CN114049761B - Intersection control method based on intelligent variable lane - Google Patents
Intersection control method based on intelligent variable laneDownload PDFInfo
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- CN114049761B CN114049761BCN202111235462.8ACN202111235462ACN114049761BCN 114049761 BCN114049761 BCN 114049761BCN 202111235462 ACN202111235462 ACN 202111235462ACN 114049761 BCN114049761 BCN 114049761B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/085—Controlling traffic signals using a free-running cyclic timer
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Abstract
Description
Technical Field
The invention relates to the technical field of traffic, in particular to an intersection control method based on an intelligent variable lane.
Background
Through the rapid development for many years, the number of motor vehicles in China is about 3.48 hundred million currently, and a great amount of traffic jam occurs while the motor vehicles are convenient to go out. Increasingly serious traffic jam problems affect the overall development level of cities, and the traffic jam is relieved. In the range of main urban areas of most key cities, a plurality of intersections still have unreasonable distribution of space-time resources at the intersections due to fixed canalization, old facilities, low intelligent level and the like, so that the traffic is seriously hindered, and the problem needs to be solved as soon as possible.
Disclosure of Invention
The invention provides an intersection control method based on an intelligent variable lane aiming at the problems and the technical requirements, and the technical scheme of the invention is as follows:
an intersection control method based on an intelligent variable lane comprises the following steps:
determining road section traffic data of the current road section according to data acquired by the arranged sensors and data acquired from a third-party data platform;
performing cluster analysis on the acquired traffic data of all road sections and historical traffic statistical data to determine traffic flow data, wherein the traffic flow data comprises traffic flows of all vehicles flowing from an upstream intersection in all driving directions on an entrance way of a current road section;
controlling a signal control machine of a downstream intersection of the current road section to work according to a signal timing mode corresponding to traffic flow data;
determining the number of lanes corresponding to each driving direction according to the traffic flow of each driving direction and the traffic flow threshold corresponding to each driving direction based on the total number of lanes contained in the entrance way of the current road section;
and controlling an intelligent variable lane display screen at the entrance lane of the current road section to display an indication mark corresponding to each lane according to the number of lanes corresponding to each driving direction, wherein the indication mark corresponding to each lane indicates that the vehicle in the current lane drives into the downstream intersection along the driving direction indicated by the indication mark according to a signal control machine at the entrance lane.
The road section traffic data comprises at least one of the total number of vehicles on the road section of the current road section, the number of vehicles on each lane in the road section, the statistical data of the types of the vehicles in the road section, the road section congestion state evaluation data, the intersection relation data and the vehicle navigation data in the road section.
The further technical scheme is that the total number of vehicles on the road section, the number of vehicles on each lane in the road section, statistical data of vehicle types in the road section and navigation data of vehicles in the road section are obtained according to data collected by distributed sensors;
the total number of vehicles in the road section is acquired based on a wide area radar arranged at an upstream intersection and/or in the current road section, the number of vehicles in each lane in the road section is acquired based on a wide area radar arranged in the current road section, vehicle type statistical data in the road section is acquired based on a monitoring camera arranged in the current road section, and vehicle navigation data in the road section is acquired based on roadside equipment arranged in the current road section.
The road section congestion state evaluation data and the intersection relation data are obtained based on data obtained from a third-party data platform, and the third-party data platform comprises an electronic map platform and/or an online taxi taking platform;
the road section congestion state evaluation data are obtained by determining the driving speed and/or the travel time from the upstream intersection to the downstream intersection, which are acquired from a third-party data platform; the intersection relation data comprise intersection connection relations and distances among intersections acquired from the electronic map platform.
The method comprises the following steps of controlling an intelligent variable lane display screen of a road section of an upstream intersection to display other indication marks except the indication mark corresponding to the driving direction of the current road section when the current road section is determined to be in an accident control state based on at least one of the total number of vehicles on the road section, the number of vehicles on each lane in the road section and road section congestion state evaluation data, and controlling a signal timing mode of a signal control machine of a downstream intersection to enable the green letter time of the current road section to be the maximum.
The method comprises the following steps that in a first preset time period, a signal control machine for controlling the intersection controls an intelligent variable lane display screen of each road section to display according to a fixed preset display mode by adopting a fixed preset signal timing mode, wherein the first preset time period is a time period when the traffic flow of each driving direction in the road section is smaller than a corresponding traffic flow threshold value;
and controlling a signal timing mode of a signal control machine of a corresponding intersection and a display mode of an intelligent variable lane display screen according to the traffic flow data of the road section in a time period except the first preset time period.
The further technical scheme is that the method for determining the traffic flow data by carrying out cluster analysis on the acquired traffic data of all road sections and historical traffic statistical data comprises the following steps:
when the acquired traffic data of all road sections and historical traffic statistical data are subjected to cluster analysis, the hierarchical clustering algorithm is adopted to analyze the correlation of the time-space distribution characteristics among vehicles, the traffic flow of each driving direction in the current road section is determined, and when the hierarchical clustering algorithm is used, the two clusters are merged and updated through the minimum distance and/or the maximum distance and/or the average distance between the two clusters.
The further technical scheme is that different signal timing modes corresponding to traffic flow data and adopted by the signal controller comprise at least one of different phase numbers, different phase sequences of the phases and different green signal durations of all the phases.
The intelligent variable lane display screen is characterized in that each indication mark displayed by the intelligent variable lane display screen indicates a single driving direction, and the corresponding lane is a single-vehicle direction special lane, or indicates at least two driving directions simultaneously, and the corresponding lane is a multi-vehicle direction common lane.
The control platform directly sends the display mode to the intelligent variable lane display screen after determining the number of lanes corresponding to each driving direction and the display mode of the intelligent variable lane display screen according to the traffic flow data, or sends the display mode to a signal control machine corresponding to the current road section and forwards the display mode to the intelligent variable lane display screen by the signal control machine.
The beneficial technical effects of the invention are as follows:
the application discloses an intersection control method based on an intelligent variable lane, which fully considers the actual traffic state of an intersection, relies on Internet big data and third-party map data, combines sensor monitoring data to fully explore space-time resources to control the display content of an intelligent variable lane display screen on a fully variable lane section, and realizes lane switching and signal timing mode adjustment.
Drawings
Fig. 1 is a method flowchart of an intersection control method disclosed in the present application.
Fig. 2 is a schematic view of a road intersection to which the method of the present application is applied.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
The application discloses an intersection control method based on an intelligent variable lane, please refer to a flow chart shown in fig. 1, and the method comprises the following steps:
step 1, determining road section traffic data of a current road section according to data acquired by distributed sensors and data acquired from a third-party data platform. The step is usually executed by a control platform of a road network system, in the road network system of the present application, please refer to fig. 2 for a partial schematic diagram, a vehicle drives into a road section from an upstream intersection and drives into a downstream intersection, the upstream intersection and the downstream intersection of a north-south road section are driven out on the map, various sensors are laid in the road section, the road section mainly includes a wide area radar 1 and possibly a monitoring camera and the like, an entrance road of the road section is divided into a plurality of lanes, fig. 2 takes the division into 5 lanes as an example, all the lanes are variable lanes, that is, there is no fixed driving direction, an intelligent variablelane display screen 2 is arranged at the entrance road of the road section, the intelligent variablelane display screen 2 is connected to the control platform and can be directly connected to the control platform or connected to the control platform through asignal controller 3, a plurality of indication marks are displayed on the intelligent variablelane display screen 2, usually one indication mark is displayed corresponding to each lane, and the type of the indication mark displayed corresponding to each lane is variable according to an instruction of the control platform, for example, as shown in fig. 2, 5 indication marks are divided into 5 roads of the entrance road section.
The control platform is connected with various sensors and a third-party data platform to acquire data, is provided with a cloud database, can store the acquired or processed data in the cloud database, and can also read various data stored in the cloud database for use.
In the present application, the road traffic data includes at least one of a total number of vehicles on the road, a number of vehicles on each lane in the road, statistical data of vehicle types in the road, road congestion state evaluation data, intersection relationship data, and vehicle navigation data in the road.
The total number of vehicles on the road section, the number of vehicles on each lane in the road section, the statistical data of the types of the vehicles in the road section and the navigation data of the vehicles in the road section are obtained according to the data collected by the arranged sensors: the total number of vehicles in the road section is acquired based on wide-area radar arranged at an upstream intersection and/or in the current road section. The number of vehicles in each lane in the road section is acquired based on a wide area radar arranged in the current road section, the number of vehicles in each lane, the queuing length and the like can be actually acquired, the acquisition frequency is configured according to actual needs, and the acquisition can be carried out according to the frequencies of 1min, 3min, 5min, 15min, 30min, 60min and the like. The statistical data of the vehicle types in the road section are acquired based on a monitoring camera arranged in the current road section, the vehicle types comprise buses, trucks, cars and the like, and the vehicle types corresponding to the vehicles can be determined by utilizing an image recognition technology, so that the statistical data of each vehicle type can be determined. The vehicle navigation data in the road section is acquired based on road side equipment in the current road section, the vehicle navigation data in the road section comprises the real-time position, the navigation route and the like of a vehicle, and the road side equipment is matched with the vehicle loaded with the vehicle road cooperation equipment OBU for use, so that the vehicle navigation data in the road section can be acquired.
The road section congestion state evaluation data and the intersection relation data are obtained based on data obtained from a third-party data platform, and the third-party data platform comprises an electronic map platform and/or an online taxi taking platform: the link congestion state evaluation data is obtained by determining the driving speed and/or the travel time from the upstream intersection to the downstream intersection, which are acquired from the third-party data platform, and the corresponding congestion state evaluation results, such as accidents, overflow, extreme congestion, extraordinary congestion, general congestion, slow traveling, unblocked, traffic control and the like, can be determined according to the driving speed and/or the travel time in a grading manner. The intersection relation data comprise intersection connection relations and distances among intersections acquired from the electronic map platform.
In addition, the control platform can also acquire a signal timing mode and historical traffic statistical data of a signal control machine of an upstream intersection and a downstream intersection of the current road section from a cloud database of the control platform, wherein the historical traffic statistical data is usually historically acquired road section traffic data and data obtained by further processing.
Andstep 2, performing cluster analysis on the acquired traffic data of all road sections and the historical traffic statistical data to determine traffic flow data, wherein the traffic flow data comprises traffic flows of all vehicles flowing from the upstream intersection in all driving directions on an entrance way of the current road section.
In the method, when the traffic data of all road sections are subjected to cluster analysis, the hierarchical clustering algorithm is adopted to analyze the correlation of the space-time distribution characteristics among vehicles, the traffic flow of each driving direction in the current road section is determined, and when the hierarchical clustering algorithm is used, the two clusters are merged and updated through the minimum distance and/or the maximum distance and/or the average distance between the two clusters.
This step establishes a hierarchical clustering Algorithm (AGENT) that attempts to partition the data at different levels, thereby forming a tree-shaped cluster structure. The data set can be divided by adopting a bottom-up aggregation strategy or a top-down separation strategy, for example, a bottom-up hierarchical clustering algorithm, each sample in the data set is firstly regarded as an initial cluster, then two closest clusters are found out in each step of the algorithm operation and are merged, and the process is continuously repeated until the preset number of clusters is reached. In calculating the distance between two clusters, the distance between the closest samples of the two clusters may be calculated to obtain the minimum distance, or the distance between the farthest samples of the two clusters may be calculated to obtain the maximum distance, or the distances between all the samples of the two clusters may be calculated to obtain the average distance. In order to make the clustering result more accurate, clustering can be performed repeatedly.
And 3, controlling a signal control machine of the downstream intersection of the current road section to work according to a signal timing mode corresponding to the traffic flow data. The different signal timing modes corresponding to the traffic flow data adopted by the signal controller comprise at least one of different phase numbers, different phase sequences of the phases and different green time durations of the phases. The signal timing modes corresponding to different traffic flow data may be pre-configured, for example, when it is determined that the traffic flow data is small, that is, the traffic flow in each driving direction is small, a two-phase signal timing mode may be adopted, and when it is determined that the traffic flow data is large, that is, the traffic flow in each driving direction is large, a four-phase signal timing mode may be adopted.
And 4, determining the number of lanes corresponding to each driving direction based on the total number of lanes contained in the entrance lane of the current road section according to the traffic flow of each driving direction and the traffic flow threshold corresponding to each driving direction, wherein each driving direction corresponds to one or more lanes, and one lane corresponding to each driving direction can be shared independently or with other driving directions.
Each driving direction can be divided into the corresponding number of lanes according to different relations between the traffic flow and the traffic flow threshold. For example, the number of lanes may be divided according to a ratio of the traffic flow to the traffic flow threshold, for example, for a right turn direction, assuming that the ratio of the right turn traffic flow to the right turn traffic flow threshold is a right turn traffic flow threshold ZR, a straight right shared lane may be set when the right turn traffic flow threshold ZR is between 0 and 1, and an exclusive right turn lane may be set when the right turn traffic flow threshold ZR is greater than 1 from 0 to 1. The dividing modes of the different forming directions for the number of lanes are the same or different, for example, the lanes are divided according to the mode for the right-turn direction, for the straight-going direction, an exclusive straight-going lane is set when the configured straight-going traffic threshold value ZS is smaller than 1, at least two exclusive straight-going lanes are set when the straight-going traffic threshold value ZS is between 1 and 2, at least two exclusive straight-going lanes are set when the straight-going traffic threshold value ZS is between 2 and 3, at most three exclusive straight-going lanes are set when the straight-going traffic threshold value ZS is larger than 3, and the exclusive straight-going lanes can be adjusted in other modes, for example, the independent left-sharing lane and the independent right-sharing lane can be adjusted.
The dividing mode of the number of vehicles in different driving directions can be configured in a self-defining mode in advance, and the total number of lanes contained in the entrance lane of each road section is also predetermined and planned, so that the number of vehicles in each driving direction can be coordinated under the limit of the total number of lanes, and the number of lanes in each driving direction can be determined.
And 5, controlling an intelligent variable lane display screen at the entrance lane of the current road section to display an indication mark corresponding to each lane according to the number of lanes corresponding to each driving direction.
In the application, after determining the number of lanes corresponding to each driving direction and the display mode of the intelligent variable lane display screen according to traffic flow data, the control platform directly sends the display mode to the intelligent variable lane display screen, or sends the display mode to a signal controller corresponding to the current road section and forwards the display mode to the intelligent variable lane display screen through the signal controller.
The indication mark corresponding to each lane indicates that the vehicle in the current lane drives into the downstream intersection along the driving direction indicated by the indication mark according to the signal control machine at the entrance lane. Each indication mark displayed by the intelligent variable lane display screen indicates a single driving direction, and the corresponding lane is a lane special for a single-vehicle direction, or indicates at least two driving directions simultaneously, and the corresponding lane is a lane shared by multiple vehicle directions.
In the application process, the method further comprises a special control mode, when the current road section is determined to be in the accident control state based on at least one of the total number of vehicles in the road section, the number of vehicles in each lane in the road section and the road section congestion state evaluation data, the intelligent variable lane display screen of the road section at the upstream intersection is controlled to display other indication marks except the indication mark corresponding to the driving direction of the current road section, and the signal timing mode of the signal control machine at the downstream intersection is controlled to enable the green letter time of the current road section to be released to be the maximum. The specific display mode can be configured in various ways as required, for example, when the road section of the west entrance is in the accident control state, the opposite east entrance can be controlled to display other indicators besides the indicator indicating straight movement, which at least includes the following specific display modes, and the display mode can be actually displayed in any one of them:
(1) The east entry variable lane displays are u-turn, left-turn, right-turn and west entry variable lane displays left-turn, straight, right-turn, respectively.
(2) The east entry variable lane displays are turn around, left turn, right turn and west entry variable lane displays left turn, straight, right turn, respectively.
(3) The east entry variable lane display is respectively shared by turning around, left turning, right turning and west entry variable lane display of left turning, straight going and right turning.
(4) The east entry variable lane displays are turn around, left turn, right turn and west entry variable lane displays are left turn, straight, right turn, respectively.
Therefore, the situation that vehicles on a road section of the east import directly enter the west import to cause further vehicle overstock can be avoided, and in addition, four-phase release (west import release (higher green letter), east import release (lower green letter), south-north direct (lower green letter), south-north left turn (lower green letter)) or three-phase release (west import release (higher green letter), east import release (lower green letter) and south-north combined release (lower green letter)) can be configured and used, so that the vehicles at the west import are quickly released, and the control strategy of 'slow-in and fast-out' can be realized.
Alternatively, the method provided by the present application may be executed all day long, or in time-sharing, and when the time-sharing is executed: and in a first preset time period, a signal control machine for controlling the intersection controls the intelligent variable lane display screen of each road section to display according to a fixed preset display mode by adopting a fixed preset signal timing mode, wherein the first preset time period is a time period when the traffic flow of each driving direction in the road section is smaller than the traffic flow threshold value of each corresponding driving direction. For example, conventionally, the time from 22 a night to 6 a morning may be configured, and the traffic flow is small in this time period, so that the method may not be adopted for adjustment, and the predetermined signal timing mode and the predetermined display mode may be configured in advance, for example, the predetermined signal timing mode may be set in advance as a two-phase control mode (east-west combination and south-north combination), and the predetermined display mode is left turn, straight travel, and right turn at the east entrance of the intersection; west import left turn, straight going, right turn.
And in a time period outside the first preset time period, namely a time period with a generally larger traffic flow, the method is adopted to control the signal timing mode of a signal controller of the corresponding intersection and the display mode of an intelligent variable lane display screen according to traffic flow data of the road section, and the release mode of the intersection is dynamically adjusted according to traffic conditions, so that the traffic efficiency is improved.
When controlling the traffic at the intersection, the signal control machine and the intelligent variable lane display screen are coordinated with each other, and multiple specific combined control modes are provided, and the following configuration is provided in the application in the following way by assuming the lane number dividing mode of turning around, turning left, going straight and turning right when the relation between the traffic flow and the traffic flow threshold is different:
1. judging a turning-around traffic flow threshold value ZR:
(1) If the turning round vehicle flow threshold value ZR is infinitely close to 0, the turning round vehicle is not needed to be considered.
(2) If the turning-around traffic flow threshold value ZR is between 0 and 0.5, the turning-around left-turning mixed lane can be considered to be additionally arranged and commonly used, and the passing efficiency is improved.
(3) If the turning round traffic flow threshold value ZR is between 0.5 and 1.0, the additional turning round special lane can be considered.
(4) If the turning-around traffic threshold value ZR is larger than 1.0, the addition of a turning-around special lane and the addition of a canalization turning-around design in advance can be considered.
2. Judging a left-turn traffic flow threshold value ZL:
(1) If the left-turn traffic flow threshold ZL is less than 1.0, at least one left-turn lane is reserved.
(2) If the left-turn traffic threshold ZL is between 1.0 and 2.0, at least 2 left-turn lanes are reserved.
(3) If the left-turn traffic flow threshold ZL is between 2.0 and 3.0, at least 2 left-turn lanes are reserved, and at most 3 left-turn lanes can be set.
(4) If the left-turn traffic flow threshold ZL is greater than 3.0, at most 3 left-turn lanes can be set, and the left-turn lanes are adjusted in other ways.
3. Judging a straight traffic flow threshold value ZS:
(1) If the straight traffic flow threshold ZS is smaller than 1.0, at least one straight traffic lane is reserved.
(2) If the straight traffic flow threshold ZS is between 1.0 and 2.0, at least 2 straight traffic lanes are reserved.
(3) If the straight traffic flow threshold ZS is between 2.0 and 3.0, at least 2 straight lanes are reserved, and at most 3 straight lanes can be set.
(4) If the straight traffic flow threshold value ZS is larger than 3.0, 3 straight lanes can be set at most and are adjusted in other modes.
4. Judging a right-turn traffic flow threshold value ZR:
(1) If the right-turn traffic threshold ZR is between 0-1.0, it is contemplated to use a straight right-turn common lane.
(2) If the right-turn traffic flow threshold ZR is larger than 1.0, at least 1 right-turn special lane is reserved.
Assuming that the entrance lane of the current road segment has 5 lanes, and a four-phase-sequence signal timing mode (north-south straight driving, north-south left turning, east-west straight driving, east-west left turning) is adopted in the peak period, the matching and passing combination mode of the actual intersection can be as follows:
1. the phase sequence adopts the combination of turning around (1) or turning around (2), left turning (1), straight going (1) and right turning (1). The entrance is configured to be a 1 left-turn and U-turn shared lane +3 straight lane +1 right-turn lane, a 1 left-turn and U-turn shared lane +1 left-turn lane +2 straight lane +1 right-turn lane, and a 2 left-turn lane +2 straight lane +1 straight right-turn shared lane.
2. The phase sequence adopts the combination of turning around (1) or (2), turning left (2) or (3), moving straight (2) or (3) and turning right (1). The lane entrance is configured as a 2 left-turn lane +2 straight lane +1 right-turn lane, a 2 left-turn lane +2 straight lane +1 straight right-turn common lane.
3. The phase sequence adopts the combination of turning around (1) or (2), turning left (3) or (4), moving straight (3) or (4) and turning right (1). The entrance is configured to be a 3 left-turn lane +1 straight right-turn shared lane, and a 2 left-turn lane +2 straight lane +1 straight right-turn shared lane.
4. The phase sequence adopts the combination of turning round (3) or turning round (4), left turning (2) or left turning (3), straight going (2) or straight going (3) and right turning (1). The entrance is configured to be a 1-turn lane, a 2-left-turn lane, a 1-straight lane and a 1-straight right-turn common lane.
5. The phase sequence adopts the combination of turning round (3) or turning round (4), left turning (3) or left turning (4), straight going (3) or straight going (4) and right turning (2). The entrance is configured to be a 1-turn lane, a 2-left-turn lane, a 1-straight lane and a 1-straight right-turn common lane.
When a three-phase sequence signal timing mode (east-west closing and releasing, south-north straight going and south-north left turning) is adopted in the flat peak time period, the matching and releasing combination mode of the actual intersection can be as follows:
1. the phase sequence adopts the combination of turning around (1) or turning around (2), left turning (1), straight going (1) and right turning (1). The variable lanes are shown as a 1 left turn and turn shared lane +3 straight lane +1 right turn lane, a 1 left turn and turn shared lane +1 left turn lane +2 straight lane +1 right turn lane, a 2 left turn lane +2 straight lane +1 straight right turn shared lane.
2. The phase sequence adopts the combination of turning around (1) or (2), left turning (2) or (3), straight moving (2) or (3) and right turning (1). The entrance is configured as a 2 left-turn lane +2 straight lane +1 right-turn lane, a 2 left-turn lane +2 straight lane +1 straight right-turn common lane, and a 1 left-turn lane +1 straight left-turn common lane +2 straight lane +1 right-turn lane.
3. The phase sequence adopts the combination of turning round (1) or (2), turning left (3) or (4), moving straight (3) or (4) and turning right (1). The entrance is configured to be a 3 left-turn lane +1 straight-going right-turning shared lane, a 2 left-turn lane +2 straight-going lane +1 straight-going right-turning shared lane, and a 2 left-turn lane +1 straight-going left-turning shared lane +1 straight-going right-turning shared lane.
4. The phase sequence adopts the combination of turning around (1), left turning (1), straight going (3) and right turning (2). The entrance is configured as a 1-straight left-turn shared lane + 2-straight lane + 2-right-turn lane.
5. The phase sequence adopts the combination of turning round (3) or turning round (4), left turning (2) or left turning (3), straight going (2) or straight going (3) and right turning (1). The inlet is configured to be a 1-turn lane +2 left-turn lane +1 straight-going right-turning shared lane +1 right-turning lane, a 1-turn lane +2 left-turn lane +1 straight-going right-turning shared lane, and a 1-turn lane +1 left-turn lane +1 straight-going left-turning shared lane +1 straight-going right-turning shared lane.
6. The phase sequence adopts the combination of turning round (3) or turning round (4), left turning (3) or left turning (4), straight going (3) or straight going (4) and right turning (2). The entrance is configured to be a 1U-turn lane +2 left-turn lane +1 straight right-turn common lane, a 1U-turn lane +1 left-turn lane +1 straight left-turn common lane +1 straight right-turn common lane.
What has been described above is only a preferred embodiment of the present application, and the present invention is not limited to the above examples. It is to be understood that other modifications and variations directly derived or suggested to those skilled in the art without departing from the spirit and scope of the present invention are to be considered as included within the scope of the present invention.
Claims (9)
1. An intersection control method based on an intelligent variable lane is characterized by comprising the following steps:
determining road section traffic data of the current road section according to data acquired by the distributed sensors and data acquired from a third-party data platform;
performing cluster analysis on the acquired traffic data of all road sections and the historical traffic statistical data to determine traffic flow data, wherein the cluster analysis comprises the following steps: when the acquired traffic data of all road sections and historical traffic statistical data are subjected to cluster analysis, the hierarchical clustering algorithm is adopted to analyze the correlation of the time-space distribution characteristics among vehicles, the traffic flow of each driving direction in the current road section is determined, and when the hierarchical clustering algorithm is used, the two clusters are merged and updated through the minimum distance and/or the maximum distance and/or the average distance between the two clusters; the traffic flow data comprise traffic flows of all vehicles flowing from an upstream intersection driving to all driving directions on an entrance way of a current road section;
controlling a signal control machine of a downstream intersection of the current road section to work according to a signal timing mode corresponding to the traffic flow data;
determining the number of lanes corresponding to each driving direction based on the total number of lanes contained in an entrance lane of the current road section according to the traffic flow of each driving direction and the corresponding traffic flow threshold;
and controlling an intelligent variable lane display screen at an entrance lane of the current road section to display an indication mark corresponding to each lane according to the number of lanes corresponding to each driving direction, wherein the indication mark corresponding to each lane indicates that vehicles in the current lane drive into a downstream intersection along the driving direction indicated by the indication mark according to a signal control machine at the entrance lane.
2. The method of claim 1, wherein the road segment traffic data comprises at least one of a total number of vehicles on a road segment, a number of vehicles on each lane within a road segment, vehicle type statistics within a road segment, road segment congestion status assessment data, intersection relationship data, and vehicle navigation data within a road segment for a current road segment.
3. The method according to claim 2, wherein the total number of vehicles in the road section, the number of vehicles in each lane in the road section, statistical data of vehicle types in the road section and navigation data of vehicles in the road section are obtained according to data collected by laid sensors;
the total number of vehicles in the road section is acquired based on wide area radars arranged at an upstream intersection and/or in the current road section, the number of vehicles in each lane in the road section is acquired based on wide area radars arranged in the current road section, statistical data of vehicle types in the road section is acquired based on a monitoring camera arranged in the current road section, and vehicle navigation data in the road section is acquired based on roadside equipment in the current road section.
4. The method according to claim 2, wherein the road segment congestion status assessment data and intersection relationship data are obtained based on data obtained from a third party data platform, the third party data platform comprising an electronic map platform and/or an online taxi-taking platform;
the road section congestion state evaluation data are obtained by determining the driving speed and/or the travel time from the upstream intersection to the downstream intersection, which are acquired from a third-party data platform; the intersection relation data comprise intersection connection relations and distances among intersections acquired from the electronic map platform.
5. The method of claim 2, further comprising:
when the current road section is determined to be in the accident control state based on at least one of the total number of vehicles in the road section, the number of vehicles in each lane in the road section and the road section congestion state evaluation data, the intelligent variable lane display screen of the road section of the upstream intersection is controlled to display other indication marks except the indication mark corresponding to the driving direction of the vehicle driving into the current road section, and the signal timing mode of the signal control machine of the downstream intersection is controlled to enable the green time of the current road section to be released to be the maximum.
6. The method according to any one of claims 1 to 5,
in a first preset time period, a signal control machine for controlling the intersection controls an intelligent variable lane display screen of each road section to display according to a fixed preset display mode by adopting a fixed preset signal timing mode, wherein the first preset time period is a time period when the traffic flow of each driving direction in the road section is smaller than the traffic flow threshold value corresponding to the vehicle flow;
and in a time period beyond the first preset time period, controlling a signal timing mode of a signal controller of a corresponding intersection and a display mode of an intelligent variable lane display screen according to traffic flow data of a road section.
7. The method according to any one of claims 1 to 5,
the different signal timing modes corresponding to the traffic flow data adopted by the signal controller comprise at least one of different phase numbers, different phase sequences of the phases and different green time durations of the phases.
8. The method according to any one of claims 1 to 5,
each indication mark displayed by the intelligent variable lane display screen indicates a single driving direction, and then the corresponding lane is a lane special for a single-vehicle direction, or indicates at least two driving directions simultaneously, and then the corresponding lane is a lane shared by multiple vehicle directions.
9. The method according to any one of claims 1 to 5,
after determining the number of lanes corresponding to each driving direction and the display mode of the intelligent variable lane display screen according to traffic flow data, the control platform directly sends the display mode to the intelligent variable lane display screen, or sends the display mode to a signal control machine corresponding to the current road section and forwards the display mode to the intelligent variable lane display screen through the signal control machine.
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| CN119541215B (en)* | 2025-01-21 | 2025-05-09 | 浙江云通数达科技有限公司 | A method, device, medium and equipment for setting variable lanes based on flow rate |
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