技术领域technical field
本发明涉及智能交通系统中的车路协同与安全控制技术，具体涉及一种车联网环境的城市快速路入口匝道车辆通行引导系统及其引导方法。The invention relates to a vehicle-road coordination and safety control technology in an intelligent transportation system, in particular to an urban expressway on-ramp vehicle traffic guidance system and a guidance method in a vehicle networking environment.
背景技术Background technique
随着汽车保有量的激增，城市快速路合流区交通冲突和拥堵现象日益严重，成为导致快速路高效、快捷的运行效率日趋减弱的主要原因之一。尤其在以通勤通学为主要特征的早晚高峰，合流区的拥堵不仅导致快速路主线交通流失效，而且使得入口匝道产生过饱和流，以致影响地面道路交通系统的有效运行。由此可见，预防合流区交通拥堵或加快拥堵消散速度是保障整个路网系统安全可靠运行的关键。With the surge in the number of cars, traffic conflicts and congestion in urban expressway merging areas have become increasingly serious, which has become one of the main reasons for the weakening of the efficient and fast operation of expressways. Especially in the morning and evening rush hour characterized by commuting and commuting, the congestion in the merging area not only causes the traffic flow of the expressway to fail, but also causes the on-ramp to produce supersaturated flow, which affects the effective operation of the ground road traffic system. It can be seen that preventing traffic congestion in the merging area or accelerating the speed of congestion dissipation is the key to ensuring the safe and reliable operation of the entire road network system.
匝道控制是目前在治理快速路合流区交通拥堵问题中应用最广泛的一种动态控制方式，它根据调节率控制进入合流区的车辆数，但这些控制方式受限于信息采集技术和交通控制技术，难以准确获取实际的交通状况，有可能造成错误的放行。而且，匝道合流区拥堵发生的机理不仅仅在于一般意义上的交通需求超过了匝道合流区的通行能力，而且在于合流区匝道车辆汇入主线时产生的变道及变速行为与主线车流不协调导致了自身通行能力的下降，使得通行能力与交通需求的不匹配程度加深。因此，单纯通过调节进入快速路合流区的交通总量及其时空分布来改善交通拥堵已经显得微不足道，有必要从微观角度对车辆汇入进行辅助控制，实现对交通流及其状态变化的实时响应与优化。随着电子信息和无线通信技术的迅速发展与应用，以车车、车路通信为基础的“车联网”已成为解决交通问题的有效手段，车联网环境下，车车、车路进行信息交互，大大提高行车安全系数，能有效避免各种碰撞事故，实现交通零事故已成为可能，这也将彻底改变传统的交通管理与控制方式。Ramp control is currently the most widely used dynamic control method in dealing with traffic congestion in expressway merging areas. It controls the number of vehicles entering the merging area according to the regulation rate, but these control methods are limited by information collection technology and traffic control technology. , it is difficult to accurately obtain the actual traffic conditions, which may cause erroneous release. Moreover, the mechanism of congestion in the merging area of the ramp is not only that the traffic demand in the general sense exceeds the capacity of the merging area of the ramp, but also that the lane-changing and speed-changing behaviors generated when the vehicles merge into the main line in the merging area are not coordinated with the traffic flow of the main line. The decline of its own traffic capacity has deepened the mismatch between traffic capacity and traffic demand. Therefore, it is trivial to improve traffic congestion simply by adjusting the total amount of traffic entering the expressway merging area and its temporal and spatial distribution. It is necessary to assist in the control of vehicle merging from a microscopic perspective to achieve real-time response to traffic flow and state changes. with optimization. With the rapid development and application of electronic information and wireless communication technologies, the "Internet of Vehicles" based on vehicle-to-vehicle and vehicle-road communication has become an effective means to solve traffic problems. , greatly improve the driving safety factor, can effectively avoid various collision accidents, and achieve zero traffic accidents has become possible, which will completely change the traditional traffic management and control methods.
通过检索现有专利可知已有的专利主要是针对高速公路入口匝道合流区引导控制系统和方法，如中国专利申请第201410724696.2号公开了一种高速公路入口匝道合流区引导控制系统，其包括路侧汇入引导控制器和智能车载设备，路侧汇入引导控制器用于接收匝道和主路上游一定距离至合流区末端范围内车辆的实时状态信息，并形成对各车辆的实时引导信息，匝道车辆车载设备根据接收到的引导信息汇入主路车流，此方法大大提高了合流区单个匝道车辆汇入主路时的安全性，但是此方法引导是采取的匝道车辆逐个的汇入，汇入效率较低，没有考虑到匝道车辆以车队形式的汇入方案；中国专利申请第201510639084.8号公开了一种基于车车通信技术进行高速公路合流区安全协同控制方法，该方法通过车车通信技术采集和传输合流区附近车辆位置、速度等信息，计算并预测主路和匝道车辆到达合流区域内可能引发的安全冲突和干扰，通过控制协调方法提前对驾驶人员预警，调整车辆驾驶行为，降低安全冲突和拥堵的发生的几率，但是此方法无法明确给出车辆交汇时的速度引导，只是对车辆行驶安全进行预警。By searching the existing patents, it can be seen that the existing patents are mainly aimed at the guidance and control system and method of the merging area of the expressway on-ramp. For example, Chinese Patent Application No. 201410724696.2 discloses a guidance and control system for the merging area of the expressway on-ramp, which includes a roadside The inflow guidance controller and intelligent vehicle-mounted equipment, the roadside inflow guidance controller is used to receive the real-time status information of vehicles within the range from a certain distance upstream of the ramp and the main road to the end of the merging area, and form real-time guidance information for each vehicle. The on-board equipment merges into the main road traffic flow according to the received guidance information. This method greatly improves the safety of a single ramp vehicle in the merging area when it merges into the main road. However, this method guides the ramp vehicles one by one. It is relatively low, and does not take into account the merging scheme of on-ramp vehicles in the form of fleets; Chinese Patent Application No. 201510639084.8 discloses a method for safety collaborative control of expressway merging areas based on vehicle-to-vehicle communication technology. It transmits information such as the position and speed of vehicles near the merging area, calculates and predicts the safety conflicts and disturbances that may be caused by vehicles on the main road and on-ramp arriving in the merging area, warns drivers in advance through control and coordination methods, adjusts vehicle driving behavior, and reduces safety conflicts and disturbances. The probability of occurrence of congestion, but this method cannot clearly give the speed guidance when the vehicles meet, but only provide early warning for the safety of vehicles.
目前公开的入口匝道车辆通行引导系统绝大多数是针对入口匝道车辆与主线车辆合流时的安全问题，没有考虑到合流时的效率问题，城市快速路合流区域不能得到合理使用，更不能从根本上解决城市快速路合流区交通拥堵的问题，难以实现真正意义上的安全、高效的合流。Most of the currently disclosed on-ramp vehicle traffic guidance systems are aimed at the safety issues when on-ramp vehicles merge with mainline vehicles, without taking into account the efficiency of merging, and urban expressway merging areas cannot be reasonably used, let alone fundamentally To solve the problem of traffic congestion in the confluence area of urban expressways, it is difficult to achieve a safe and efficient confluence in the true sense.
发明内容SUMMARY OF THE INVENTION
为解决上述技术问题，本发明的目的是提供一种预防性强，可提高快速路合流区行车安全和通行效率的车联网环境下的入口匝道车辆通行引导系统及其引导方法。In order to solve the above technical problems, the purpose of the present invention is to provide an on-ramp vehicle traffic guidance system and its guidance method under the Internet of Vehicles environment, which is highly preventative and can improve the traffic safety and traffic efficiency in the expressway junction area.
本发明提出的一种车联网环境下的入口匝道车辆通行引导系统，包括路侧设备和监控中心以及主线车辆车载设备和匝道车辆车载设备；所述路侧设备、监控中心、主线车辆车载设备和匝道车辆车载设备四者之间通过无线通信网络进行信息传递；An on-ramp vehicle traffic guidance system in a vehicle networking environment proposed by the present invention includes roadside equipment and monitoring center, as well as main line vehicle on-board equipment and ramp vehicle on-board equipment; the roadside equipment, monitoring center, main line vehicle on-board equipment and The information is transmitted between the on-board equipment of the ramp vehicle through the wireless communication network;
所述路侧设备包括主线车流信息采集模块、匝道车流信息采集模块和路侧智能决策模块；所述主线车流信息采集模块和匝道车流信息采集模块均与所述路侧智能决策模块通信连接；The roadside equipment includes a main line traffic information acquisition module, a ramp traffic information acquisition module, and a roadside intelligent decision-making module; the main line traffic information acquisition module and the ramp traffic information acquisition module are both connected in communication with the roadside intelligent decision-making module;
所述主线车辆车载设备和匝道车辆车载设备均包括车载主控模块和分别与所述车载主控模块通信连接的车辆基本信息储存模块、GPS定位模块、车速采集模块、车速控制模块和提示模块，所述车辆基本信息存储模块中预先存储有本车的静态信息。The main line vehicle on-board equipment and the ramp vehicle on-board equipment both include an on-board main control module and a vehicle basic information storage module, a GPS positioning module, a vehicle speed acquisition module, a vehicle speed control module and a prompt module that are respectively connected to the on-board main control module. Static information of the vehicle is pre-stored in the vehicle basic information storage module.
进一步的，所述主线车辆车载设备和匝道车辆车载设备还包括与所述车载主控模块通信连接的车载无线通信模块，所述路侧设备还包括与所述路侧智能决策模块通信连接的路侧无线通信模块，所述车载无线通信模块与路侧无线通信模块之间通过无线通信网络进行信息传递。Further, the main line vehicle on-board equipment and the ramp vehicle on-board equipment further include an on-board wireless communication module that is communicatively connected to the on-board main control module, and the roadside equipment further includes a roadside that is communicatively connected to the roadside intelligent decision-making module. A side wireless communication module, where information is transmitted between the vehicle-mounted wireless communication module and the roadside wireless communication module through a wireless communication network.
进一步的，所述提示模块包括车速信息显示屏和语音播放模块，所述车速信息显示屏和语音播放模块均与车载主控模块通信连接。Further, the prompting module includes a vehicle speed information display screen and a voice playback module, and both the vehicle speed information display screen and the voice playback module are connected in communication with the vehicle-mounted main control module.
进一步的，所述提示模块还包括车辆编号显示屏，所述车辆编号显示屏与所述车载主控模块通信连接。Further, the prompting module further includes a vehicle number display screen, and the vehicle number display screen is connected in communication with the vehicle-mounted main control module.
进一步的，所述提示模块还包括扬声器，所述扬声器与所述语音播放模块通信连接。Further, the prompting module further includes a speaker, and the speaker is connected in communication with the voice playback module.
进一步的，所述车速控制模块控制驱动车辆的制动踏板。Further, the vehicle speed control module controls the brake pedal for driving the vehicle.
进一步的，所述静态信息包括车主信息、车辆的型号和尺寸大小。Further, the static information includes vehicle owner information, the model and size of the vehicle.
本发明提出的车联网环境下的入口匝道车辆通行引导系统的引导方法，包括以下步骤：The guiding method of the on-ramp vehicle passing guidance system under the Internet of Vehicles environment proposed by the present invention includes the following steps:
步骤一：通过车载设备实时采集自身车辆的位置和运动信息，当进入快速路合流区通信区域时，主线车辆车载设备、匝道车辆车载设备和路侧设备三者之间进行信息的交互；Step 1: Collect the position and motion information of the own vehicle in real time through the on-board equipment. When entering the communication area of the expressway merging area, the on-board equipment of the main line vehicle, the on-board equipment of the ramp vehicle and the roadside equipment conduct information interaction;
步骤二：根据步骤一中路侧设备会采集进入快速路合流区通信区域的车辆运行状态信息，包括主线外侧车道车流和入口匝道车流的信息，路侧智能决策模块根据车流信息分析主线外侧车道是否可以让出足够的可插间隙供入口匝道的车流汇入，若分析得出主线外侧车道可插间隙小于一辆车的车身长度，则发送指令给入口匝道车辆减速慢行等待主线可插间隙，若分析得出主线外侧车道可插间隙足够大但是可插间隙分布不均匀，则路侧智能决策模块根据得到的通信区域内的主线外侧车道和入口匝道的车辆位置、速度等信息，并分别给予车辆编号，同时，分析与匝道头车即将在合流区交汇点发生冲突的主线外侧车道车辆编号，定义为“第一主线协同车辆”，并根据其上游车辆信息确定“第一主线协同车辆”可能让出的可插间隙，给出减速信息，“第一主线协同车辆”车载设备接收到路侧设备发送的减速信息立即执行减速让行，同时通知其后续车辆减速并与“第一主线协同车辆”保持一定的安全车距；Step 2: According to step 1, the roadside equipment will collect the information on the running status of vehicles entering the communication area of the expressway merging area, including the information on the traffic flow in the outer lane of the main line and the traffic flow on the on-ramp. The roadside intelligent decision-making module analyzes whether the outer lane of the main line can be Leave enough pluggable gaps for the on-ramp traffic to merge. If the analysis shows that the pluggable gap in the outer lane of the main line is less than the body length of a vehicle, send an instruction to the on-ramp vehicle to slow down and wait for the main line to plug in the gap. The analysis shows that the pluggable gaps in the outer lanes of the main line are large enough but the distribution of the pluggable gaps is not uniform, then the roadside intelligent decision-making module gives the vehicle positions and speeds of the outer lanes and on-ramps of the main line obtained in the communication area, and gives the vehicles respectively. At the same time, analyze the number of the vehicle in the outer lane of the main line that is about to conflict with the leading vehicle on the ramp at the junction point of the junction area, define it as "the first main line cooperative vehicle", and determine the "first main line cooperative vehicle" according to its upstream vehicle information. The “first main line cooperative vehicle” vehicle-mounted device receives the deceleration information sent by the roadside equipment and immediately performs deceleration and yield, and at the same time informs its subsequent vehicles to decelerate and cooperate with the “first main line cooperative vehicle” maintain a certain safe distance;
步骤三：路侧设备根据“第一主线协同车辆”让出的第一协同可插间隙确定入口匝道车辆参与第一组汇入的车辆数量，并将参与第一组交汇的车辆编号和速度信息发送给入口匝道每一车辆，车载设备接收到信息后立即执行编队操作，以一定的速度在规定时间、规定交汇位置实现与第一协同可插间隙的啮合；Step 3: The roadside equipment determines the number of on-ramp vehicles participating in the first group of vehicles according to the first cooperative pluggable gap given up by the "first main line cooperative vehicle", and the number and speed information of the vehicles participating in the first group of intersections It is sent to each vehicle on the on-ramp, and the on-board equipment immediately executes the formation operation after receiving the information, and achieves meshing with the first cooperative pluggable gap at a specified time and at a specified intersection position at a certain speed;
步骤四：为了让入口匝道车辆安全快速地全部汇入主线车流，路侧决策模块会根据“第一主线协同车辆”上游车队的长度、运动信息和入口匝道剩余车辆的数量、排队长度等进行后续协同可插间隙的重新分配，即生成与第一协同可插间隙尺寸相同、速度相等的第二协同可插间隙、第三协同可插间隙、....、第N协同可插间隙，若入口匝道与第N协同可插间隙相啮合的第N组车辆数量不足，则第N协同间隙可小于第一协同可插间隙，那么第N协同车辆可加速，从而缩小与前车的间隙；Step 4: In order to allow all on-ramp vehicles to merge into the main line traffic safely and quickly, the roadside decision-making module will follow-up based on the length and motion information of the upstream fleet of the "first main line coordinated vehicle", the number of remaining vehicles on the on-ramp, and the queue length, etc. The redistribution of the cooperative pluggable gap, that is, generating the second cooperative pluggable gap, the third cooperative pluggable gap, ...., the Nth cooperative pluggable gap with the same size and speed as the first cooperative pluggable gap, if If the number of vehicles in the Nth group engaged with the Nth cooperative pluggable gap is insufficient, then the Nth cooperative gap can be smaller than the first cooperative pluggable gap, then the Nth cooperative vehicle can accelerate, thereby reducing the gap with the preceding vehicle;
步骤五：根据步骤四中分析出的主线外侧车道协同可插间隙和入口匝道车流的交汇位置和速度，结合每车的当前运行位置和速度信息，车载主控模块会计算每车交汇时的安全车速以及速度轨迹；Step 5: According to the synergistic pluggable gap of the outer lane of the main line and the intersection position and speed of the on-ramp traffic analyzed in Step 4, combined with the current running position and speed information of each vehicle, the vehicle-mounted main control module will calculate the safety of each vehicle at the time of intersection. vehicle speed and speed trajectory;
步骤六：参与合流的主线车辆和入口匝道车辆按照车载设备提示模块发出的提示车速进行调速，同时，车载设备监测车辆是否按车载主控模块计算出的速度轨迹行驶，若车载设备监测到车辆未按安全车速行驶，则转步骤七执行；Step 6: The main line vehicles and on-ramp vehicles participating in the merging shall adjust the speed according to the prompt speed issued by the on-board equipment prompt module. At the same time, the on-board equipment monitors whether the vehicle is traveling according to the speed trajectory calculated by the on-board main control module. If the on-board equipment monitors the vehicle If you do not drive at a safe speed, go to step 7 and execute;
步骤七：若检测到车辆未按安全车速行驶，则该车载设备强行控制该车辆的制动踏板使其达到安全车速；Step 7: If it is detected that the vehicle is not running at the safe speed, the vehicle-mounted device will forcefully control the brake pedal of the vehicle to make it reach the safe speed;
步骤八：判断匝道车辆是否成功汇入主线车流，若没有，则转步骤一执行，否则，结束本次车辆通行引导。Step 8: Determine whether the on-ramp vehicle has successfully merged into the main line traffic flow, if not, go to step 1 to execute, otherwise, end the current vehicle traffic guidance.
借由上述方案，本发明至少具有以下优点：By means of the above scheme, the present invention has at least the following advantages:
(1)本发明的车联网环境下入口匝道车辆通行引导系统在车辆进入合流区主线与匝道交汇点前1000m时就可实现车辆与车辆之间、车辆与道路基础设施之间的信息交换，只需安装一简单的路侧设备，内置主线车流信息采集模块、入口匝道车流信息采集模块、无线通讯设备和智能决策模块即可，技术简单可靠；(1) The on-ramp vehicle traffic guidance system of the present invention can realize the information exchange between vehicles and vehicles and between vehicles and road infrastructure when vehicles enter 1000m before the intersection of the main line and the ramp in the merging area. A simple roadside equipment needs to be installed, with built-in main line traffic information acquisition module, on-ramp traffic information acquisition module, wireless communication equipment and intelligent decision-making module, the technology is simple and reliable;
(2)本发明的车联网环境下入口匝道车辆通行引导系统及其引导方法能够实现快速路主线外侧车道车辆可插间隙的重新分配，为入口匝道车辆提供足够的汇入间隙，为驾驶员提供车辆合流时所需的安全车速和速度轨迹，让进入合流区的主线车辆和入口匝道车辆都有迹可循，极大地消除了合流区车辆频繁换道和调速行为，更减轻了驾驶员进入快速路合流区时的紧张心理和烦躁情绪；并且在驾驶员精力不集中的情况下，能强行控制车辆，避免发生不必要的碰撞事故，极大地提高了合流区的行车安全水平和通行效率；(2) The on-ramp vehicle traffic guidance system and its guiding method in the Internet of Vehicles environment of the present invention can realize the redistribution of the insertable gaps for vehicles in the outer lanes of the expressway main line, provide sufficient entry gaps for on-ramp vehicles, and provide drivers with The safe vehicle speed and speed trajectory required when vehicles merge, so that the main line vehicles and on-ramp vehicles entering the merging area have traces to follow, which greatly eliminates the frequent lane changing and speed regulation behavior of vehicles in the merging area, and reduces the need for drivers to enter the merging area. Nervousness and irritability in the merging area of expressways; and when the driver is not concentrated, the vehicle can be forcibly controlled to avoid unnecessary collision accidents, which greatly improves the driving safety level and traffic efficiency in the merging area;
(3)本发明的车联网环境下入口匝道车辆通行引导系统及其引导方法适用于车辆在任何主线交通状态下的匝道车辆车速引导，尤其适用于入口匝道排队过长和视距不良的入口匝道车辆与主线车辆的合流引导，实用性非常强，可从一定程度上解决高峰时期入口匝道排队过长的问题，为降低快速路合流区的排放污染、减轻道路交叉口交通负荷做出贡献。(3) The on-ramp vehicle traffic guidance system and its guiding method in the Internet of Vehicles environment of the present invention are suitable for the vehicle speed guidance of on-ramp vehicles in any main line traffic state, especially suitable for on-ramp queues with long queues and poor line-of-sight. The merging guidance of vehicles and mainline vehicles is very practical. It can solve the problem of excessively long queues at the on-ramp during peak periods to a certain extent, and contribute to reducing emission pollution in expressway merging areas and reducing traffic load at road intersections.
(4)本发明的车联网环境下入口匝道车辆通行引导系统可与城市管理部门实现无缝连接，管理部门实时获取车辆运行状态信息，实现城市快速路入口匝道的管理与控制，真正实现交通监测、管理与控制于一体。(4) The on-ramp vehicle traffic guidance system of the present invention can be seamlessly connected with the city management department, and the management department can obtain the vehicle running status information in real time, realize the management and control of the urban expressway on-ramp, and truly realize traffic monitoring. , management and control in one.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，并可依照说明书的内容予以实施，以下以本发明的较佳实施例并配合附图详细说明。The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the content of the description, the following describes the preferred embodiments of the present invention in detail with the accompanying drawings.
附图说明Description of drawings
图1为本发明车联网环境下的入口匝道车辆通行引导系统的结构框图；Fig. 1 is the structural block diagram of the on-ramp vehicle traffic guidance system under the Internet of Vehicles environment of the present invention;
图2为本发明中车载设备的界面显示示意图；Fig. 2 is the interface display schematic diagram of in-vehicle equipment in the present invention;
图3为本发明车联网环境下的入口匝道车辆通行引导系统的引导方法的步骤流程图；3 is a flow chart of the steps of the guidance method of the on-ramp vehicle passage guidance system under the Internet of Vehicles environment of the present invention;
图4为本发明车联网环境下的入口匝道车辆通行引导系统的引导方法的示意图。FIG. 4 is a schematic diagram of a guidance method of an on-ramp vehicle passage guidance system in a vehicle networking environment according to the present invention.
具体实施方式Detailed ways
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are intended to illustrate the present invention, but not to limit the scope of the present invention.
实施例：如图1所示，一种车联网环境下的入口匝道车辆通行引导系统，包括路侧设备2和监控中心3以及主线车辆车载设备5和匝道车辆车载设备1；所述路侧设备、监控中心、主线车辆车载设备和匝道车辆车载设备四者之间通过无线通信网络4进行信息传递；Example: As shown in FIG. 1 , an on-ramp vehicle traffic guidance system under the Internet of Vehicles environment includes roadside equipment 2 and monitoring center 3 as well as main line vehicle on-board equipment 5 and ramp vehicle on-board equipment 1; the roadside equipment , the monitoring center, the main line vehicle on-board equipment and the ramp vehicle on-board equipment through the wireless communication network 4 for information transmission;
所述路侧设备包括主线车流信息采集模块21、匝道车流信息采集模块22和路侧智能决策模块23；所述主线车流信息采集模块和匝道车流信息采集模块均与所述路侧智能决策模块通信连接；The roadside equipment includes a main line traffic information acquisition module 21, a ramp traffic information acquisition module 22 and a roadside intelligent decision-making module 23; the main line traffic information acquisition module and the ramp traffic information acquisition module both communicate with the roadside intelligent decision-making module connect;
路侧设备的工作方式是：主线车流信息采集模块主要采集主路外侧车道车辆的运行状态信息；匝道车流信息采集模块主要采集入口匝道车流的运行状态信息；路侧智能决策模块根据接收到的主线车流和匝道车流信息对主线外侧车道可插间隙进行再分配，给出相应的协同车辆的编号及调速信息，并根据主线可插间隙运行状态信息对匝道车辆发送编号及调速信息；The working mode of the roadside equipment is: the main line traffic information collection module mainly collects the running status information of the vehicles in the outer lane of the main road; the ramp traffic information collection module mainly collects the running status information of the on-ramp traffic flow; The traffic flow and ramp traffic information redistributes the pluggable gaps in the outer lanes of the main line, gives the number and speed regulation information of the corresponding cooperating vehicles, and sends the number and speed regulation information to the ramp vehicles according to the operating status information of the main line pluggable gaps;
所述主线车辆车载设备和匝道车辆车载设备均包括车载主控模块11和分别与所述车载主控模块通信连接的车辆基本信息储存模块16、GPS定位模块17、车速采集模块12、车速控制模块14和提示模块13，所述车辆基本信息存储模块中预先存储有本车的静态信息；The main line vehicle on-board equipment and the ramp vehicle on-board equipment both include an on-board main control module 11 and a vehicle basic information storage module 16, a GPS positioning module 17, a vehicle speed acquisition module 12, and a vehicle speed control module respectively connected to the vehicle main control module. 14 and the prompt module 13, the vehicle basic information storage module pre-stores the static information of the vehicle;
主线车辆车载设备和匝道车辆车载设备的工作方式是：GPS定位模块采集车辆运行位置信息；车速采集模块实时采集车辆速度；车速控制模块控制车辆速度；提示模块提示驾驶员车辆通过快速路合流区时所需的安全车速。The main line vehicle on-board equipment and ramp vehicle on-board equipment work as follows: GPS positioning module collects vehicle running position information; vehicle speed collection module collects vehicle speed in real time; vehicle speed control module controls vehicle speed; desired safe speed.
当车辆进入快速路合流区通信范围时，匝道车辆车载设备、主线车辆车载和路侧设备三者之间进行信息交互，路侧智能决策模块快速采集主线外侧车道和匝道车辆数量、每车经纬度坐标、每车速度等信息，并将车辆经纬度坐标转换为快速路合流区域当地坐标，该坐标以主线外侧车道和匝道的交点为原点；根据采集到的主线车辆和匝道车辆的运动信息分别对每辆车进行编号，分析与匝道头车即将发生冲突的主线第一协同让行车辆的编号，将减速指令发送给第一协同让行车辆，并根据主线上游交通状态信息和匝道车辆的编队长度对主线外侧车道可插间隙进行重新分配，确定第二、第三、......第N协同车辆的编号及重新生成的第一、第二、......第N可插间隙运行状态信息，根据主线可插间隙的运行状态信息对匝道车辆进行分组编号，并把分组编号和调速信息发送给入口匝道上每个车辆；主线和匝道车辆车载主控模块根据接收到的可插间隙运行状态信息自行调整车辆的速度，并发送至提示模块和车速控制模块，通过提示模块提示驾驶员所需的安全车速，同时车载主控模块会监控车辆是否按所给安全车速行驶，若监测到车辆未按安全车速行驶则车速控制模块自动控制车辆的速度。When the vehicle enters the communication range of the expressway merging area, information is exchanged between the on-board equipment of the ramp vehicle, the on-board equipment of the main line vehicle and the roadside equipment. The roadside intelligent decision-making module quickly collects the number of vehicles in the outer lanes of the main line and the ramp, and the latitude and longitude coordinates of each vehicle. , the speed of each vehicle and other information, and convert the latitude and longitude coordinates of the vehicle into the local coordinates of the expressway merging area, and the coordinates take the intersection of the outer lane and the ramp as the origin; Number the vehicles, analyze the number of the first coordinated yield vehicle on the main line that is about to conflict with the leading vehicle on the ramp, send the deceleration command to the first coordinated yield vehicle, and adjust the main line according to the upstream traffic status information of the main line and the formation length of the ramp vehicles. Redistribute the pluggable gaps in the outer lanes, determine the number of the second, third, ... Nth cooperating vehicle and regenerate the first, second, ... Nth pluggable gap operation Status information, grouping and numbering the ramp vehicles according to the operating status information of the main line pluggable gap, and sending the group number and speed regulation information to each vehicle on the on-ramp; main line and ramp vehicles on-board main control module according to the received pluggable The gap operation status information adjusts the speed of the vehicle by itself, and sends it to the prompt module and the speed control module. The prompt module prompts the driver to the required safe speed. At the same time, the vehicle main control module will monitor whether the vehicle is running at the given safe speed. If monitoring The vehicle speed control module automatically controls the speed of the vehicle until the vehicle does not travel at a safe speed.
所述主线和匝道车辆车载主控模块通过车车、车路通信获取其他车辆的运动状态信息。根据主线协同车辆上游运行状态信息和匝道车辆排队长度对主线外侧车道车辆之间的可插间隔进行再分配，确定协同车辆的减速信息及可能让出的协同可插间隙，然后根据协同车辆让出的协同可插间隙运行状态信息确定匝道车辆的汇入分组编号和调速策略，计算得出匝道车辆汇入主线时所需的安全车速。The vehicle-mounted main control module of the main line and ramp vehicle obtains the motion state information of other vehicles through vehicle-vehicle and vehicle-road communication. Redistribute the pluggable interval between vehicles in the outer lane of the main line according to the upstream operating status information of the main line cooperative vehicles and the queuing length of the ramp vehicles, determine the deceleration information of the cooperative vehicles and the cooperative pluggable gap that may be given up, and then give up according to the cooperative vehicles. The synergistic pluggable gap operation state information of the 2000-2000 determines the entry group number and speed regulation strategy of the ramp vehicles, and calculates the safe speed required for the ramp vehicles to merge into the main line.
所述主线车辆车载设备和匝道车辆车载设备还包括与所述车载主控模块通信连接的车载无线通信模块15，所述路侧设备还包括与所述路侧智能决策模块通信连接的路侧无线通信模块24，所述车载无线通信模块与路侧无线通信模块之间通过无线通信网络进行信息传递。The main line vehicle on-board equipment and the ramp vehicle on-board equipment further include an on-board wireless communication module 15 that is communicatively connected to the on-board main control module, and the roadside equipment further includes a roadside wireless communication module that is communicatively connected to the roadside intelligent decision-making module. A communication module 24, where information is transmitted between the vehicle-mounted wireless communication module and the roadside wireless communication module through a wireless communication network.
所述提示模块包括车速信息显示屏131、车辆编号显示屏132、语音播放模块133和扬声器134，所述车速信息显示屏、车辆编号显示屏和语音播放模块均与车载主控模块通信连接，所述扬声器与所述语音播放模块通信连接。The prompt module includes a vehicle speed information display screen 131, a vehicle number display screen 132, a voice playback module 133 and a speaker 134. The vehicle speed information display screen, the vehicle number display screen and the voice playback module are all connected to the vehicle main control module in communication, so The speaker is connected in communication with the voice playback module.
车速信息显示屏车速信息显示屏显示车辆通过快速路合流区时所需的安全车速，语音播放模块通过扬声器播放车辆通过快速路合流区所需的安全车速。Vehicle speed information display The vehicle speed information display shows the safe speed required for the vehicle to pass through the expressway merging area, and the voice playback module plays the safe vehicle speed required for the vehicle to pass through the expressway merging area through the speaker.
所述车速控制模块控制驱动车辆的制动踏板。The vehicle speed control module controls a brake pedal that drives the vehicle.
所述静态信息包括车主信息、车辆的型号和尺寸大小。当然还可以包括车辆的其它信息。The static information includes vehicle owner information, the model and size of the vehicle. Of course, other information about the vehicle may also be included.
所述车载设备还包括发送本车位置和运动信息给其它冲突车辆的车车无线通信模块。The in-vehicle device also includes a vehicle-to-vehicle wireless communication module for sending the vehicle's position and motion information to other conflicting vehicles.
如图2所示，车载设备的界面包括车辆当前编号和安全车速的显示与语音提示，以及电源和数据的接口，其中车辆分组编号显示界面首位为字母“R”或“Z”，分别表示匝道车辆或主线车辆，第2位为数字表示车辆所属编组的号码，第3位为数字表示所在分组的排序，例如“R15”表示匝道第1分组内的第5辆车。As shown in Figure 2, the interface of the in-vehicle device includes the display and voice prompt of the current vehicle number and safe speed, as well as the interface of power supply and data. The first part of the display interface of the vehicle group number is the letter "R" or "Z", indicating the ramp respectively. Vehicle or main line vehicle, the second digit is the number of the group to which the vehicle belongs, and the third digit is the number of the group it belongs to. For example, "R15" represents the fifth vehicle in the first group of the ramp.
如图3所示，车联网环境下的入口匝道车辆通行引导系统的引导方法，包括如下步骤：As shown in Figure 3, the guidance method of the on-ramp vehicle traffic guidance system in the Internet of Vehicles environment includes the following steps:
步骤一：通过车载设备实时采集自身车辆的位置和运动信息，当进入快速路合流区通信区域时，主线车辆车载设备、匝道车辆车载设备和路侧设备三者之间进行信息的交互；Step 1: Collect the position and motion information of the own vehicle in real time through the on-board equipment. When entering the communication area of the expressway merging area, the on-board equipment of the main line vehicle, the on-board equipment of the ramp vehicle and the roadside equipment conduct information interaction;
步骤二：根据步骤一中路侧设备会采集进入快速路合流区通信区域的车辆运行状态信息，包括主线外侧车道车流和入口匝道车流的信息，路侧智能决策模块根据车流信息分析主线外侧车道是否可以让出足够的可插间隙供入口匝道的车流汇入，若分析得出主线外侧车道可插间隙小于一辆车的车身长度，则发送指令给入口匝道车辆减速慢行等待主线可插间隙，若分析得出主线外侧车道可插间隙足够大但是可插间隙分布不均匀，则路侧智能决策模块根据得到的通信区域内的主线外侧车道和入口匝道的车辆位置、速度等信息，并分别给予车辆编号，同时，分析与匝道头车即将在合流区交汇点发生冲突的主线外侧车道车辆编号，定义为“第一主线协同车辆”，并根据其上游车辆信息确定“第一主线协同车辆”可能让出的可插间隙，给出减速信息，“第一主线协同车辆”车载设备接收到路侧设备发送的减速信息立即执行减速让行，同时通知其后续车辆减速并与“第一主线协同车辆”保持一定的安全车距；Step 2: According to step 1, the roadside equipment will collect the information on the running status of vehicles entering the communication area of the expressway merging area, including the information on the traffic flow in the outer lane of the main line and the traffic flow on the on-ramp. The roadside intelligent decision-making module analyzes whether the outer lane of the main line can be Leave enough pluggable gaps for the on-ramp traffic to merge. If the analysis shows that the pluggable gap in the outer lane of the main line is less than the body length of a vehicle, send an instruction to the on-ramp vehicle to slow down and wait for the main line to plug in the gap. The analysis shows that the pluggable gaps in the outer lanes of the main line are large enough but the distribution of the pluggable gaps is not uniform, then the roadside intelligent decision-making module gives the vehicle positions and speeds of the outer lanes and on-ramps of the main line obtained in the communication area, and gives the vehicles respectively. At the same time, analyze the number of the vehicle in the outer lane of the main line that is about to conflict with the leading vehicle on the ramp at the junction point of the junction area, define it as "the first main line cooperative vehicle", and determine the "first main line cooperative vehicle" according to its upstream vehicle information. The “first main line cooperative vehicle” vehicle-mounted device receives the deceleration information sent by the roadside equipment and immediately performs deceleration and yield, and at the same time informs its subsequent vehicles to decelerate and cooperate with the “first main line cooperative vehicle” maintain a certain safe distance;
步骤三：路侧设备根据“第一主线协同车辆”让出的第一协同可插间隙确定入口匝道车辆参与第一组汇入的车辆数量，并将参与第一组交汇的车辆编号和速度信息发送给入口匝道每一车辆，车载设备接收到信息后立即执行编队操作，以一定的速度在规定时间、规定交汇位置实现与第一协同可插间隙的啮合；Step 3: The roadside equipment determines the number of on-ramp vehicles participating in the first group of vehicles according to the first cooperative pluggable gap given up by the "first main line cooperative vehicle", and the number and speed information of the vehicles participating in the first group of intersections It is sent to each vehicle on the on-ramp, and the on-board equipment immediately executes the formation operation after receiving the information, and achieves meshing with the first cooperative pluggable gap at a specified time and at a specified intersection position at a certain speed;
步骤四：为了让入口匝道车辆安全快速地全部汇入主线车流，路侧决策模块会根据“第一主线协同车辆”上游车队的长度、运动信息和入口匝道剩余车辆的数量、排队长度等进行后续协同可插间隙的重新分配，即生成与第一协同可插间隙尺寸相同、速度相等的第二协同可插间隙、第三协同可插间隙、....、第N协同可插间隙，若入口匝道与第N协同可插间隙相啮合的第N组车辆数量不足，则第N协同间隙可小于第一协同可插间隙，那么第N协同车辆可加速，从而缩小与前车的间隙；Step 4: In order to allow all on-ramp vehicles to merge into the main line traffic safely and quickly, the roadside decision-making module will follow-up based on the length and motion information of the upstream fleet of the "first main line coordinated vehicle", the number of remaining vehicles on the on-ramp, and the queue length, etc. The redistribution of the cooperative pluggable gap, that is, generating the second cooperative pluggable gap, the third cooperative pluggable gap, ...., the Nth cooperative pluggable gap with the same size and speed as the first cooperative pluggable gap, if If the number of vehicles in the Nth group engaged with the Nth cooperative pluggable gap is insufficient, then the Nth cooperative gap can be smaller than the first cooperative pluggable gap, then the Nth cooperative vehicle can accelerate, thereby reducing the gap with the preceding vehicle;
步骤五：根据步骤四中分析出的主线外侧车道协同可插间隙和入口匝道车流的交汇位置和速度，结合每车的当前运行位置和速度信息，车载主控模块会计算每车交汇时的安全车速以及速度轨迹；Step 5: According to the synergistic pluggable gap of the outer lane of the main line and the intersection position and speed of the on-ramp traffic analyzed in Step 4, combined with the current running position and speed information of each vehicle, the vehicle-mounted main control module will calculate the safety of each vehicle at the time of intersection. vehicle speed and speed trajectory;
步骤六：参与合流的主线车辆和入口匝道车辆按照车载设备提示模块发出的提示车速进行调速，同时，车载设备监测车辆是否按车载主控模块计算出的速度轨迹行驶，若车载设备监测到车辆未按安全车速行驶，则转步骤七执行；Step 6: The main line vehicles and on-ramp vehicles participating in the merging shall adjust the speed according to the prompt speed issued by the on-board equipment prompt module. At the same time, the on-board equipment monitors whether the vehicle is traveling according to the speed trajectory calculated by the on-board main control module. If the on-board equipment monitors the vehicle If you do not drive at a safe speed, go to step 7 and execute;
步骤七：若检测到车辆未按安全车速行驶，则该车载设备强行控制该车辆的制动踏板使其达到安全车速；Step 7: If it is detected that the vehicle is not running at the safe speed, the vehicle-mounted device will forcefully control the brake pedal of the vehicle to make it reach the safe speed;
步骤八：判断匝道车辆是否成功汇入主线车流，若没有，则转步骤一执行，否则，结束本次车辆通行引导。Step 8: Determine whether the on-ramp vehicle has successfully merged into the main line traffic flow, if not, go to step 1 to execute, otherwise, end the current vehicle traffic guidance.
如图4所示，车联网环境下的入口匝道车辆通行引导系统的引导方法的示意图。假设在某一快速路合流区域通信范围内，路侧设备采集到主线外侧车道有j辆车即将进入合流区域，匝道有i辆车即将进入合流区域，根据主线外侧车辆和匝道头车到达主线和匝道交汇点O时间的粗略计算，判定与匝道头车即将发生冲突的车辆为第1主线协同车辆，编号为“Z11”，为了匝道车辆顺利汇入主线车流，车辆Z11必须减速让行，让出足够的协同可插间隙D1供匝道车辆汇入，而且协同可插间隙D1必须在匝道头车“R11”到达交汇点O时形成，在车辆Z11到达交汇点O时匝道第1小组车队恰好成功汇入主线，即合流完成，而且R11在合流完成时与车辆Z11前车保持一定的安全车距且速度相等，为了提高合流效率，R11同组车辆必须紧跟其后，必须根据R11的运行状态进行调速且保持一定的安全车距。As shown in FIG. 4 , a schematic diagram of the guidance method of the on-ramp vehicle passage guidance system in the Internet of Vehicles environment. Assuming that within the communication range of a certain expressway merging area, the roadside equipment collects that j vehicles in the outer lane of the main line are about to enter the merging area, and there are i vehicles on the ramp that are about to enter the merging area. Rough calculation of the time at the intersection point O of the ramp, it is determined that the vehicle that is about to collide with the head vehicle on the ramp is the first main line cooperating vehicle, numbered "Z11". Sufficient cooperative pluggable gap D1 for the on-ramp vehicles to merge into, and the cooperative pluggable gap D1 must be formed when the first vehicle “R11” on the ramp reaches the junction O, and the first group of teams on the ramp just successfully converges when the vehicle Z11 reaches the junction O. Into the main line, that is, the merging is completed, and when the merging is completed, the R11 and the vehicle in front of the vehicle Z11 maintain a certain safe distance and the same speed. In order to improve the merging efficiency, the vehicles in the same group of R11 must follow closely, and must be carried out according to the running state of R11. Adjust the speed and maintain a certain safe distance.
(1)第1主线协同车辆“Z11”和匝道头车“R11”调速轨迹的求解。为了确保合流的安全性，令在tmer时刻协同可插间隙D1和匝道头车到达交汇点O，在tend时刻匝道第1车队与第1协同可插间隙成功交汇，合流完成，此时主线第1协同车辆恰好到达交汇点O，而匝道第1车队每两车之间的距离均为最小安全车距L安，为了提高通行效率，只要确保合流之后两车的安全车距即可，令每车开始调速时的时刻为t0，且开始调速时第1主线协同车辆“Z11”前面的车辆保持匀速，则匝道第1车队成功合流需满足下列目标方程：(1) The solution of the speed regulation trajectory of the first main line cooperative vehicle "Z11" and the ramp head vehicle "R11". In order to ensure the safety of the merging, let the cooperating pluggable gap D1 and the first vehicle on the ramp reach the intersection point O at the time tmer , and at the time tend , the first team on the ramp and the first cooperating pluggable gap successfully intersect, and the merging is completed. At this time, the main line The first cooperating vehicle just arrives at the junction O, and the distance between every two vehicles of the first convoy on the ramp is the minimum safe distance L. In order to improvethe traffic efficiency, it is only necessary to ensure the safe distance between the two vehicles after the merging, let The time when each vehicle starts speed regulation is t0 , and the vehicle in front of the first main line cooperating vehicle “Z11” maintains a constant speed when the speed regulation starts, then the first convoy on the ramp needs to satisfy the following objective equation:
minD1＝lR11+lR12+lR13+……+lR1n+(n+1)L安minD1=lR11 +lR12 +lR13 +...+lR1n +(n+1)LA
匝道第1组车队与主线第1协同可插间隙交汇成功需满足的目标方程：The objective equation that needs to be satisfied for the first group of convoys on the ramp and the first synergistic pluggable gap on the main line to meet successfully:
vZ11前(t0)(tend-tmer)-|xZ11(tend)|＝D1+lZ11前vZ11 front (t0 )(tend -tmer )-|xZ11 (tend )|=D1+lZ11 front
以上目标方程均满足的约束条件为：The constraints that the above objective equations satisfy are:
其中，D1表示主线第1协同可插间隙的长度，t0表示车辆进入通信区域开始调速的时刻，tmer表示匝道头车到达交汇点O的时刻，tend表示匝道第1车队成功汇入主线第1协同可插间隙的时刻，第LZ11(t0)表示t0时刻主线第1协同车辆Z11所在位置与交汇点O之间的距离，LR11(t0)、LR12(t0)、LR13(t0)、LR1n(t0)表示t0时刻参与第1组合流的匝道车辆头车及后续车辆2、3、n所在位置分别与交汇点O之间的距离，LR11-R12(tmer)表示tmer时刻匝道车辆R11与车辆R12之间的车头间距，LR11-R13(tmer)表示tmer时刻匝道车辆R11与车辆R13之间的车头间距，LR11-Rn(tmer)表示tmer时刻匝道车辆R11与车辆R1n之间的车头间距，xZ11(t0)、xZ11(tmer)、xZ11(tend)分别表示t0、tmer、tend时刻主线第1协同车辆Z11在本合流区域所处的位置横坐标，vZ11(t)表示主线第1协同车辆Z11的运行速度，vZ11前(t0)和vZ11前(tend)分别表示t0、tend时刻主线第1协同车辆Z11前车的运行速度，vR11(t)、vR12(t)、vR13(t)、vR1n(t)分别表示匝道参与第1小组合流车辆的速度，lR11、lR12、lR13和lR1n分别表示车辆R11、R12、R13和R1n的车身长度，n表示匝道参与第1小组合流的车辆数量，lZ11前表示主线第1协同车辆Z11前车的车身长度，L安表示车与车之间所应保持的最小安全车距(可取2m)，a表示任一车辆运行所需的加速度，v表示任一车辆运行所需的速度，vmax表示车辆行驶所能允许的最大车速，amax和amin表示车辆行驶所能允许的最大加速度和最小加速度。Among them, D1 represents the length of the first synergistic pluggable gap on the main line, t0 represents the time when the vehicle enters the communication area and starts speed regulation, tmer represents the time when the first vehicle on the ramp reaches the intersection O, and tend represents the successful entry of the first team on the ramp. The time of the first cooperatively insertable gap of the main line, LZ11 (t0 ) represents the distance between the position of the first cooperative vehicle Z11 of the main line and the intersection point O at time t0 , LR11 (t0 ), LR12 (t0 ), LR13 (t0 ), and LR1n (t0 ) represent the distances between the positions of the leading vehicle on the ramp and the following vehicles 2, 3, and n participating in the first combined flow at time t0 and the intersection point O, LR11-R12 (tmer ) represents the head-to-head distance between the on-ramp vehicle R11 and the vehicle R12 at the time of tmer , LR1 1-R13 (tmer ) represents the head-to-head distance between the on-ramp vehicle R11 and the vehicle R13 at the time of tmer , and LR11 -Rn (tmer ) represents the head-to-head distance between the ramp vehicle R11 and the vehicle R1n at the time of tmer , and xZ11 (t0 ), xZ11 (tmer ), and xZ11 (tend ) represent t0 , tmer , The abscissa of the position of the first coordinated vehicle Z11 on the main line in this merging area at time tend , vZ11 (t) represents the running speed of the first coordinated vehicle Z11 on the main line,before v Z11 (t0 ) andbefore v Z11 (tend ) represent the running speed of the leading vehicle Z11 on the main line at the time t0 and tend respectively, vR11 (t), vR12 (t), vR13 (t), vR1n (t) respectively represent the ramp participating in the first The speed of the vehicles in the small combination flow, lR11 , lR12 , lR13 and lR1n represent the body lengths of the vehicles R11, R12, R13 and R1n respectively, n represents the number of vehicles participating in the first small combination flow on the ramp, lZ11 front means the first main line The length of the vehicle in front of the collaborative vehicle Z11, LAn represents the minimum safe distance between vehicles (preferably 2m), a represents the acceleration required for any vehicle to operate, and v represents the required speed for any vehicle to operate. Speed, vmax represents the maximum speed allowed by the vehicle, and amax and amin represent the maximum and minimum acceleration allowed by the vehicle.
通过以上目标方程的求解就可得出D1的长度，参与第1组合流的匝道车辆的数量n，以及主线车辆Z11、匝道车辆R11、R12、R13、......、R1n相应的调速轨迹，即合流时的安全车速。By solving the above objective equation, the length of D1, the number n of the ramp vehicles participating in the first combined flow, and the corresponding adjustment of the main line vehicle Z11, the ramp vehicles R11, R12, R13, ..., R1n can be obtained. Speed trajectory, that is, the safe speed when merging.
(2)为了提高合流区的通行效率和保持主线上游车流的稳定性，主线第1协同车辆后续车辆需要每两辆车之间保持最小安全车距，而且第2协同可插间隙与主线第1协同车辆之间的距离与D1相等，即需要满足以下条件：(2) In order to improve the traffic efficiency of the merging area and maintain the stability of the traffic flow upstream of the main line, the following vehicles of the first coordinated vehicle on the main line need to maintain a minimum safe distance between every two vehicles, and the second coordinated pluggable gap is connected to the first coordinated vehicle on the main line. The distance between cooperative vehicles is equal to D1, that is, the following conditions need to be met:
minD1＝lZ11+lZ12+lZ13+……+lZ1m+(m+1)L安minD1=lZ11 +lZ12 +lZ13 +...+lZ1m +(m+1)Lan
以上目标方程均满足的约束条件为：The constraints that the above objective equations satisfy are:
其中，D1表示主线第1协同可插间隙的长度，t0表示车辆进入通信区域开始调速的时刻，tend表示匝道第1车队成功汇入主线第1协同可插间隙的时刻，lZ11、lZ12、lZ13和lZ1m分别表示车辆Z11、Z12、Z13和Z1m的车身长度，m表示主线第1组协同车辆的数量，L安表示车与车之间所应保持的最小安全车距(可取2m)，vZ12(t)、vZ13(t)和vZ1m(t)分别表示主线第1协同小组中的第2、3和m辆车的速度、vZ21(t)表示主线第2协同小组中第1辆车的速度，LZ12(t0)、LZ13(t0)、LZ1m(t0)表示t0时刻参与合流的主线第1协同车辆及后续车辆2、3、m所在位置分别与交汇点O之间的距离，LZ11-Z12(tend)表示tend时刻主线第1协同车辆Z11与车辆Z12之间的车头间距，LZ11-Z13(tend)表示tend时刻主线第1协同小组中的车辆Z11与车辆Z13之间的车头间距，LZ11-Z1m(tend)表示tend时刻主线第1协同小组中的车辆Z11与车辆Z1m之间的车头间距，LZ21-Z1m(tend)表示tend时刻主线第2协同车辆Z21与主线第1协同小组中的车辆Z1m之间的车头间距，vZ12(t0)、vZ13(t0)和vZ1m(t0)分别表示t0时刻主线第1协同小组中的第2、3和m辆车的速度，vZ21(t0)表示t0时刻主线第2协同车辆的速度，vZ11(tend)、vZ12(tend)、vZ13(tend)和vZ1m(tend)分别表示t0时刻主线第1协同小组中的第1、2、3和m辆车的速度，vZ21(tend)表示tend时刻主线第2协同车辆的速度，a表示任一车辆运行所需的加速度，v表示任一车辆运行所需的速度，vmax表示车辆行驶所能允许的最大车速，amax和amin表示车辆行驶所能允许的最大加速度和最小加速度。Among them, D1 represents the length of the first cooperative pluggable gap on the main line, t0 represents the moment when the vehicle enters the communication area and starts speed regulation, tend represents the moment when the first team on the ramp successfully merges into the first cooperative pluggable gap on the main line, lZ11 , lZ12 , lZ13 and lZ1m represent the body lengths of vehicles Z11, Z12, Z13 and Z1m respectively, m represents the number of the first group of coordinated vehicles on the main line, and LAn represents the minimum safe distance between vehicles ( Desirable 2m), vZ12 (t), vZ13 (t) and vZ1m (t) represent the speed of the 2nd, 3rd and m vehicles in the first coordination group of the main line, respectively, vZ21 (t) represents the second main line The speed of the first vehicle in the coordination group, LZ12 (t0 ), LZ13 (t0 ), LZ1m (t0 ) represent the first coordinated vehicle and subsequent vehicles 2, 3, and m of the main line participating in the merging at time t0 The distance between the location and the intersection point O, LZ11-Z12 (tend ) represents the head-to-head distance between the first coordinated vehicle Z11 and the vehicle Z12 on the main line at the time of tend , and LZ11-Z13 (tend ) represents tend The head-to-head distance between vehicle Z11 and vehicle Z13 in the first coordination group on the main line at time, LZ11-Z1m (tend ) represents the head-to-head distance between vehicle Z11 and vehicle Z1m in the first coordination group on the main line at time tend , LZ21-Z1m (tend ) represents the head-to-head distance between the second coordinated vehicle Z21 of the main line and the vehicle Z1m of the first coordinated group of the main line at the time of tend , vZ12 (t0 ), vZ13 (t0 ) and vZ1m ( t0 ) respectively represent the speed of the 2nd, 3rd and m vehicles in the first cooperation group of the main line at time t0 , vZ21 (t0 ) represents the speed of the second coordinated vehicle of the main line at time t0 , vZ11 (tend ) , vZ12 (tend ), vZ13 (tend ) and vZ1m (tend ) represent the speeds of vehicles 1, 2, 3 and m in the first coordination group of the main line at time t0 , respectively, vZ21 (tend ) represents the speed of the second coordinated vehicle on the main line at the time of tend , a represents the acceleration required for any vehicle to run, v represents the speed required for any vehicle to run, vmax represents the maximum allowable speed of the vehicle, amax and amin represent the maximum and minimum acceleration allowed by the vehicle.
通过以上目标方程的求解就可得出D1的长度，参与第1组合流的主线协同车辆的数量m，以及主线协同车辆Z11、Z12、Z13、......、Z1m相应的调速轨迹，而且可以确定出第2协同车辆的编号以及相应的调速策略。By solving the above objective equation, the length of D1, the number m of the main line cooperative vehicles participating in the first combined flow, and the corresponding speed control trajectories of the main line cooperative vehicles Z11, Z12, Z13, ..., Z1m can be obtained. , and the number of the second cooperative vehicle and the corresponding speed regulation strategy can be determined.
(3)确定第2协同车辆之后，主线第2协同可插间隙就可形成，与第1协同可插间隙大小相同且速度相同，那么匝道参与第2小组合流的车辆就可以根据主线第2协同可插间隙的运行状态进行编队和调速，调速策略的求解如同(1)中的目标方程，从而可以得出匝道第2小组参与合流的车辆的编号和调速策略。相应的，主线第3协同车辆、第N-1协同可插间隙的求解如同(2)中的目标方程，就可得出相应的主线第3协同可插间隙、第N-1协同可插间隙，从而可以确定主线每一协同车辆的调速策略。(3) After the second cooperative vehicle is determined, the second cooperative pluggable gap of the main line can be formed. It is the same size and speed as the first cooperative pluggable gap. Then the vehicles participating in the second sub-combination flow on the ramp can be based on the second cooperative flow of the main line. The operation state of the pluggable gap is used for formation and speed regulation. The solution of the speed regulation strategy is the same as the objective equation in (1), so that the number and speed regulation strategy of the vehicles participating in the merging of the second group of the ramp can be obtained. Correspondingly, the solution of the 3rd main line cooperative vehicle and the N-1th cooperative pluggable gap is the same as the objective equation in (2), and the corresponding main line 3rd cooperative pluggable gap and N-1th cooperative pluggable gap can be obtained. , so that the speed regulation strategy of each coordinated vehicle on the main line can be determined.
(4)主线第N协同车辆和第N协同间隙的求解。匝道第N小组合流的车辆数量可能会出现小于车辆数量n的情况，针对这种情况，匝道第N小组合流车辆每辆车之间需要保持最小安全车距，匝道第N小组的第1辆车与第N-1组的最后一辆车之间的安全间距为D1，就可得出RN1的调速策略，路侧智能决策模块会快速获取匝道第N小组车辆的数量，从而确定出匝道第N小组的排队长度DN，那么，主线第N协同车辆就会根据匝道第N小组的排队长度DN进行调速，至tend时刻形成第N协同间隙即可。(4) The solution of the Nth cooperative vehicle and the Nth cooperative gap of the main line. The number of vehicles in the Nth sub-combination flow on the ramp may be less than the number of vehicles n. In this case, the minimum safe distance between each vehicle in the Nth sub-group flow of the ramp needs to be maintained. The first vehicle in the Nth sub-group of the ramp The safety distance between the last vehicle in the N-1 group is D1, and the speed regulation strategy of RN1 can be obtained. The roadside intelligent decision-making module will quickly obtain the number of vehicles in the N-th group on the ramp, so as to determine the number of vehicles in the N-th group on the ramp. The queue length DN of the Nth group, then the Nth coordinated vehicle on the main line will adjust the speed according to the queue length DN of the Nth group of the ramp, and the Nth coordination gap can be formed at the time of tend .
以上所述仅是本发明的优选实施方式，并不用于限制本发明，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和变型，这些改进和变型也应视为本发明的保护范围。The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. It should be pointed out that for those skilled in the art, some improvements can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.
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| CN201611047732.1ACN106601002B (en) | 2016-11-23 | 2016-11-23 | Entrance ramp vehicle passing guiding system and method under Internet of vehicles environment |
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| CN201611047732.1ACN106601002B (en) | 2016-11-23 | 2016-11-23 | Entrance ramp vehicle passing guiding system and method under Internet of vehicles environment |
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