CN116013076B - A dynamic control method for lane changing of main line vehicles in expressway merging areas - Google Patents

Abstract

Translated fromChinese

本发明公开了一种快速路合流区主线车辆换道的动态控制方法，其步骤包括：1、通过智能路侧设备获取道路和车辆的信息；2、将获取的数据传输给控制中心；3、通过算法计算t+1时刻的合流区路段每条车道的密度；4、不同车道密度与最佳密度之间的比较，确定控制方案；5、循环上述步骤，确定下一时刻的控制方案。本发明通过智能路侧检测器获取道路和车辆的信息，然后计算合流区路段的每条车道的密度，根据密度的不同，动态确定不同的控制方案，能减少不必要的换道次数，能平均车道上的车流量，从而能减少车辆的延误时间，并能提高车辆运行的效率，进而降低了合流区路段的事故发生率，并提高了道路的安全水平。

The invention discloses a dynamic control method for lane changing of main line vehicles in expressway merging areas. The steps include: 1. Obtaining road and vehicle information through intelligent roadside equipment; 2. Transmitting the acquired data to a control center; 3. Calculate the density of each lane in the merge area section at time t+1 through an algorithm; 4. Compare different lane densities with the optimal density to determine the control plan; 5. Loop through the above steps to determine the control plan at the next moment. This invention obtains road and vehicle information through an intelligent roadside detector, and then calculates the density of each lane in the merging area section. Based on the difference in density, it dynamically determines different control schemes, which can reduce the number of unnecessary lane changes and average the number of lane changes. Traffic flow on the lane can reduce vehicle delay time and improve vehicle operation efficiency, thereby reducing the accident rate in the merge area and improving road safety.

Description

Translated fromChinese

一种快速路合流区主线车辆换道的动态控制方法A dynamic control method for lane changing of main line vehicles in expressway merging areas

技术领域Technical field

本发明涉及智能交通控制技术领域，具体来说是一种快速路合流区主线车辆换道的动态控制方法。The invention relates to the technical field of intelligent traffic control, specifically a dynamic control method for lane changing of mainline vehicles in expressway merging areas.

背景技术Background technique

城市快速路承担着日益增加的机动车车流量，服务于市民远距离出行的需要，并在解决城市的交通拥堵方面起到了很重要的作用。在城市交通出行系统中，快速路互通式立交合流区是连接快速路与其它道路的主要节点。合流区域内机动车的行驶特性比较复杂，车辆之间容易产生相互影响；且构造形式不同，经常容易发生交通事故。在城市交通系统中，快速路互合流区是连接快速路与其它道路的主要节点。值得注意的是，分合流区域是判断交通流是否稳定的主要区域，而合流区作为交通流汇合的区域，对车流的影响程度最大。Urban expressways are responsible for the increasing motor vehicle traffic, serve the needs of citizens for long-distance travel, and play an important role in solving urban traffic congestion. In the urban transportation system, the expressway interchange merging area is the main node connecting the expressway and other roads. The driving characteristics of motor vehicles in the merging area are relatively complex, and vehicles easily interact with each other; and with different structures, traffic accidents are often prone to occur. In the urban transportation system, the expressway merging area is the main node connecting the expressway and other roads. It is worth noting that the merging area is the main area to judge whether the traffic flow is stable, and the merging area, as the area where the traffic flows merge, has the greatest impact on the traffic flow.

在进入主线之前，匝道车辆都要经过加速车道，且速度要达到主线的规定速度，同时注意主线车辆运行情况。在合并进入主线时，由于车流的整体速度降低，车辆密度会变大，进而提高了交通冲突发生的概率。每个合流区都具有各自不同的几何构造与交通流量，交通安全也存在差异，因此混乱的交通秩序会导致交通拥堵，严重的甚至导致事故发生。Before entering the main line, ramp vehicles must pass through the acceleration lane and the speed must reach the specified speed of the main line. At the same time, pay attention to the operation conditions of the main line vehicles. When merging into the main line, as the overall speed of the traffic flow decreases, the vehicle density will increase, thereby increasing the probability of traffic conflicts. Each merging area has its own different geometric structure and traffic flow, and traffic safety is also different. Therefore, chaotic traffic order can lead to traffic jams and even serious accidents.

发明内容Contents of the invention

本发明为克服现有技术的不足之处，提出一种快速路合流区主线车辆换道的动态控制方法，以期能减少不必要的换道次数，并能平均车道上的车流量，从而能减少车辆的延误时间，并能提高车辆运行的效率，进而能降低合流区路段的事故发生率，并提高道路的安全水平。In order to overcome the shortcomings of the existing technology, the present invention proposes a dynamic control method for lane changing of mainline vehicles in the expressway merging area, in order to reduce the number of unnecessary lane changes and average the traffic volume on the lane, thereby reducing It can reduce the delay time of vehicles and improve the efficiency of vehicle operation, thereby reducing the accident rate in the merge area and improving the safety level of the road.

本发明为达到上述发明目的，采用如下技术方案：In order to achieve the above-mentioned object, the present invention adopts the following technical solutions:

本发明一种快速路合流区主线车辆换道的动态控制方法的特点在于，包括以下步骤：The characteristics of the dynamic control method for lane changing of main line vehicles in the expressway merging area of the present invention include the following steps:

步骤1、将匝道处的快速路合流区划分为3个路段，并依次进行编号，其中任意一个路段编号定义为i，i＝1、2、3，当i＝1表示快速路合流区的上游路段，当i＝2表示快速路合流区的中间路段，且与所述匝道连通，当i＝3表示快速路合流区的下游路段，将第i个路段上的车道由外向内依次进行编号，其中，任意一个车道的编号定义为j，j＝1、2、3；Step 1. Divide the expressway merging area at the ramp into 3 sections and number them in sequence. Any one of the section numbers is defined as i, i=1, 2, 3. When i=1, it means the upstream of the expressway merging area. Road section, when i=2 represents the middle section of the expressway merging area and is connected to the ramp, when i=3 represents the downstream section of the expressway merging area, the lanes on the i-th section are numbered from outside to inside, Among them, the number of any lane is defined as j, j=1, 2, 3;

在第2个路段的每条车道之间的道路交通标线两侧分别设置有智能发光道线；将第2个路段的第1条车道与第2条车道之间的道路交通标线的一侧智能发光道线记为L_1,2，另一侧智能发光道线记为R_1,2，将第2个路段的第2条车道与第3条车道之间的道路交通标线的一侧智能发光道线记为L_2,3，另一侧智能发光道线记为R_2,3；Intelligent luminous lanes are provided on both sides of the road traffic markings between each lane of the second road section; one of the road traffic markings between the first lane and the second lane of the second road section is The intelligent luminous lane on one side is marked as L_1,2 , and the intelligent luminous lane on the other side is marked as R_1,2 . Take the road traffic marking between the 2nd lane and the 3rd lane of the 2nd road section. The intelligent luminous track on one side is marked as L_2,3 , and the intelligent luminous track on the other side is marked as R_2,3 ;

令任意一个时刻记为t，相邻两个时刻的间隔为Δt，将第i个路段的长度记为l_i；Let any moment be recorded as t, the interval between two adjacent moments as Δt, and the length of the i-th road section be recorded as l_i ;

步骤2、利用设置在每个路段和匝道上的智能路侧检测器获取时刻t的每个路段上各条车道和匝道上的车辆数，其中，令第i个路段上第j个条车道在时刻t的车辆数记为n_i,j(t)，匝道在时间t的车辆数记为n_R(t)，匝道的长度记为l_R；Step 2. Use the intelligent roadside detector set on each road segment and ramp to obtain the number of vehicles on each lane and ramp on each road segment at time t, where, let the j-th lane on the i-th road segment be at The number of vehicles at time t is recorded as n_i,j (t), the number of vehicles on the ramp at time t is recorded as n_R (t), and the length of the ramp is recorded as l_R ;

步骤3、计算快速路合流区的中间路段上每条车道的密度；Step 3. Calculate the density of each lane on the middle section of the expressway merge area;

步骤3.1、根据式(1)计算第i个路段上第j个车道在时刻t的密度K_i,j(t)；Step 3.1. Calculate the density K_i,j (t) of the j-th lane on the i-th road segment at time t according to formula (1);

步骤3.2、根据式(2)计算第i个路段上第j个车道在时刻t的流量Q_i,j(t)；Step 3.2. Calculate the flow Q_i,j (t) of the j-th lane on the i-th road section at time t according to formula (2);

步骤3.3、根据式(3)计算匝道在时刻t的流量Q_R(t)；Step 3.3. Calculate the flow rate Q_R (t) of the ramp at time t according to equation (3);

步骤3.4、根据式(4)计算第i个路段上第j个车道在时刻t的拥堵波速ω_i,j(t)；Step 3.4: Calculate the congestion wave speed ω_i,j (t) of the j-th lane on the i-th road section at time t according to equation (4);

式(4)中，Q_i+1,j(t)表示第i+1个路段上第j个车道在时刻t的流量；K_i+1,j(t)表示第i+1个路段上第j个车道在时刻t的密度；In formula (4), Q_i+1,j (t) represents the traffic volume of j-th lane on the i+1-th road section at time t; K_i+1,j (t) represents the flow volume on the i+1-th road section. The density of the jth lane at time t;

步骤3.5、根据式(5)计算第i个路段上第j个车道在时刻t向下游路段传输的车流量q_i,j(t)；Step 3.5: Calculate the traffic volume q_i,j (t) transmitted by the j-th lane on the i-th road section to the downstream section at time t according to equation (5);

q_i,j(t)＝min{V_f×K_i,j(t),ω_i,j(t)×(q_i+1,jam(t)-K_i+1,j(t))}(5)q_i,j (t)=min{V_f ×K_i,j (t),ω_i,j (t)×(q_i+1,jam (t)-K_i+1,j (t)) }(5)

式(5)中，V_f表示路段的自由流速度，q_i+1,jam(t)表示第i+1个路段的阻塞密度，i≠3；In formula (5), V_f represents the free flow speed of the road section, q_{i+1, jam} (t) represents the congestion density of the i+1th road section, i≠3;

步骤3.6、根据式(6)计算第2个路段上第3个车道在时刻t+1的密度K_2,3(t+1)；Step 3.6. Calculate the density K_2,3 (t+1) of the third lane on the second road section at time t+1 according to equation (6);

式(6)中，K_2,3(t)表示第2个路段上第3个车道在时刻t的密度，q_1,3(t)表示第1个路段上第3个车道在时刻t向下游路段传输的车流量，q_2,3(t)表示第2个路段上第3个车道在时刻t向下游路段传输的车流量，l₂表示第i个路段的长度；In formula (6), K_2,3 (t) represents the density of the third lane on the second road segment at time t, and q_1,3 (t) represents the density of the third lane on the first road segment at time t. The traffic volume transmitted by the downstream road section, q_2,3 (t) represents the traffic volume transmitted by the third lane on the second road section to the downstream road section at time t, l₂ represents the length of the i-th road section;

步骤3.7、根据式(7)计算第2个路段上第2个车道在时刻t+1的密度K_2,2(t+1)；Step 3.7. Calculate the density K_2,2 (t+1) of the second lane on the second road section at time t+1 according to equation (7);

式(6)中，K_2,2(t)表示第2个路段上第2个车道在时刻t的密度，q_2,2(t)表示第2个路段上第2个车道在时刻t向下游路段传输的车流量，q_1,2(t)表示第1个路段上第2个车道在时刻t向下游路段传输的车流量；In formula (6), K_2,2 (t) represents the density of the second lane on the second road segment at time t, and q_2,2 (t) represents the density of the second lane on the second road segment at time t. The traffic volume transmitted by the downstream section, q_1,2 (t), represents the traffic volume transmitted by the second lane on the first section to the downstream section at time t;

步骤3.8、根据式(8)计算第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)；Step 3.8. Calculate the density K_2,1 (t+1) of the first lane on the second road section at time t+1 according to equation (8);

式(8)中，λ(t)表示时刻t匝道上的车辆汇入率，K_2,1(t)表示第2个路段上第1个车道在时刻t的密度，q_1,1(t)表示第1个路段上第1个车道在时刻t向下游路段传输的车流量，q_2,1(t)表示第2个路段上第1个车道在时刻t向下游路段传输的车流量；In formula (8), λ(t) represents the vehicle merging rate on the ramp at time t, K_2,1 (t) represents the density of the first lane on the second road section at time t, q_1,1 (t ) represents the traffic volume transmitted by the first lane on the first road section to the downstream section at time t, q_2,1 (t) represents the traffic volume transmitted by the first lane on the second road section to the downstream section at time t;

步骤4、动态确定主线车辆的换道方案；Step 4. Dynamically determine the lane changing plan for main line vehicles;

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road:

若K_2,1(t+1)≤K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)≤K_m，则此时所有智能发光道线不发光；If K_2,1 (t+1) ≤ K_m , K_2,2 (t+1) ≤ K_m and K_2,3 (t+1) ≤ K_m , then all intelligent light-emitting lanes will not emit light at this time. ;

若K_2,1(t+1)＞K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线L_1,2和L_2,3发光，用于提示第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第1车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1) ≤ K_m and K_2,3 (t+1) ≤ K_m , then the intelligent light-emitting line L₁ is controlled at this time_,2 and L_2,3 are illuminated to indicate that vehicles in lane 3 are prohibited from changing lanes to lane 2, and vehicles in lane 2 are prohibited from changing lanes to lane 1;

若K_2,1(t+1)≤K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线R_1,2和L_2,3发光，用于提示第3车道上的车辆禁止换道到第2车道上，第1车道上的车辆禁止换道到第2车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)≤K_m , then the intelligent light-emitting line R₁ is controlled at this time_,2 and L_2,3 are illuminated to indicate that vehicles in lane 3 are prohibited from changing lanes to lane 2, and vehicles in lane 1 are prohibited from changing lanes to lane 2;

若K_2,1(t+1)≤K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线R_1,2和R_2,3发光，用于提示第1车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第3车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)≤K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting line R₁ is controlled at this time_,2 and R_2,3 light up to remind vehicles in lane 1 that they are prohibited from changing lanes to lane 2, and that vehicles in lane 2 are prohibited from changing lanes to lane 3;

若K_2,1(t+1)＞K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线L_1,2、L_2,3和R_1,2发光，用于提示第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第1车道上，第1车道上的车辆禁止换道到第2车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)≤K_m , then the intelligent light-emitting lane L₁ is controlled at this time_{, 2} , L_2,3 and R_1,2 are illuminated to indicate that vehicles in the 3rd lane are prohibited from changing lanes to the 2nd lane, and vehicles in the 2nd lane are prohibited from changing lanes to the 1st lane, and the 1st lane Vehicles on the road are prohibited from changing lanes to the second lane;

若K_2,1(t+1)＞K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线L_1,2和R_2,3发光，用于提示第2车道上的车辆禁止换道到第1车道上，第2车道上的车辆禁止换道到第3车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1)≤K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting lane L₁ is controlled at this time_,2 and R_2,3 are illuminated to remind vehicles in lane 2 that they are prohibited from changing lanes to lane 1, and vehicles in lane 2 are prohibited from changing lanes to lane 3;

若K_2,1(t+1)≤K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线R_1,2、L_2,3和R_2,3发光，用于提示第1车道上的车辆禁止换道到第2车道上，第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第3车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting line R₁ is controlled at this time_{, 2} , L_2,3 and R_2,3 are illuminated to indicate that vehicles in the 1st lane are prohibited from changing lanes to the 2nd lane, and vehicles in the 3rd lane are prohibited from changing lanes to the 2nd lane. Vehicles on the road are prohibited from changing lanes to the third lane;

若K_2,1(t+1)＞K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线L_1,2、L_2,3、R_1,2和R_2,3发光，用于提示所有车道均禁止换道；If K_2,1 (t+1)>K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting lane L₁ is controlled at this time_,2 , L_2,3 , R_1,2 and R_2,3 light up to indicate that lane changes are prohibited in all lanes;

步骤5、将t+1赋值给t，返回步骤2顺序执行，继续判断下一时刻合流区路段禁止换道的情况。Step 5: Assign t+1 to t, return to step 2 for sequential execution, and continue to determine whether lane changes are prohibited on the road section in the merging area at the next moment.

本发明一种电子设备，包括存储器以及处理器的特点在于，所述存储器用于存储支持处理器执行所述动态控制方法的程序，所述处理器被配置为用于执行所述存储器中存储的程序。An electronic device of the present invention includes a memory and a processor. The characteristic is that the memory is used to store a program that supports the processor to execute the dynamic control method, and the processor is configured to execute the program stored in the memory. program.

本发明一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序的特点在于，所述计算机程序被处理器运行时执行所述动态控制方法的步骤。The present invention is a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. The characteristic of the computer program is that the steps of the dynamic control method are executed when the computer program is run by a processor.

与已有技术相比，本发明的有益技术效果体现在：Compared with the prior art, the beneficial technical effects of the present invention are reflected in:

1、本发明通过智能路侧检测器获取数据，计算得出合流区路段的每条车道的密度，然后将每条车道上密度和最佳密度进行比较，确定了禁止换道的方案，减少了不必要的换道次数，，并平均了车道上的流量，从而减少了车辆的延误时间，并提高了车辆运行的效率，进而降低了合流区路段的事故发生率，并提高了道路的安全水平。1. The present invention obtains data through intelligent roadside detectors, calculates the density of each lane in the merging area section, and then compares the density on each lane with the optimal density to determine a plan to prohibit lane changes, reducing The number of unnecessary lane changes is eliminated, and the traffic on the lane is averaged, thereby reducing vehicle delay time and improving vehicle operation efficiency, thereby reducing the accident rate in the merging area and improving the safety level of the road. .

2、本发明将路段分成三段而且考虑了每一条车道之间的差异，进一步考虑了可能发生的所有方案，使得提出的算法更加贴合实际，提高了快速路主线路段动态确定智能发光道线算法的适用性。2. This invention divides the road section into three sections and takes into account the differences between each lane, and further considers all possible scenarios, making the proposed algorithm more realistic and improving the dynamic determination of intelligent luminous lanes in the expressway main line section. Applicability of the algorithm.

3、本发明通过智能发光道线的发光与否动态改变变道的规则，而且智能发光道线的动态变化考虑了方向的变化，避免了低密度车道上的车辆换道到高密度的车道上，为快速路合流区道路标线的设置提供一定的理论基础。3. The present invention dynamically changes the lane changing rules through whether the intelligent light-emitting lanes are illuminated or not, and the dynamic changes of the intelligent light-emitting lanes take into account the change in direction, preventing vehicles from changing lanes from low-density lanes to high-density lanes. , which provides a certain theoretical basis for the setting of road markings in expressway merging areas.

附图说明Description of drawings

图1为本发明的总体流程图；Figure 1 is an overall flow chart of the present invention;

图2为本发明控制循环图；Figure 2 is a control cycle diagram of the present invention;

图3为本发明控制道路示意图。Figure 3 is a schematic diagram of the control road according to the present invention.

具体实施方式Detailed ways

本实施例中，如图1所示，一种快速路合流区主线车辆换道的动态控制方法包括以下步骤：In this embodiment, as shown in Figure 1, a dynamic control method for lane changing of main line vehicles in an expressway merging area includes the following steps:

步骤1、将匝道处的快速路合流区划分为3个路段，并依次进行编号，其中任意一个路段编号定义为i，i＝1、2、3，当i＝1表示快速路合流区的上游路段，当i＝2表示快速路合流区的中间路段，且与所述匝道连通，当i＝3表示快速路合流区的下游路段，将第i个路段上的车道由外向内依次进行编号，其中，任意一个车道的编号定义为j，j＝1、2、3；Step 1. Divide the expressway merging area at the ramp into 3 sections and number them in sequence. Any one of the section numbers is defined as i, i=1, 2, 3. When i=1, it means the upstream of the expressway merging area. Road section, when i=2 represents the middle section of the expressway merging area and is connected to the ramp, when i=3 represents the downstream section of the expressway merging area, the lanes on the i-th section are numbered from outside to inside, Among them, the number of any lane is defined as j, j=1, 2, 3;

在第2个路段的每条车道之间的道路交通标线两侧分别设置有智能发光道线；将第2个路段的第1条车道与第2条车道之间的道路交通标线的一侧智能发光道线记为L_1,2，另一侧智能发光道线记为R_1,2，将第2个路段的第2条车道与第3条车道之间的道路交通标线的一侧智能发光道线记为L_2,3，另一侧智能发光道线记为R_2,3；Intelligent luminous lanes are provided on both sides of the road traffic markings between each lane of the second road section; one of the road traffic markings between the first lane and the second lane of the second road section is The intelligent luminous lane on one side is marked as L_1,2 , and the intelligent luminous lane on the other side is marked as R_1,2 . Take the road traffic marking between the 2nd lane and the 3rd lane of the 2nd road section. The intelligent luminous track on one side is marked as L_2,3 , and the intelligent luminous track on the other side is marked as R_2,3 ;

令任意一个时刻记为t，相邻两个时刻的间隔为Δt，将第i个路段的长度记为l_i；Let any moment be recorded as t, the interval between two adjacent moments as Δt, and the length of the i-th road section be recorded as l_i ;

步骤2、利用设置在每个路段和匝道上的智能路侧检测器获取时刻t的每个路段上各条车道和匝道上的车辆数，其中，令第i个路段上第j个条车道在时刻t的车辆数记为n_i,j(t)，匝道在时间t的车辆数记为n_R(t)，匝道的长度记为l_R；Step 2. Use the intelligent roadside detector set on each road segment and ramp to obtain the number of vehicles on each lane and ramp on each road segment at time t, where, let the j-th lane on the i-th road segment be at The number of vehicles at time t is recorded as n_i,j (t), the number of vehicles on the ramp at time t is recorded as n_R (t), and the length of the ramp is recorded as l_R ;

步骤3、计算快速路合流区的中间路段上每条车道的密度；Step 3. Calculate the density of each lane on the middle section of the expressway merge area;

步骤3.1、根据式(1)计算第i个路段上第j个车道在时刻t的密度K_i,j(t)；Step 3.1. Calculate the density K_i,j (t) of the j-th lane on the i-th road segment at time t according to formula (1);

步骤3.2、根据式(2)计算第i个路段上第j个车道在时刻t的流量Q_i,j(t)；Step 3.2. Calculate the flow Q_i,j (t) of the j-th lane on the i-th road section at time t according to formula (2);

步骤3.3、根据式(3)计算匝道在时刻t的流量Q_R(t)；Step 3.3. Calculate the flow rate Q_R (t) of the ramp at time t according to equation (3);

步骤3.4、根据式(4)计算第i个路段上第j个车道在时刻t的拥堵波速ω_i,j(t)；Step 3.4: Calculate the congestion wave speed ω_i,j (t) of the j-th lane on the i-th road section at time t according to equation (4);

式(4)中，Q_i+1,j(t)表示第i+1个路段上第j个车道在时刻t的流量；K_i+1,j(t)表示第i+1个路段上第j个车道在时刻t的密度；In formula (4), Q_i+1,j (t) represents the traffic volume of j-th lane on the i+1-th road section at time t; K_i+1,j (t) represents the flow volume on the i+1-th road section. The density of the jth lane at time t;

步骤3.5、根据式(5)计算第i个路段上第j个车道在时刻t向下游路段传输的车流量q_i,j(t)；Step 3.5: Calculate the traffic volume q_i,j (t) transmitted by the j-th lane on the i-th road section to the downstream section at time t according to equation (5);

q_i,j(t)＝min{V_f×K_i,j(t),ω_i,j(t)×(q_i+1,jam(t)-K_i+1,j(t))}(5)q_i,j (t)=min{V_f ×K_i,j (t),ω_i,j (t)×(q_i+1,jam (t)-K_i+1,j (t)) }(5)

式(5)中，V_f表示路段的自由流速度，q_i+1,jam(t)表示第i+1个路段的阻塞密度，i≠3；In formula (5), V_f represents the free flow speed of the road section, q_{i+1, jam} (t) represents the congestion density of the i+1th road section, i≠3;

步骤3.6、根据式(6)计算第2个路段上第3个车道在时刻t+1的密度K_2,3(t+1)；Step 3.6. Calculate the density K_2,3 (t+1) of the third lane on the second road section at time t+1 according to equation (6);

式(6)中，K_2,3(t)表示第2个路段上第3个车道在时刻t的密度，q_1,3(t)表示第1个路段上第3个车道在时刻t向下游路段传输的车流量，q_2,3(t)表示第2个路段上第3个车道在时刻t向下游路段传输的车流量，l₂表示第i个路段的长度；In formula (6), K_2,3 (t) represents the density of the third lane on the second road segment at time t, and q_1,3 (t) represents the density of the third lane on the first road segment at time t. The traffic volume transmitted by the downstream road section, q_2,3 (t) represents the traffic volume transmitted by the third lane on the second road section to the downstream road section at time t, l₂ represents the length of the i-th road section;

步骤3.7、根据式(7)计算第2个路段上第2个车道在时刻t+1的密度K_2,2(t+1)；Step 3.7. Calculate the density K_2,2 (t+1) of the second lane on the second road section at time t+1 according to equation (7);

式(6)中，K_2,2(t)表示第2个路段上第2个车道在时刻t的密度，q_2,2(t)表示第2个路段上第2个车道在时刻t向下游路段传输的车流量，q_1,2(t)表示第1个路段上第2个车道在时刻t向下游路段传输的车流量；In formula (6), K_2,2 (t) represents the density of the second lane on the second road segment at time t, and q_2,2 (t) represents the density of the second lane on the second road segment at time t. The traffic volume transmitted by the downstream section, q_1,2 (t), represents the traffic volume transmitted by the second lane on the first section to the downstream section at time t;

步骤3.8、根据式(8)计算第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)；Step 3.8. Calculate the density K_2,1 (t+1) of the first lane on the second road section at time t+1 according to equation (8);

式(8)中，λ(t)表示时刻t匝道上的车辆汇入率，K_2,1(t)表示第2个路段上第1个车道在时刻t的密度，q_1,1(t)表示第1个路段上第1个车道在时刻t向下游路段传输的车流量，q_2,1(t)表示第2个路段上第1个车道在时刻t向下游路段传输的车流量；In formula (8), λ(t) represents the vehicle merging rate on the ramp at time t, K_2,1 (t) represents the density of the first lane on the second road section at time t, q_1,1 (t ) represents the traffic volume transmitted by the first lane on the first road section to the downstream section at time t, q_2,1 (t) represents the traffic volume transmitted by the first lane on the second road section to the downstream section at time t;

步骤4、动态确定主线车辆的换道方案；Step 4. Dynamically determine the lane changing plan for main line vehicles;

如图2所示，为控制的循环图，确定主线智能发光道线是否发光(这是智能发光道线发光表示车辆可以允许换道，智能发光道线不发光表示车辆不不允许换道)。As shown in Figure 2, it is a control cycle diagram to determine whether the main line intelligent light-emitting lane is illuminated (the intelligent light-emitting lane is illuminated to indicate that the vehicle is allowed to change lanes, and the intelligent light-emitting lane is not illuminated to indicate that the vehicle is not allowed to change lanes).

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road:

若K_2,1(t+1)≤K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)≤K_m，则此时所有智能发光道线不发光；用于所有车道均允许换道；If K_2,1 (t+1) ≤ K_m , K_2,2 (t+1) ≤ K_m and K_2,3 (t+1) ≤ K_m , then all intelligent light-emitting lanes will not emit light at this time. ; Used to allow lane changes in all lanes;

若K_2,1(t+1)＞K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线L_1,2和L_2,3发光，用于提示第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第1车道上；智能发光发道线R_1,2和R_2,3不发光，允许第1车道上的车辆换道到第2车道上，第2车道上的车辆换道到第3车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1) ≤ K_m and K_2,3 (t+1) ≤ K_m , then the intelligent light-emitting line L₁ is controlled at this time_,2 and L_2,3 are illuminated to remind vehicles in the 3rd lane that they are prohibited from changing lanes to the 2nd lane, and that vehicles in the 2nd lane are prohibited from changing lanes to the 1st lane; intelligent illuminated lane line R_{1, 2} and R_2,3 are not illuminated, allowing vehicles in lane 1 to change lanes to lane 2, and vehicles in lane 2 to change lanes to lane 3;

若K_2,1(t+1)≤K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线R_1,2和L_2,3发光，用于提示第3车道上的车辆禁止换道到第2车道上，第1车道上的车辆禁止换道到第2车道上；智能发光发道线L_1,2和R_2,3不发光，允许第2车道上的车辆换道到第1车道上，第2车道上的车辆换道到第3车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)≤K_m , then the intelligent light-emitting line R₁ is controlled at this time_{, 2} and L_{2, 3} are illuminated to remind vehicles in the 3rd lane that they are prohibited from changing lanes to the 2nd lane, and vehicles in the 1st lane are prohibited from changing lanes to the 2nd lane; intelligent light-emitting lane line L_{1, 2} and R_2,3 are not illuminated, allowing vehicles in the 2nd lane to change lanes to the 1st lane, and vehicles in the 2nd lane to change lanes to the 3rd lane;

若K_2,1(t+1)≤K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线R_1,2和R_2,3发光，用于提示第1车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第3车道上；智能发光发道线L_1,2和L_2,3不发光，允许第2车道上的车辆换道到第1车道上，第3车道上的车辆换道到第2车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)≤K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting line R₁ is controlled at this time_,2 and R_2,3 are illuminated to remind vehicles in the 1st lane that they are prohibited from changing lanes to the 2nd lane, and that vehicles in the 2nd lane are prohibited from changing lanes to the 3rd lane; intelligent light-emitting lane line L_{1, 2} and L_2,3 are not illuminated, allowing vehicles in the 2nd lane to change lanes to the 1st lane, and vehicles in the 3rd lane to change lanes to the 2nd lane;

若K_2,1(t+1)＞K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)≤K_m，则此时控制智能发光道线L_1,2、L_2,3和R_1,2发光，用于提示第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第1车道上，第1车道上的车辆禁止换道到第2车道上；智能发光发道线R_2,3不发光，允许第2车道上的车辆换道到第3车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)≤K_m , then the intelligent light-emitting lane L₁ is controlled at this time_{, 2} , L_2,3 and R_1,2 are illuminated to indicate that vehicles in the 3rd lane are prohibited from changing lanes to the 2nd lane, and vehicles in the 2nd lane are prohibited from changing lanes to the 1st lane, and the 1st lane Vehicles on the vehicle are prohibited from changing lanes to the second lane; the intelligent illuminated lane lines R_{2 and 3} are not illuminated, and vehicles in the second lane are allowed to change lanes to the third lane;

若K_2,1(t+1)＞K_m，K_2,2(t+1)≤K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线L_1,2和R_2,3发光，用于提示第2车道上的车辆禁止换道到第1车道上，第2车道上的车辆禁止换道到第3车道上；智能发光发道线R_1,2和L_2,3不发光，允许第1车道上的车辆换道到第2车道上，第3车道上的车辆换道到第2车道上；If K_2,1 (t+1)>K_m , K_2,2 (t+1)≤K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting lane L₁ is controlled at this time_{, 2} and R_{2, 3} are illuminated to remind vehicles in the 2nd lane that they are prohibited from changing lanes to the 1st lane, and that vehicles in the 2nd lane are prohibited from changing lanes to the 3rd lane; intelligent illuminated lane line R_{1, 2} and L_2,3 are not illuminated, allowing vehicles in lane 1 to change lanes to lane 2, and vehicles in lane 3 to change lanes to lane 2;

若K_2,1(t+1)≤K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线R_1,2、L_2,3和R_2,3发光，用于提示第1车道上的车辆禁止换道到第2车道上，第3车道上的车辆禁止换道到第2车道上，第2车道上的车辆禁止换道到第3车道上；智能发光发道线L_1,2不发光，允许第2车道上的车辆换道到第1车道上；If K_2,1 (t+1)≤K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting line R₁ is controlled at this time_{, 2} , L_2,3 and R_2,3 are illuminated to indicate that vehicles in the 1st lane are prohibited from changing lanes to the 2nd lane, and vehicles in the 3rd lane are prohibited from changing lanes to the 2nd lane. Vehicles on the vehicle are prohibited from changing lanes to the third lane; the intelligent illuminated lane lines L_{1 and 2} are not illuminated, and vehicles in the second lane are allowed to change lanes to the first lane;

若K_2,1(t+1)＞K_m，K_2,2(t+1)＞K_m和K_2,3(t+1)＞K_m，则此时控制智能发光道线L_1,2、L_2,3、R_1,2和R_2,3发光，用于提示所有车道均禁止换道；If K_2,1 (t+1)>K_m , K_2,2 (t+1)>K_m and K_2,3 (t+1)>K_m , then the intelligent light-emitting lane L₁ is controlled at this time_,2 , L_2,3 , R_1,2 and R_2,3 light up to indicate that lane changes are prohibited in all lanes;

步骤5、将t+1赋值给t，返回步骤2顺序执行，继续判断下一时刻合流区路段禁止换道的情况。Step 5: Assign t+1 to t, return to step 2 for sequential execution, and continue to determine whether lane changes are prohibited on the road section in the merging area at the next moment.

本实施例中，一种电子设备，包括存储器以及处理器，该存储器用于存储支持处理器执行上述动态控制方法的程序，该处理器被配置为用于执行该存储器中存储的程序。In this embodiment, an electronic device includes a memory and a processor. The memory is used to store a program that supports the processor in executing the above dynamic control method. The processor is configured to execute the program stored in the memory.

本实施例中，一种计算机可读存储介质，是在计算机可读存储介质上存储有计算机程序，该计算机程序被处理器运行时执行上述动态控制方法的步骤。In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above dynamic control method when run by a processor.

如图3所示，本实施例1：以K_m＝50辆/千米为例，通过上面的算法计算得出K_2,1(t+1)＝40辆/千米，K_2,2(t+1)＝60辆/千米和K_2,3(t+1)＝30辆/千米时。As shown in Figure 3, this embodiment 1: Taking K_m = 50 vehicles/km as an example, K_2,1 (t+1) = 40 vehicles/km, K_2,2 is calculated through the above algorithm (t+1)=60 vehicles/km and K_2,3 (t+1)=30 vehicles/km.

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road:

K_2,1(t+1)＝40＜K_m＝50，K_2,2(t+1)＝60＞K_m＝50和K_2,3(t+1)＝30＜K_m＝50，则此时控制智能发光道线R_1,2和L_2,3发光，1车道上的车辆禁止换道到2车道，3车道上的车辆禁止换道到2车道，其他车道可以正常换道。K_2,1 (t+1)＝40＜K_m =50, K_2,2 (t+1)＝60＞K_m =50 and K_2,3 (t+1)＝30＜K_m =50 , then the intelligent light-emitting lanes R_1,2 and L_2,3 are controlled to illuminate at this time. Vehicles in lane 1 are prohibited from changing to lane 2, vehicles in lane 3 are prohibited from changing to lane 2, and other lanes can change normally. .

本实施例2：This embodiment 2:

以K_m＝50辆/千米为例，通过上面的算法计算得出K_2,1(t+1)＝40辆/千米，K_2,2(t+1)＝20辆/千米和K_2,3(t+1)＝30辆/千米。Taking K_m = 50 vehicles/km as an example, K_2,1 (t+1) = 40 vehicles/km and K_2,2 (t+1) = 20 vehicles/km are calculated through the above algorithm. and K_2,3 (t+1)=30 vehicles/km.

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road:

K_2,1(t+1)＝40＜K_m＝50，K_2,2(t+1)＝20＜K_m＝50和K_2,3(t+1)＝30＜K_m＝50，此时每条道路畅通，此时不进行控制。K_2,1 (t+1)＝40＜K_m =50, K_2,2 (t+1)＝20＜K_m =50 and K_2,3 (t+1)＝30＜K_m =50 , every road is clear at this time, and no control is performed at this time.

本实施例3：This embodiment 3:

以K_m＝50辆/千米为例，通过上面的算法计算得出K_2,1(t+1)＝60辆/千米，K_2,2(t+1)＝70辆/千米和K_2,3(t+1)＝30辆/千米。Taking K_m = 50 vehicles/km as an example, K_2,1 (t+1) = 60 vehicles/km and K_2,2 (t+1) = 70 vehicles/km are calculated through the above algorithm. and K_2,3 (t+1)=30 vehicles/km.

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road:

K_2,1(t+1)＝60＞K_m＝50，K_2,2(t+1)＝70＞K_m＝50和K_2,3(t+1)＝30＜K_m＝50，则此时控制智能发光道线L_1,2、L_2,3和R_1,2发光，第2车道上的车辆禁止换道到第1车道，第3车道上的车辆禁止换道到第1车道和第1车道上的车辆禁止换道到第2车道，其他车道可以正常换道。K_2,1 (t+1)＝60＞K_m ＝50, K_2,2 (t+1)＝70＞K_m ＝50 and K_2,3 (t+1)＝30＜K_m ＝50 , then the intelligent light-emitting lanes L_1,2 , L_2,3 and R_1,2 are controlled to illuminate at this time. Vehicles in the 2nd lane are prohibited from changing lanes to the 1st lane, and vehicles in the 3rd lane are prohibited from changing lanes to the 1st lane. Vehicles in lane 1 and lane 1 are prohibited from changing lanes to lane 2, and other lanes can change lanes normally.

本实施例4：以K_m＝50辆/千米为例，通过上面的算法计算得出K_2,1(t+1)＝60辆/千米，K_2,2(t+1)＝70辆/千米和K_2,3(t+1)＝60辆/千米时。Embodiment 4: Taking K_m =50 vehicles/km as an example, K_2,1 (t+1)=60 vehicles/km is calculated through the above algorithm, K_2,2 (t+1)= 70 vehicles/km and K_2,3 (t+1) = 60 vehicles/km.

判断第2个路段上第1个车道在时刻t+1的密度K_2,1(t+1)，第2个车道在时刻t+1的密度K_2,2(t+1)和第3个车道在时刻t+1的密度K_2,3(t+1)与道路的最佳密度K_m之间的关系：K_2,1(t+1)＝60＞K_m＝50，K_2,2(t+1)＝70＞K_m＝50和K_2,3(t+1)＝60＞K_m＝50，则此时控制智能发光道线L_1,2、L_2,3、R_1,2和R_2,3发光，所有车道禁止换道。Determine the density K_2,1 (t+1) of the first lane at time t+1 on the second road segment, the density K_2,2 (t+1) of the second lane at time t+1 and the density of the third lane at time t+1. The relationship between the density K_2,3 (t+1) of a lane at time t+1 and the optimal density K_m of the road: K_2,1 (t+1)=60>K_m =50, K_{2 ,2} (t+1)＝70＞K_m =50 and K_2,3 (t+1)＝60＞K_m =50, then at this time, the intelligent light-emitting lanes L_1,2 , L_2,3 , R_1,2 and R_2,3 are illuminated, lane changes are prohibited in all lanes.

Claims (3)

1. A dynamic control method for changing tracks of a main line vehicle in a rapid transit merging area is characterized by comprising the following steps:

dividing a rapid road merging area at a ramp into 3 sections and numbering the sections in sequence, wherein any section number is defined as i, i=1, 2 and 3, when i=1 represents an upstream section of the rapid road merging area, i=2 represents a middle section of the rapid road merging area and is communicated with the ramp, when i=3 represents a downstream section of the rapid road merging area, the lanes on the i section are numbered sequentially from outside to inside, and the number of any lane is defined as j, j=1, 2 and 3;

intelligent luminous road lines are respectively arranged on two sides of a road traffic marking between every two lanes of the 2 nd road section; the intelligent luminous road line on one side of the road traffic marking between the 1 st lane and the 2 nd lane of the 2 nd road section is marked as L_1,2 The intelligent luminous track line on the other side is marked as R_1,2 The intelligent luminous road line at one side of the road traffic marking between the 2 nd lane and the 3 rd lane of the 2 nd road section is marked as L_2,3 The intelligent luminous track line on the other side is marked as R_2,3 ；

Let any one time be t, the interval between two adjacent times be Deltat, and the length of the ith road section be l_i ；

Step 2, acquiring the number of vehicles on each lane and ramp at the moment t by using intelligent road side detectors arranged on each road section and ramp, wherein the jth road section on the ith road section is caused to beThe number of vehicles on the lane at time t is denoted as n_i,j (t), the number of vehicles on the ramp at time t is recorded as n_R (t) the length of the ramp is denoted as l_R ；

Step 3, calculating the density of each lane on the middle road section of the expressway junction area;

step 3.1, calculating the density K of the jth lane on the ith road section at the time t according to the step (1)_i,j (t)；

Step 3.2, calculating the flow Q of the jth lane on the ith road section at the time t according to the step (2)_i,j (t)；

Step 3.3, calculating the flow Q of the ramp at the time t according to the step (3)_R (t)；

Step 3.4, calculating the congestion wave speed omega of the jth lane at the moment t on the ith road section according to the step (4)_i,j (t)；

In the formula (4), Q_i+1,j (t) represents the flow of the jth lane on the (i+1) th road section at the time t; k (K)_i+1,j (t) represents the density of the jth lane on the (i+1) -th road section at the time t;

step 3.5, calculating the traffic flow q transmitted by the jth lane on the ith road segment to the downstream road segment at the time t according to the step (5)_i,j (t)；

q_i,j (t)＝min{V_f ×K_i,j (t),ω_i,j (t)×(q_i+1,jam (t)-K_i+1,j (t))}(5)

In the formula (5), V_f Represents the free flow speed of the road section, q_i+1,jam (t) represents the blocking density of the i+1th road segment, i+.3;

step 3.6, calculating the density K of the 3 rd lane on the 2 nd road section at the time t+1 according to the step (6)_2,3 (t+1)；

In the formula (6), K_2,3 (t) represents the density of the 3 rd lane on the 2 nd road section at the time t, q_1,3 (t) represents the traffic flow of the 3 rd lane on the 1 st road segment transmitted to the downstream road segment at the time t, q_2,3 (t) represents the traffic flow of the 3 rd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, l₂ Representing the length of the i-th road segment;

step 3.7, calculating the density K of the 2 nd lane on the 2 nd road section at the time t+1 according to the step (7)_2,2 (t+1)；

In the formula (6), K_2,2 (t) represents the density of the 2 nd lane on the 2 nd road section at the time t, q_2,2 (t) represents the traffic flow of the 2 nd lane on the 2 nd road segment transmitted to the downstream road segment at the time t, q_1,2 (t) represents the flow of traffic transmitted from the 2 nd lane on the 1 st section to the downstream section at the time t;

step 3.8, calculating the density K of the 1 st lane on the 2 nd road section at the time t+1 according to the step (8)_2,1 (t+1)；

In the formula (8), lambda (t) represents the vehicle afflux rate K on the time t ramp_2,1 (t) represents the density of the 1 st lane on the 2 nd road section at the time t, q_1,1 (t) represents the traffic flow of the 1 st lane on the 1 st road segment transmitted to the downstream road segment at time t, q_2,1 (t) represents the traffic flow of the 1 st lane on the 2 nd road segment transmitted to the downstream road segment at the time t;

step 4, dynamically determining a track changing scheme of the main line vehicle;

judging the density K of the 1 st lane on the 2 nd road section at the time t+1_2,1 (t+1), the density K of the 2 nd lane at the time t+1_2,2 Density K of (t+1) and 3 rd lanes at time t+1_2,3 (t+1) optimum Density K with road_m Relationship between:

if K_2,1 (t+1)≤K_m ，K_2,2 (t+1)≤K_m And K_2,3 (t+1)≤K_m All intelligent luminous road lines do not emit light at the moment;

if K_2,1 (t+1)＞K_m ，K_2,2 (t+1)≤K_m And K_2,3 (t+1)≤K_m At this time, the intelligent light-emitting track line L is controlled_1,2 And L_2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 1 st lane;

if K_2,1 (t+1)≤K_m ，K_2,2 (t+1)＞K_m And K_2,3 (t+1)≤K_m Then the intelligent light-emitting track line R is controlled at the moment_1,2 And L_2,3 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane;

if K_2,1 (t+1)≤K_m ，K_2,2 (t+1)≤K_m And K_2,3 (t+1)＞K_m Then the intelligent light-emitting track line R is controlled at the moment_1,2 And R is_2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;

if K_2,1 (t+1)＞K_m ，K_2,2 (t+1)＞K_m And K_2,3 (t+1)≤K_m Then control intelligenceLuminous road line L_1,2 、L_2,3 And R is_1,2 The light is used for prompting that the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 1 st lane is forbidden to change to the 2 nd lane;

if K_2,1 (t+1)＞K_m ，K_2,2 (t+1)≤K_m And K_2,3 (t+1)＞K_m At this time, the intelligent light-emitting track line L is controlled_1,2 And R is_2,3 The light is used for prompting that the vehicle on the 2 nd lane is forbidden to change to the 1 st lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;

if K_2,1 (t+1)≤K_m ，K_2,2 (t+1)＞K_m And K_2,3 (t+1)＞K_m Then the intelligent light-emitting track line R is controlled at the moment_1,2 、L_2,3 And R is_2,3 The light is used for prompting that the vehicle on the 1 st lane is forbidden to change to the 2 nd lane, the vehicle on the 3 rd lane is forbidden to change to the 2 nd lane, and the vehicle on the 2 nd lane is forbidden to change to the 3 rd lane;

if K_2,1 (t+1)＞K_m ，K_2,2 (t+1)＞K_m And K_2,3 (t+1)＞K_m At this time, the intelligent light-emitting track line L is controlled_1,2 、L_2,3 、R_1,2 And R is_2,3 The light is used for prompting that all lanes are forbidden to change lanes;

and 5, assigning t+1 to t, returning to the step 2 for sequential execution, and continuing to judge the condition that the road section of the confluence region is forbidden to change the road at the next moment.

2. An electronic device comprising a memory and a processor, wherein the memory is configured to store a program that supports the processor to perform the dynamic control method of claim 1, the processor being configured to execute the program stored in the memory.

3. A computer readable storage medium having a computer program stored thereon, characterized in that the computer program when run by a processor performs the steps of the dynamic control method according to claim 1.