CN106601002A - Urban expressway entrance ramp vehicle traffic guiding system and guiding method thereof in Internet of vehicles environment - Google Patents
Urban expressway entrance ramp vehicle traffic guiding system and guiding method thereof in Internet of vehicles environment Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
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Abstract
The invention discloses a city expressway entrance ramp vehicle traffic guidance system and a guidance method thereof under the environment of Internet of vehicles, wherein the guidance system comprises road side equipment, a monitoring center, main line vehicle-mounted equipment and ramp vehicle-mounted equipment; the road side equipment comprises a main line traffic flow information acquisition module, a ramp traffic flow information acquisition module and a road side intelligent decision module; the main line vehicle-mounted equipment and the ramp vehicle-mounted equipment respectively comprise a vehicle-mounted main control module, a vehicle basic information storage module, a GPS positioning module, a vehicle speed acquisition module, a vehicle speed control module and a prompt module; the method comprises the steps that running state information of vehicles on a main line outer lane and vehicles on a ramp is collected through road side equipment, collision prediction estimation is carried out, grouping conditions of vehicles on an entrance ramp and safe vehicle speed required by the vehicles merging into a main line are given, and the information is sent to a prompt module and a vehicle speed control module in vehicle-mounted equipment.
Description
Technical field
The present invention relates to the bus or train route collaboration and safety control technology in intelligent transportation system, and in particular to a kind of car networking ring
The city expressway Entrance ramp vehicle pass-through guiding system in border and its bootstrap technique.
Background technology
With the surge of automobile pollution, the traffic conflict of city expressway merging area and jam are increasingly serious, become
Cause through street efficiently, the one of the main reasons that efficiently operational efficiency weakens increasingly.Especially to attend a school by taking daily trips as main special
The early evening peak levied, the congestion of merging area does not only result in through street main line traffic flow failure, and Entrance ramp was produced
Saturated flow, so that affecting effective operation of surface road traffic system.As can be seen here, merging area traffic congestion or quickening is prevented to gather around
Stifled dissipation speed is the key for ensureing whole road network system safe and reliable operation.
Ramp metering rate is most widely used a kind of dynamic control in through street merging area traffic jam issue is administered at present
Mode processed, it according to regulation rate control into merging area vehicle number, but these control modes be limited to information acquiring technology and
Traffic control technology, it is difficult to accurately obtain actual traffic, it is possible to cause the clearance of mistake.And, ring road merging area
The mechanism that congestion occurs not only is only that transport need in general sense has exceeded the traffic capacity of ring road merging area, Er Qie
The lane change that produces and speed change behavior is uncoordinated with main line wagon flow result in itself and pass through when merging area ring road vehicle imports main line
The decline of ability so that the traffic capacity is deepened with the mismatch degree of transport need.Therefore, merely through street entered by regulation
The traffic total amount and its spatial and temporal distributions of merging area has seemed insignificant improving traffic congestion, it is necessary to from microcosmic angle pair
Vehicle is imported carries out assist control, realizes the real-time response to traffic flow and its state change with optimization.With electronic information and
Wireless communication technology is developed rapidly and application, and " car networking " based on car car, bus or train route communication becomes solution traffic and ask
The effective means of topic, under car networking environment, car car, bus or train route carry out information exchange, greatly improve safety factor of travel, can effectively keep away
Exempt from various collision accidents, realize that the accident of traffic zero is possibly realized, this also will thoroughly change traditional traffic administration and controlling party
Formula.
Understand that existing patent is primarily directed to the guiding control of On-Ramp on Freeway merging area by retrieving existing patent
System and method processed, such as Chinese patent application No. 201410724696.2nd number disclose a kind of On-Ramp on Freeway merging area
Guiding control system, it includes that trackside imports guiding controller and intelligent vehicle-carried equipment, and trackside imports guiding controller to be used to connect
The real time status information of ring road and main road upstream certain distance to vehicle in merging area end ranges is received, and is formed to each vehicle
Guiding in real time information, ring road vehicle on-board equipment imports main road wagon flow according to the guidance information for receiving, and the method is greatly improved
The single ring road vehicle of merging area imports safety during main road, but the method guiding is the ring road vehicle taken remittance one by one
Enter, remittance is less efficient, does not account for ring road vehicle with the remittance scheme of fleet's form；Chinese patent application
201510639084.8 number disclose one kind carries out the safe cooperative control method of highway merging area based on truck traffic technology,
The method gathers and transmits the merging area information such as vehicle location, speed nearby by truck traffic technology, calculates and predict main road
The security conflicts and interference that may cause in on-ramp are reached with ring road vehicle, by controlling coordination approach in advance to driver
Member's early warning, adjusts vehicle drive behavior, reduces the odds of security conflicts and congestion, but the method cannot be given clearly
Speed guiding when vehicle crosses, simply carries out early warning to vehicle driving safety.
The presently disclosed Entrance ramp vehicle pass-through guiding system overwhelming majority is for Entrance ramp vehicle and main line car
Interflow when safety problem, do not account for collaborate when efficiency, city expressway on-ramp can not obtain rationally
Use, can not fundamentally solve the problems, such as city expressway merging area traffic congestion, it is difficult to realize peace truly
Entirely, efficient interflow.
The content of the invention
To solve above-mentioned technical problem, it is an object of the invention to provide it is a kind of preventative strong, through street merging area can be improved
City expressway Entrance ramp vehicle pass-through guiding system and its guiding under the car networking environment of traffic safety and traffic efficiency
Method.
City expressway Entrance ramp vehicle pass-through guiding system under a kind of car networking environment proposed by the present invention, including
Roadside device and Surveillance center and main line vehicle on-board equipment and ring road vehicle on-board equipment；In the roadside device, monitoring
Information transmission is carried out by cordless communication network between the heart, main line vehicle on-board equipment and ring road vehicle on-board equipment；
The roadside device is intelligently determined including main line car flow information acquisition module, ring road car flow information acquisition module and trackside
Plan module；The main line car flow information acquisition module and ring road car flow information acquisition module with the trackside intelligent decision module
Communication connection；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and respectively with it is described
The vehicle essential information storage module of vehicle-mounted main control module communication connection, d GPS locating module, speed data collection module, speed control
Module and reminding module, are previously stored with the static information of this car in the vehicle essential information memory module.
Further, the main line vehicle on-board equipment and ring road vehicle on-board equipment also include and the vehicle-mounted master control mould
The in-vehicle wireless communication module of block communication connection, the roadside device also includes being communicated to connect with the trackside intelligent decision module
Trackside wireless communication module, between the in-vehicle wireless communication module and trackside wireless communication module pass through cordless communication network
Carry out information transmission.
Further, the reminding module includes speed information display screen and voice playing module, and the speed information shows
Display screen and voice playing module are communicated to connect with vehicle-mounted main control module.
Further, the reminding module also includes car number display screen, the car number display screen and the car
Carry main control module communication connection.
Further, the reminding module also includes speaker, the speaker and the voice playing module communication link
Connect.
Further, the speed control module control drives the brake pedal of vehicle.
Further, the static information includes owner information, the model of vehicle and size.
City expressway Entrance ramp vehicle pass-through under car networking environment proposed by the present invention guides the guiding side of system
Method, comprises the following steps：
Step one：Position and movable information by mobile unit Real-time Collection vehicle, when collaborating into through street
During area's communication zone, main line vehicle on-board equipment, enter the friendship of row information between ring road vehicle on-board equipment and roadside device three
Mutually；
Step 2：Shape is run according to the vehicle that roadside device in step one can be gathered into through street merging area communication zone
State information, including the information of main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information
Whether analysis main line kerb lane can concede enough inserted gaps imports for the wagon flow of Entrance ramp, if analysis draws main line
Kerb lane can insert length of wagon of the gap less than car, then send instructions to Entrance ramp vehicle deceleration and go slowly wait main line
Gap can be inserted, if but analysis show that main line kerb lane can insert the sufficiently large gap distribution that can insert in gap uneven, trackside intelligence
Can decision-making module according to information such as vehicle location, the speed of the main line kerb lane in the communication zone for obtaining and Entrance ramp,
And give car number respectively, meanwhile, analysis with ring road head car will on the outside of the main line that merging area joint is clashed car
Road car number, is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with car according to its upstream vehicle information
" the inserted gap that may concede, deceleration is given, " the first main line collaborative vehicle " mobile unit receives roadside device and sends out
The deceleration sent is immediately performed gives way, while notifying its follow-up vehicle deceleration and keeping with " the first main line collaborative vehicle "
Certain safe distance between vehicles；
Step 3：Roadside device can insert gap and determine entrance circle according to the first collaboration that " the first main line collaborative vehicle " is conceded
Road vehicle participates in the vehicle fleet size of first group of remittance, and will participate in first group of car number for crossing and velocity information sends and feeds
The each vehicle of mouth ring road, mobile unit is received and be immediately performed after information fleet operation, with certain speed in stipulated time, rule
Surely the position realization that crosses cooperates with the engagement that can insert gap with first；
Step 4：In order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root
According to quantity, the queue length of the length of " the first main line collaborative vehicle " upstream fleet, movable information and Entrance ramp residue vehicle
Redistributing for gap can be inserted etc. follow-up collaboration is carried out, that is, generating to be cooperateed with first can insert that gap size is identical, speed is equal
Second collaboration can insert gap, the 3rd collaboration can insert gap ...., N collaborations can insert gap, if cooperate with N can for Entrance ramp
The N groups vehicle fleet size that slotting gap is meshed is not enough, then N collaborations gap is smaller than the first collaboration can insert gap, then N is assisted
Can accelerate with vehicle, so as to reduce the gap with front truck；
Step 5：Main line kerb lane collaboration according to analyzing in step 4 can insert the friendship of gap and Entrance ramp wagon flow
Position and speed are converged, with reference to the current run location and velocity information of per car, when vehicle-mounted main control module can calculate per car and cross
Safe speed and speed trajectory；
Step 6：Participate in the prompting that the main line vehicle and Entrance ramp vehicle at interflow send according to mobile unit reminding module
Speed carries out speed governing, meanwhile, whether the speed trajectory calculated by vehicle-mounted main control module is travelled mobile unit monitoring vehicle, if car
Carry monitoring of equipment not travel by safe speed to vehicle, then go to step seven execution；
Step 7：If detecting vehicle not travel by safe speed, the mobile unit controls by force the braking of the vehicle
Pedal reaches safe speed；
Step 8：Judge whether ring road vehicle successfully imports main line wagon flow, if not having, go to step an execution, otherwise, knot
Shu Benci vehicle pass-throughs are guided.
By such scheme, the present invention at least has advantages below：
(1) car networking environment lower inlet ring road vehicle pass-through of the invention guiding system vehicle enter merging area main line with
Achieve that between vehicle and vehicle during 1000m before ring road joint, the information between vehicle and road infrastructure is exchanged, only
One simple roadside device need to be installed, it is built-in main line car flow information acquisition module, Entrance ramp car flow information acquisition module, wireless
Communication apparatus and intelligent decision module, technology is simple and reliable；
(2) car networking environment lower inlet ring road vehicle pass-through of the invention guiding system and its bootstrap technique can be realized soon
Fast road main line kerb lane vehicle can insert redistributing for gap, enough remittance gaps be provided for Entrance ramp vehicle, to drive
The person of sailing provides required safe speed and speed trajectory when vehicle collaborates, and allows main line vehicle and Entrance ramp car into merging area
There is mark to follow, substantially eliminating the frequent lane-change of merging area vehicle and speed governing behavior, more alleviate driver and enter quick
Nervous psychology and irritated emotion during the merging area of road；And in the case where driver's energy is not concentrated, vehicle can be by force controlled,
Avoid unnecessary collision accident, drastically increase the traffic safety level and traffic efficiency of merging area；
(3) car networking environment lower inlet ring road vehicle pass-through of the invention guiding system and its bootstrap technique are applied to vehicle
Ring road vehicle speed guiding under any main line traffic behavior, is particularly suited for Entrance ramp queuing long bad with sighting distance
Entrance ramp vehicle is guided with the interflow of main line vehicle, and practicality is very strong, can to a certain extent solve peak time entrance
The long problem of ring road queuing is the exhaust emission of reduction through street merging area, mitigate intersection traffic loading makes tribute
Offer.
(4) car networking environment lower inlet ring road vehicle pass-through of the invention guiding system can realize nothing with city management department
Seam connection, administration section obtains in real time travel condition of vehicle information, realizes the management and control of city expressway Entrance ramp, very
Just realize Traffic monitoring, manage and be controlled in one.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, with presently preferred embodiments of the present invention and coordinate accompanying drawing to describe in detail below.
Description of the drawings
Fig. 1 is the structural frames that the city expressway Entrance ramp vehicle pass-through under car networking environment of the present invention guides system
Figure；
Fig. 2 is the interface display schematic diagram of mobile unit in the present invention；
Fig. 3 is the bootstrap technique that the city expressway Entrance ramp vehicle pass-through under car networking environment of the present invention guides system
The step of flow chart；
Fig. 4 is the bootstrap technique that the city expressway Entrance ramp vehicle pass-through under car networking environment of the present invention guides system
Schematic diagram.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Hereinafter implement
Example is not limited to the scope of the present invention for illustrating the present invention.
Embodiment：As shown in figure 1, the city expressway Entrance ramp vehicle pass-through guiding system under a kind of car networking environment
System, including roadside device 2 and Surveillance center 3 and main line vehicle on-board equipment 5 and ring road vehicle on-board equipment 1；The trackside
Carried out by cordless communication network 4 between equipment, Surveillance center, main line vehicle on-board equipment and ring road vehicle on-board equipment
Information transmission；
The roadside device includes main line car flow information acquisition module 21, ring road car flow information acquisition module 22 and trackside intelligence
Can decision-making module 23；The main line car flow information acquisition module and ring road car flow information acquisition module are intelligently determined with the trackside
Plan module is communicated to connect；
The working method of roadside device is：Main line car flow information acquisition module mainly gathers the fortune of main road kerb lane vehicle
Row status information；Ring road car flow information acquisition module mainly gathers the running state information of Entrance ramp wagon flow；Trackside is intelligently determined
Plan module can insert gap and reallocate according to the main line wagon flow and ring road car flow information that receive to main line kerb lane, be given
The numbering and speed governing information of corresponding collaborative vehicle, and gap running state information can be inserted to ring road vehicle transmission volume according to main line
Number and speed governing information；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module 11 and respectively with institute
State the vehicle essential information storage module 16, d GPS locating module 17 of vehicle-mounted main control module communication connection, speed data collection module 12,
Speed control module 14 and reminding module 13, are previously stored with the static letter of this car in the vehicle essential information memory module
Breath；
The working method of main line vehicle on-board equipment and ring road vehicle on-board equipment is：D GPS locating module collection vehicle is transported
Row positional information；Speed data collection module Real-time Collection car speed；Speed control module controls car speed；Reminding module is pointed out
Driver vehicle passes through safe speed required during the merging area of through street.
When vehicle enters through street merging area communication range, ring road vehicle on-board equipment, main line vehicle on-board and trackside
Carry out information exchange between equipment three, trackside intelligent decision module Quick Acquisition main line kerb lane and ring road vehicle fleet size,
The information such as per car latitude and longitude coordinates, every vehicle speed, and vehicle latitude and longitude coordinates are converted to into through street on-ramp locality coordinate,
The coordinate is with the intersection point of main line kerb lane and ring road as origin；Believed according to the motion of the main line vehicle and ring road vehicle for collecting
Breath is numbered respectively to each car, and the main line first that analyzing will clash with ring road head car cooperates with the volume of the vehicle that gives way
Number, deceleration instruction is sent to into the first collaboration and is given way vehicle, and according to main line upstream traffic state information and the volume of ring road vehicle
Team leader's degree can insert gap and redistribute to main line kerb lane, determine second, third ... the volume of N collaborative vehicles
Number and regenerate first, second ... N can insert gap running state information, and according to main line the operation in gap can be inserted
Status information carries out packet numbering to ring road vehicle, and packet numbering and speed governing information are sent to each car on Entrance ramp
；Main line and ring road vehicle on-board main control module voluntarily adjust the speed of vehicle according to the inserted gap running state information for receiving
Degree, and send to reminding module and speed control module, the safe speed needed for driver is pointed out by reminding module, while car
Carrying main control module can monitor whether vehicle gives safe speed traveling by institute, the speed if monitoring vehicle not by safe speed traveling
Control module automatically controls the speed of vehicle.
The main line and ring road vehicle on-board main control module obtain the kinestate of other vehicles by car car, bus or train route communication
Information.According to main line collaborative vehicle upstream running state information and ring road vehicle queue length between main line kerb lane vehicle
Inserted interval reallocated, the deceleration for determining collaborative vehicle and the collaboration that may be conceded can insert gap, then basis
The collaboration that collaborative vehicle is conceded can insert remittance packet numbering and speed adjustment strategy that gap running state information determines ring road vehicle, meter
Calculation show that ring road vehicle imports safe speed required during main line.
The main line vehicle on-board equipment and ring road vehicle on-board equipment also include and the vehicle-mounted main control module communication link
The in-vehicle wireless communication module 15 for connecing, the roadside device also includes the trackside with trackside intelligent decision module communication connection
Wireless communication module 24, is carried out between the in-vehicle wireless communication module and trackside wireless communication module by cordless communication network
Information transmission.
The reminding module includes speed information display screen 131, car number display screen 132, the and of voice playing module 133
Speaker 134, the speed information display screen, car number display screen and voice playing module communicate with vehicle-mounted main control module
Connection, the speaker is communicated to connect with the voice playing module.
Speed information display screen speed information display screen shows that vehicle passes through safe speed required during the merging area of through street,
Voice playing module plays vehicle by the safe speed needed for the merging area of through street by speaker.
The speed control module control drives the brake pedal of vehicle.
The static information includes owner information, the model of vehicle and size.Certainly can also include vehicle its
Its information.
The mobile unit also includes sending the car vehicle radio communication of this truck position and movable information to other conflict vehicles
Module.
As shown in Fig. 2 the interface of mobile unit includes the display and voice message of vehicle current number and safe speed, with
And the interface of power supply and data, it is alphabetical " R " or " Z " that wherein vehicle packet numbering display interface is the first, and ring road car is represented respectively
Or main line vehicle, the 2nd for numeral represent vehicle belonging to marshalling number, the 3rd for numeral represent be located packet sequence,
Such as " R15 " represents the 5th car in the packet of ring road the 1st.
As shown in figure 3, the city expressway Entrance ramp vehicle pass-through under car networking environment guides the bootstrap technique of system,
Comprise the steps：
Step one：Position and movable information by mobile unit Real-time Collection vehicle, when collaborating into through street
During area's communication zone, main line vehicle on-board equipment, enter the friendship of row information between ring road vehicle on-board equipment and roadside device three
Mutually；
Step 2：Shape is run according to the vehicle that roadside device in step one can be gathered into through street merging area communication zone
State information, including the information of main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is according to car flow information
Whether analysis main line kerb lane can concede enough inserted gaps imports for the wagon flow of Entrance ramp, if analysis draws main line
Kerb lane can insert length of wagon of the gap less than car, then send instructions to Entrance ramp vehicle deceleration and go slowly wait main line
Gap can be inserted, if but analysis show that main line kerb lane can insert the sufficiently large gap distribution that can insert in gap uneven, trackside intelligence
Can decision-making module according to information such as vehicle location, the speed of the main line kerb lane in the communication zone for obtaining and Entrance ramp,
And give car number respectively, meanwhile, analysis with ring road head car will on the outside of the main line that merging area joint is clashed car
Road car number, is defined as " the first main line collaborative vehicle ", and determines that " the first main line cooperates with car according to its upstream vehicle information
" the inserted gap that may concede, deceleration is given, " the first main line collaborative vehicle " mobile unit receives roadside device and sends out
The deceleration sent is immediately performed gives way, while notifying its follow-up vehicle deceleration and keeping with " the first main line collaborative vehicle "
Certain safe distance between vehicles；
Step 3：Roadside device can insert gap and determine entrance circle according to the first collaboration that " the first main line collaborative vehicle " is conceded
Road vehicle participates in the vehicle fleet size of first group of remittance, and will participate in first group of car number for crossing and velocity information sends and feeds
The each vehicle of mouth ring road, mobile unit is received and be immediately performed after information fleet operation, with certain speed in stipulated time, rule
Surely the position realization that crosses cooperates with the engagement that can insert gap with first；
Step 4：In order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can root
According to quantity, the queue length of the length of " the first main line collaborative vehicle " upstream fleet, movable information and Entrance ramp residue vehicle
Redistributing for gap can be inserted etc. follow-up collaboration is carried out, that is, generating to be cooperateed with first can insert that gap size is identical, speed is equal
Second collaboration can insert gap, the 3rd collaboration can insert gap ...., N collaborations can insert gap, if cooperate with N can for Entrance ramp
The N groups vehicle fleet size that slotting gap is meshed is not enough, then N collaborations gap is smaller than the first collaboration can insert gap, then N is assisted
Can accelerate with vehicle, so as to reduce the gap with front truck；
Step 5：Main line kerb lane collaboration according to analyzing in step 4 can insert the friendship of gap and Entrance ramp wagon flow
Position and speed are converged, with reference to the current run location and velocity information of per car, when vehicle-mounted main control module can calculate per car and cross
Safe speed and speed trajectory；
Step 6：Participate in the prompting that the main line vehicle and Entrance ramp vehicle at interflow send according to mobile unit reminding module
Speed carries out speed governing, meanwhile, whether the speed trajectory calculated by vehicle-mounted main control module is travelled mobile unit monitoring vehicle, if car
Carry monitoring of equipment not travel by safe speed to vehicle, then go to step seven execution；
Step 7：If detecting vehicle not travel by safe speed, the mobile unit controls by force the braking of the vehicle
Pedal reaches safe speed；
Step 8：Judge whether ring road vehicle successfully imports main line wagon flow, if not having, go to step an execution, otherwise, knot
Shu Benci vehicle pass-throughs are guided.
As shown in figure 4, the city expressway Entrance ramp vehicle pass-through under car networking environment guides the bootstrap technique of system
Schematic diagram.Assume that roadside device collects main line kerb lane j car in the communication range of a certain through street on-ramp
On-ramp will be entered, ring road has i car to enter on-ramp, according to vehicle on the outside of main line and ring road head car master is reached
The rough calculation of line and ring road joint O time, judges that the vehicle that will be clashed with ring road head car cooperates with car as the 1st main line
, numbering is " Z11 ", and in order to ring road vehicle smoothly imports main line wagon flow, vehicle Z11 must give way, and concede enough associations
With can insert clearance D 1 for ring road vehicle import, and collaboration can insert clearance D 1 must ring road head car " R11 " arrival joint O when
Formed, when vehicle Z11 reaches joint O, the fleet of group of ring road the 1st successfully imports main line just, i.e., interflow completes, and R11
When interflow completes with the vehicle Z11 front trucks certain safe distance between vehicles of holding and speed is equal, in order to improve interflow efficiency, R11 is same
Group vehicle must be immediately after, it is necessary to carries out speed governing according to the running status of R11 and keeps certain safe distance between vehicles.
(1) the 1st main line collaborative vehicle " Z11 " and the solution of ring road head car " R11 " speed governing track.In order to ensure the peace at interflow
Quan Xing, makes in tmerMoment collaboration can insert clearance D 1 and ring road head car reaches joint O, in tendThe fleet of moment ring road the 1st and the 1st
Collaboration can insert gap and successfully cross, and interflow completes, and now the collaborative vehicle of main line the 1st reaches joint O just, and the car of ring road the 1st
The distance between every two car of team is minimum safe spacing LPeace, in order to improve traffic efficiency, as long as two cars after guaranteeing to collaborate
Safe distance between vehicles, moment when making per car start speed governing is t0, and during beginning speed governing before the 1st main line collaborative vehicle " Z11 "
Vehicle remain a constant speed, then the fleet of ring road the 1st successfully collaborates that following target equation need to be met：
Min D1=lR11+lR12+lR13+……+lR1n+(n+1)LPeace
The 1st group of fleet of ring road cooperate with main line the 1st can insert gap cross successfully need meet target equation：
vBefore Z11(t0)(tend-tmer)-|xZ11(tend) |=D1+lBefore Z11
The constraints that above target equation is satisfied by is：
Wherein, D1 represents that the collaboration of main line the 1st can insert the length in gap, t0Represent that vehicle starts speed governing into communication zone
Moment, tmerRepresent that ring road head car reaches the moment of joint O, tendExpression ring road the 1st fleet successfully imports the collaboration of main line the 1st can
The moment in slotting gap, LZ11(t0) represent t0The distance between the collaborative vehicle Z11 positions of moment main line the 1st and joint O,
LR11(t0)、LR12(t0)、LR13(t0)、LR1n(t0) represent t0Moment participates in the ring road vehicle head car and subsequent vehicle of the 1st combination stream
2nd, 3, n positions are respectively the distance between with joint O, LR11-R12(tmer) represent tmerMoment ring road vehicle R11 and vehicle
Space headway between R12, LR11-R13(tmer) represent tmerSpace headway between moment ring road vehicle R11 and vehicle R13,
LR11-Rn(tmer) represent tmerSpace headway between moment ring road vehicle R11 and vehicle R1n, xZ11(t0)、xZ11(tmer)、xZ11
(tend) t is represented respectively0、tmer、tendThe collaborative vehicle Z11 of moment main line the 1st is in this on-ramp location abscissa, vZ11
T () represents the speed of service of the collaborative vehicle Z11 of main line the 1st, vBefore Z11(t0) and vBefore Z11(tend) t is represented respectively0、tendMoment main line
The speed of service of the 1st collaborative vehicle Z11 front trucks, vR11(t)、vR12(t)、vR13(t)、vR1nT () represents that respectively ring road participates in the 1st little
The speed of combination stream vehicle, lR11、lR12、lR13And lR1nThe length of wagon of vehicle R11, R12, R13 and R1n is represented respectively, and n is represented
Ring road participates in the vehicle fleet size at the 1st group interflow, lBefore Z11Represent the length of wagon of the collaborative vehicle Z11 front trucks of main line the 1st, LPeaceRepresent
The minimum safe spacing to be kept between car and car (desirable 2m), a represents the acceleration needed for arbitrary vehicle operation, and v is represented
Speed needed for arbitrary vehicle operation, vmaxRepresent the max speed that vehicle traveling can be allowed, amaxAnd aminRepresent vehicle traveling
The peak acceleration that can be allowed and minimum acceleration.
The length of D1 can be drawn by the solution of above target equation, the quantity of the ring road vehicle of the 1st combination stream is participated in
N, and main line vehicle Z11, ring road vehicle R11, R12, R13 ..., the corresponding speed governing tracks of R1n, that is, collaborate when safety
Speed.
(2) in order to improve the traffic efficiency of merging area and keep the stability of main line upstream wagon flow, the collaborative vehicle of main line the 1st
Subsequent vehicle needs to keep minimum safe spacing between per two cars, and the 2nd collaboration can insert gap and the collaborative vehicle of main line the 1st
The distance between it is equal with D1, that is, need to meet following condition：
Min D1=lZ11+lZ12+lZ13+……+lZ1m+(m+1)LPeace
The constraints that above target equation is satisfied by is：
Wherein, D1 represents that the collaboration of main line the 1st can insert the length in gap, t0Represent that vehicle starts speed governing into communication zone
Moment, tendRepresent that the fleet of ring road the 1st successfully imports the collaboration of main line the 1st and can insert the moment in gap, lZ11、lZ12、lZ13And lZ1mRespectively
The length of wagon of vehicle Z11, Z12, Z13 and Z1m is represented, m represents the quantity of the 1st group of collaborative vehicle of main line, LPeaceRepresent car and car
Between the minimum safe spacing to be kept (desirable 2m), vZ12(t)、vZ13(t) and vZ1mT () represents that respectively the collaboration of main line the 1st is little
The 2nd, 3 and speed, the v of m car in groupZ21T () represents the speed of the 1st car in the Coordinte team of main line the 2nd, LZ12(t0)、LZ13
(t0)、LZ1m(t0) represent t0Moment participate in interflow the collaborative vehicle of main line the 1st and subsequent vehicle 2,3, m positions respectively with friendship
The distance between meeting point O, LZ11-Z12(tend) represent tendBetween the headstock between the collaborative vehicle Z11 of moment main line the 1st and vehicle Z12
Away from LZ11-Z13(tend) represent tendThe space headway between vehicle Z11 and vehicle Z13 in the Coordinte team of moment main line the 1st,
LZ11-Z1m(tend) represent tendThe space headway between vehicle Z11 and vehicle Z1m in the Coordinte team of moment main line the 1st, LZ21-Z1m
(tend) represent tendThe space headway between vehicle Z1m in the collaborative vehicle Z21 of moment main line the 2nd and the Coordinte team of main line the 1st,
vZ12(t0)、vZ13(t0) and vZ1m(t0) t is represented respectively0The speed of the 2nd, 3 and m car in the Coordinte team of moment main line the 1st,
vZ21(t0) represent t0The speed of the collaborative vehicle of moment main line the 2nd, vZ11(tend)、vZ12(tend)、vZ13(tend) and vZ1m(tend) point
T is not represented0The speed of the 1st, 2,3 and m car in the Coordinte team of moment main line the 1st, vZ21(tend) represent tendMoment main line
The speed of 2 collaborative vehicles, a represents the acceleration needed for arbitrary vehicle operation, and v represents the speed needed for arbitrary vehicle operation, vmax
Represent the max speed that vehicle traveling can be allowed, amaxAnd aminRepresent that vehicle travels the peak acceleration and minimum that can be allowed
Acceleration.
The length of D1 can be drawn by the solution of above target equation, the main line collaborative vehicle of the 1st combination stream is participated in
Quantity m, and main line collaborative vehicle Z11, Z12, Z13 ..., the corresponding speed governing tracks of Z1m, and can determine that the 2nd
The numbering of collaborative vehicle and corresponding speed adjustment strategy.
(3) after determining the 2nd collaborative vehicle, the collaboration of main line the 2nd can insert gap can be formed, and cooperateing with the 1st can insert gap
Size is identical and speed is identical, then ring road participates in the vehicle at the 2nd group interflow and just can insert gap according to the collaboration of main line the 2nd
Running status formed into columns and speed governing, the solution of speed adjustment strategy such as the target equation in (1), such that it is able to draw ring road
2 groups participate in the numbering and speed adjustment strategy of the vehicle at interflow.Accordingly, the collaborative vehicle of main line the 3rd, N-1 collaborations can insert gap
Solution such as the target equation in (2), so that it may draw corresponding main line the 3rd collaboration can insert gap, N-1 collaboration can insert between
Gap, may thereby determine that the speed adjustment strategy of each collaborative vehicle of main line.
(4) main line N collaborative vehicles and N cooperate with the solution in gap.The vehicle fleet size at ring road N groups interflow may
There is the situation less than vehicle fleet size n, for such case, need to keep most between ring road N groups interflow vehicle each car
Little safe distance between vehicles, the 1st safe spacing between car and last car of N-1 groups of ring road N groups is D1, so that it may
Go out the speed adjustment strategy of RN1, the quantity of trackside intelligent decision module meeting quick obtaining ring road N groups vehicle, so that it is determined that going out circle
The queue length DN of Dao N groups, then, main line N collaborative vehicles will be carried out according to the queue length DN of ring road N groups
Speed governing, to tendMoment forms N collaborations gap.
The above is only the preferred embodiment of the present invention, is not limited to the present invention, it is noted that for this skill
For the those of ordinary skill in art field, on the premise of without departing from the technology of the present invention principle, can also make it is some improvement and
Modification, these are improved and modification also should be regarded as protection scope of the present invention.
Claims (8)
1. the city expressway Entrance ramp vehicle pass-through under a kind of car networking environment guides system, it is characterised in that：Including road
Side apparatus and Surveillance center and main line vehicle on-board equipment and ring road vehicle on-board equipment；The roadside device, Surveillance center,
Information transmission is carried out by cordless communication network between main line vehicle on-board equipment and ring road vehicle on-board equipment；
The roadside device includes main line car flow information acquisition module, ring road car flow information acquisition module and trackside intelligent decision mould
Block；The main line car flow information acquisition module and ring road car flow information acquisition module communicate with the trackside intelligent decision module
Connection；
The main line vehicle on-board equipment and ring road vehicle on-board equipment include vehicle-mounted main control module and vehicle-mounted with described respectively
Vehicle essential information storage module, d GPS locating module, speed data collection module, the speed control module of main control module communication connection
And reminding module, the static information of this car is previously stored with the vehicle essential information memory module.
2. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 1 guides system, its
It is characterised by：The main line vehicle on-board equipment and ring road vehicle on-board equipment also include and the vehicle-mounted main control module communication link
The in-vehicle wireless communication module for connecing, the roadside device also include with the trackside intelligent decision module communication connection trackside without
Line communication module, row information is entered between the in-vehicle wireless communication module and trackside wireless communication module by cordless communication network
Transmission.
3. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 2 guides system, its
It is characterised by：The reminding module includes speed information display screen and voice playing module, the speed information display screen and language
Sound playing module is communicated to connect with vehicle-mounted main control module.
4. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 3 guides system, its
It is characterised by：The reminding module also includes car number display screen, the car number display screen and the vehicle-mounted master control mould
Block is communicated to connect.
5. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 4 guides system, its
It is characterised by：The reminding module also includes speaker, and the speaker is communicated to connect with the voice playing module.
6. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 5 guides system, its
It is characterised by：The speed control module control drives the brake pedal of vehicle.
7. the city expressway Entrance ramp vehicle pass-through under car networking environment according to claim 6 guides system, its
It is characterised by：The static information includes owner information, the model of vehicle and size.
8. the city expressway Entrance ramp vehicle pass-through under car networking environment guides the bootstrap technique of system, it is characterised in that：
Comprise the following steps：
Step one：The position of mobile unit Real-time Collection vehicle and movable information, when into the through street merging area comunication area
During domain, main line vehicle on-board equipment, enter the interaction of row information between ring road vehicle on-board equipment and roadside device three；
Step 2：Believed according to the travel condition of vehicle that roadside device in step one can be gathered into through street merging area communication zone
Breath, including the information of main line kerb lane wagon flow and Entrance ramp wagon flow, trackside intelligent decision module is analyzed according to car flow information
Whether main line kerb lane can concede enough inserted gaps imports for the wagon flow of Entrance ramp, if analysis draws main line outside
Track can insert length of wagon of the gap less than car, then sending instructions to Entrance ramp vehicle deceleration wait main line of going slowly can insert
Gap, if but analysis draws main line kerb lane and can insert that gap is sufficiently large can to insert that gap distribution is uneven, trackside is intelligently determined
Plan module according to information such as vehicle location, the speed of the main line kerb lane in the communication zone for obtaining and Entrance ramp, and point
Car number is not given, meanwhile, the main line kerb lane car that analysis will be clashed with ring road head car in merging area joint
Numbering, is defined as " the first main line collaborative vehicle ", and determines that " the first main line collaborative vehicle " can according to its upstream vehicle information
The inserted gap that can be conceded, provides deceleration, and " the first main line collaborative vehicle " mobile unit receives roadside device transmission
Deceleration is immediately performed gives way, while notifying its follow-up vehicle deceleration and keeping certain with " the first main line collaborative vehicle "
Safe distance between vehicles；
Step 3：Roadside device can insert gap and determine Entrance ramp car according to the first collaboration that " the first main line collaborative vehicle " is conceded
Participate in the vehicle fleet size of first group of remittance, and first group of car number for crossing and velocity information will be participated in being sent to entrance circle
The each vehicle in road, mobile unit is received and be immediately performed after information fleet operation, is handed in stipulated time, regulation with certain speed
The position realization that converges cooperates with the engagement that can insert gap with first；
Step 4：In order to allow Entrance ramp vehicle safety rapidly all to import main line wagon flow, trackside decision-making module can be according to " the
Quantity, queue length of length, movable information and Entrance ramp residue vehicle of one main line collaborative vehicle " upstream fleet etc. are carried out
Follow-up collaboration can insert redistributing for gap, that is, generating can insert that gap size is identical, second that speed is equal is assisted with the first collaboration
With can insert gap, the 3rd collaboration can insert gap ...., N collaboration can insert gap, if Entrance ramp is cooperateed with N can insert gap
The N groups vehicle fleet size being meshed is not enough, then N collaborations gap is smaller than the first collaboration can insert gap, then N collaborative vehicles
Can accelerate, so as to reduce the gap with front truck；
Step 5：Main line kerb lane collaboration according to analyzing in step 4 can insert the position that crosses of gap and Entrance ramp wagon flow
Put and speed, with reference to the current run location and velocity information of per car, vehicle-mounted main control module can calculate safety when per car crosses
Speed and speed trajectory；
Step 6：Participate in the prompting speed that the main line vehicle and Entrance ramp vehicle at interflow send according to mobile unit reminding module
Speed governing is carried out, meanwhile, whether the speed trajectory calculated by vehicle-mounted main control module is travelled mobile unit monitoring vehicle, if vehicle-mounted set
It is standby to monitor that vehicle is not travelled by safe speed, then go to step seven execution；
Step 7：If detecting vehicle not travel by safe speed, the mobile unit controls by force the brake pedal of the vehicle
Reach safe speed；
Step 8：Judge whether ring road vehicle successfully imports main line wagon flow, if not having, go to step an execution, otherwise, terminate this
Secondary vehicle pass-through guiding.
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