sent to the intelligent network connected vehicles for execution, and the vehicle numbers are ranked according to the minimum value of 1.
And rechecking the pedestrian and non-motor vehicle safety street crossing condition and changing part of tokens according to the requirement. Based on estimated time of arrival of vehicleCountdown is displayed in the street display device>，/>For presetting safety redundancy time, setting redundancy time of 1s, wherein a minimum average speed of 2m/s is set for non-motor vehicles to consider starting, namely, the minimum average speed of 2m/s is set for finishing crossing, the crossing distance is 12m, when countdown reaches 6s, the flicker warning accelerates crossing and waits for the next crossing opportunity, and the vehicle is started, wherein the vehicle is provided with a safety redundancy time of 1s>Is the distance of crossing the street; at this time, no special pedestrians are detected, so that only ordinary pedestrians are considered, the lowest average speed of the pedestrians is set to be 1m/s, and when the countdown reaches 12s, the pedestrians flash to warn to accelerate the street crossing and wait for the next street crossing opportunity. According to the left turn and the straight turn of two vehicles from north to south respectively, the right turn and the straight turn of two vehicles from south to north respectively, the right turn and the straight turn of two vehicles from east to west respectively, the straight turn and the left turn of the vehicles from east to east respectively, the corresponding calculation of the time window of crossing the street, the southwest corner has a non-motor vehicle waiting for crossing the street, the calculated display time of crossing the street is 3.8s, the rapid crossing speed value of the non-motor vehicle is 4m/s, the remaining crossing time does not meet the pedestrian safety crossing requirement, the minimum average speed of the non-motor vehicle and the extreme crossing safety protection time requirement of the non-motor vehicle are not met, and therefore, the warning and the non-motor vehicle prohibition of crossing the street are sent. Taking the pedestrian rapid street crossing speed value of 3m/s, and subsequently monitoringWhen the pedestrian passes through the street at the limit of the pedestrian and passes through the street at the safety protection moment, the pedestrian is authorized to pass through the street, if the vehicle is not decelerated and collides with a second vehicle from south to north, the vehicle is informed to decelerate and park for waiting, the token authorization is cancelled, the next opportunity is waited, and the attribute of the token is changed to be idle.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.
Claims (6)
1. The annular intersection control method based on the token ring in the intelligent networking environment is characterized by comprising the following steps:
s1, acquiring information of an upstream vehicle, and calculating to obtain estimated arrival time of the vehicle; the estimated arrival time of the vehicle refers to the time when an upstream vehicle is estimated to reach the inlet position of a corresponding downstream annular intersection on an upstream road;
s2, judging whether the street crossing condition is met, if so, opening the street crossing authority, triggering an upstream vehicle control mechanism, recalculating to obtain the estimated arrival time of the vehicle, crossing the street by pedestrians and/or non-motor vehicles, and recording the time required for crossing the street; otherwise, the right of crossing the street is not opened, and pedestrians and/or non-motor vehicles wait for crossing the street;
s3, dividing the annular intersection into a plurality of sections of loops according to the information of the upstream vehicle and combining the corresponding radius of the vehicle running center line in the annular intersection, and constructing a token on each section of loop to obtain a token sequence;
s4, inputting the estimated arrival time, the time required by crossing the street and the token sequence of the vehicles into an annular intersection control model based on token rings, limiting the relative sequence relation of the vehicles before and after, requiring that the tokens of each loop occupy only one vehicle at the same time, and setting an objective function of control optimization as the total delay of the vehiclesMinimum, output tokenInstruction information;
s5, the vehicle executes the token instruction information and updates the token sequence;
updating the estimated arrival time of the vehicle, if the estimated arrival time of the vehicle is abundant, transmitting the street crossing indication information to pedestrians and/or non-motor vehicles, otherwise, not transmitting the street crossing indication information;
if the pedestrian and/or the non-motor vehicle receives the street crossing indication information or the street crossing requirement meets the street crossing condition, opening the street crossing authority, and updating the time required by the street crossing of the pedestrian and/or the non-motor vehicle; otherwise, the pedestrian and/or the non-motor vehicle wait for crossing the street;
returning to the step S4;
the step S3 specifically comprises the following steps:
dividing the annular intersection into a plurality of sections of loops according to the length information of the upstream vehicle and the corresponding radius of the vehicle running center line in the annular intersection, constructing a token on each section of loop, and numbering clockwise from the first section of loop at the left side in the twelve-o' clock direction to obtain a token sequence;
the token is a virtual beacon constructed based on token identity verification thought in the computer and is used for judging whether the accessed vehicle has permission to enter an entrance of the annular intersection or not, wherein the virtual beacon comprises three basic attributes of an idle state or an occupied state, occupied time and token space, and the token space corresponds to a section of space in an actual loop; the token ring is a constructed virtual loop and is used for projecting a real loop, and the token is transmitted in the virtual loop; a vehicle having a token can use it to access services, through a ring intersection, a single moment token is granted to a single vehicle or a certain fleet;
step S4, the annular intersection control model based on the token ring is specifically expressed as:
；
；
；
wherein,a sequence number representing an upstream link; />Serial number representing upstream vehicle,/->Estimated time of arrival for vehicle, < >>Is the inlet position of the downstream annular intersection corresponding to the upstream vehicle and the upstream road>Relative distance of>Is->First>Maximum vehicle speed of a vehicle upstream of the vehicle; />Is->Upstream road->Length information of vehicle upstream of the vehicle, +.>Speed information for an upstream vehicle; />Is->The first part of the upstream inlet channel>Estimated time of arrival of vehicle upstream of the vehicle;for calculating the reference moment +.>First->Personal token->Is a central angle of (2); />For the elapsed time->Rear->Personal token->Is a central angle of (2); />Idle rotation of the token in idle state indicates unoccupied turns of the token before the arrival of the matching authorized vehicle in the bypassing process; />For angular velocity +.>For the rotation angle, ++angle through which the token representing the idle state rotates>Counting the last time of crossing the street in the pedestrians;
the token ring-based annular intersection control model also comprises a token allocation status flag，/>Is a 0-1 variable; when (when)When indicate->The vehicle is assigned the +.>Rights of individual tokens, th->Vehicle carrying the->The tokens travel in the corresponding loops and finally leave through the annular intersection; when->When indicate->The vehicle is not designated to grant +.>Rights of individual tokens, not allowed to occupy tokens +.>Passes through the annular intersection;
the token instruction information includes trailer data, a time when the token is in an idle state, and a central angle of the token.
2. The method for controlling a ring intersection based on a token ring in an intelligent networking environment according to claim 1, wherein the step S1 specifically includes:
the information of the upstream vehicle is acquired by using an upstream road sensor and vehicle-mounted monitoring equipment of the upstream vehicle and is sent to the cloud end in a wired or wireless mode; wherein the information of the upstream vehicle includes longitudinal position information of the upstream vehicleSpeed information->And Length information->Sequentially numbering from the inlet close to the downstream annular intersection to the inlet far from the downstream annular intersection from small to large;
according to the actual road size data, combining the information of the upstream vehicle, firstly calculating to obtain the inlet position of the downstream annular intersection corresponding to the upstream road and the upstream vehicleIs>Then calculate the estimated arrival time of the vehicle +.>。
3. The method for controlling a ring intersection based on a token ring in an intelligent networking environment according to claim 2, wherein step S2 specifically comprises:
in a tolerance time window before the current moment, if the pedestrian and/or the non-motor vehicle have/has the street crossing behavior and the pedestrian and/or the non-motor vehicle waiting for crossing the street does not reach the threshold value of the number of people waiting for crossing, the street crossing authority is not opened, and the pedestrian and/or the non-motor vehicle waits for crossing the street; if the pedestrian and/or non-motor vehicle does not have the street crossing behavior or the pedestrian and/or non-motor vehicle waiting for the street crossing reaches the threshold value of the number of people waiting, triggering an upstream vehicle control mechanism to slow down or stop the upstream vehicle, and recalculating to obtain the estimated arrival time of the vehicleAnd opens the right of crossing the street, and pedestrians and/or non-motor vehicles wait for crossing the street, and records the time required by crossing the street +.>。
4. A method of token ring based annular intersection control in an intelligent networking environment as claimed in claim 3 wherein the token is unique to the authorization of the vehicle if and only ifWhen the token grant time satisfies +.>The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>。
5. The method for controlling a ring intersection based on a token ring in an intelligent networking environment according to claim 4, wherein the trailer data is obtained by:
setting the objective function of control optimization as the total delay of the vehicleAt the lowest, solving an annular intersection control model based on a token ring by adopting an optimization algorithm to obtain the value of a token allocation state mark and the corresponding time when the vehicle is permitted to enter an intersection;
transmitting the time of allowing the vehicle to enter the intersection to the upstream vehicleExecuting to obtain tail car data, and sorting the vehicle numbers into 1;
after obtaining the tail car data, taking the tail car data as constraint and solving an annular intersection control model based on a token ring to obtain the time of the token in an idle state and the central angle of the token; wherein the constraint is expressed asRepresents->The first>The upstream vehicle is a tail vehicle, +.>Estimated time of arrival for the vehicle of the tail car, < >>For the speed information of the tail car, +.>Is the length information of the tail car.
6. The method for controlling a ring intersection based on a token ring in an intelligent networking environment according to claim 5, wherein step S5 further comprises a security check for protecting the security of pedestrians and/or non-motor vehicles in case the pedestrians and/or non-motor vehicles do not receive the street crossing indication information and the street crossing requirement does not satisfy the street crossing condition; the security review specifically includes:
obtaining the pedestrian's fast street crossing speedAnd the fast street crossing speed of the non-motor vehicle +.>；
Setting pedestrian limit crossing safety protection timeAnd the limit street-crossing safety protection time of non-motor vehicleThe method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Is the distance of crossing the street;
if pedestrian or non-motor vehicle is authorized to start crossing the street after the pedestrian limit crossing safety protection time or the non-motor vehicle limit crossing safety protection time is reached, triggering a token changing mechanism to output a corresponding vehicle step S4And adding 1 to the value to calculate the token authorized time, so that the upstream vehicle is decelerated or stopped, and the next opportunity of entering the annular intersection is waited.
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