CN116434570B - A control method for non-motor vehicle left-turn lane based on cycling traffic flow expansion characteristics - Google Patents

Abstract

The invention discloses a method for regulating and controlling a left-turning special road of a non-motor vehicle based on the expansion characteristic of riding traffic flow, which is suitable for a cross intersection of the non-motor vehicle which is controlled by four-phase signal lamps to turn left once and cross a street, wherein the intersection is distinguished into the left-turning special road and the right-turning special road of the non-motor vehicle by luminous spikes, and comprises the following steps: 1, establishing a plane rectangular coordinate system; 2, finding the coordinate of a tangential point of the left-turning motor vehicle track relative to the central point of the signalized intersection to determine the left-turning track of the non-motor vehicle flow; 3 determining the maximum expansion width of the left-turning non-motor vehicle flow and the shortest distance between tracks; and 4, dynamically adjusting the number of the left-turn special lanes of the non-motor vehicle and the red light duration according to the interval requirement. The invention can help to reduce the conflict between the non-motor vehicles at the intersection, improve the left turn safety and the traffic capacity of the non-motor vehicles at the intersection, and provide a method support for the traffic organization optimization of the left turn non-motor vehicles at the signalized intersection.

Description

A control method for non-motor vehicle left-turn lane based on cycling traffic flow expansion characteristics

Technical Field

The invention belongs to the field of non-motor vehicle control, and specifically is a control method for a non-motor vehicle left-turn lane based on the expansion characteristics of cycling traffic flow.

Background technique

With the further popularization of the concept of sustainable development and green transportation, non-motor vehicles account for a large proportion of traffic composition, and with the development of communication technology and the increasing maturity of intelligent driving, the conflicts between motor vehicles in my country's road traffic can be greatly reduced. However, due to the influence of objective conditions, conflicts between non-motor vehicles still exist, especially when non-motor vehicles and motor vehicles are integrated at the intersection, the impact between two-way non-motor vehicles is greater. When the green light traffic phase of the intersection begins, since non-motor vehicles are very flexible in operation and they are eager to pass through the intersection first within the limited green light time, they will spread to both sides like a fluid when passing through the intersection to occupy the space of the intersection, and the non-motor vehicle flow will expand as a whole. Therefore, conflicts between non-motor vehicles occur.

At present, on the one hand, the implementation effect of the secondary crossing of non-motor vehicles is not ideal, and there are large conflicts between non-motor vehicles in both directions when non-motor vehicles and motor vehicles are integrated into left turns; on the other hand, there are some non-motor vehicle lanes on current urban roads that are not divided into left-turn lanes and straight right lanes. Random parking in all directions has caused certain delays and even a waste of road resources, which also increases the danger of non-motor vehicle flow passing through intersections.

Summary of the invention

In order to overcome the shortcomings of the prior art, the present invention proposes a non-motor vehicle left-turn lane control method based on the expansion characteristics of cycling traffic flow, so that under the premise of ensuring traffic operation safety, the number of non-motor vehicle left-turn lanes and the length of the left-turn phase red light can be dynamically adjusted to narrow the expansion width of the non-motor vehicle flow, thereby reducing traffic friction or traffic accidents between two-way non-motor vehicle flows at intersections, and improving the safety of non-motor vehicle traffic operation and road capacity.

In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

The present invention discloses a control method for a non-motor vehicle left-turn lane based on the expansion characteristics of cycling traffic flow, and its application scenario is a cross-shaped signal intersection in a networked environment, wherein the motor vehicle in the networked environment is a networked automatic driving vehicle, and the non-motor vehicle is a non-networked vehicle; a four-phase signal light for a dedicated left-turn phase is arranged at the cross-shaped intersection to control the motor vehicles and non-motor vehicles in four directions of the intersection; the lanes in each direction at the intersection are divided into an entrance lane and an exit lane by a double yellow line, and each entrance lane and exit lane is divided into n motor vehicle lanes and m non-motor vehicle lanes by white markings, and there is a motor vehicle left-turn lane on the entrance lane in each direction, and luminous road studs are arranged on m+1 non-motor vehicle lane lines on the entrance lane in each direction; the characteristic of the method is that the dynamic control method comprises the following steps:

Step 1: Establish a plane rectangular coordinate system:

Number any direction of the cross intersection as i, and number the remaining three directions as i+1, i+2, and i+3 in a clockwise direction. Take the center point of the signal intersection as the origin O, take the direction of the exit lane vehicles on the direction i+3 as the positive direction of the X-axis, and extend it in the reverse direction, take the direction of the exit lane vehicles on the direction i+2 as the positive direction of the Y-axis, and extend it in the reverse direction, so as to establish a plane rectangular coordinate system XOY;

Step 2: Determine the tangent point coordinates of the left-turning motor vehicle trajectories in direction i and direction i+2 relative to the origin O:

Step 2.1, taking the midpoint of the stop line of the motor vehicle left-turn lane on the entrance road in direction i as the starting point S ₀ of the left-turn motor vehicle driving trajectory, the end point E ₀ of the left-turn motor vehicle driving trajectory is on the outermost motor vehicle lane of the exit road in direction i+1, taking the perpendicular distance between the end point E ₀ and the stop line of the entrance road in direction i as the radius, and the arc between the starting point S ₀ and the end point E ₀ as the left-turn motor vehicle driving trajectory in direction i;

Step 2.2: The intersection point formed by the perpendicular line between the center of the left-turning vehicle trajectory in direction i and the diagonal line of the intersection on the arc is taken as the tangent point O ₁ of the left-turning vehicle trajectory in direction i relative to the origin O. The coordinates of the tangent point are:

Step 2.3, taking the midpoint of the stop line of the motor vehicle left-turn lane on the entrance road in the direction i+2 as the starting point S ₀ ′ of the left-turn motor vehicle driving trajectory, the end point E ₀ ′ of the left-turn motor vehicle driving trajectory is on the outermost motor vehicle lane of the exit road in the direction i+3, taking the perpendicular distance between the end point E ₀ ′ and the stop line of the entrance road in the direction i+2 as the radius, and the arc between the starting point S ₀ ′ and the end point E ₀ ′ as the left-turn motor vehicle driving trajectory in the direction i+2;

Step 2.4: The intersection point formed by the perpendicular line between the center of the left-turning vehicle trajectory in direction i+2 and the diagonal line of the intersection on the arc is used as the tangent point O ₂ of the left-turning vehicle trajectory in direction i+2 relative to the origin O. The coordinates of the tangent point are

Step 3: Determine the left-turn trajectory equations of non-motor vehicle flows in direction i and direction i+2:

Step 3.1, obtain intersection-related data: the intersection curb turning radius is R _r , the non-motor vehicle lane width is L _nmv , and the motor vehicle lane width is L _v ;

Step 3.2: Determine the left-turn trajectory equation of non-motor vehicle flow in direction i:

Step 3.2.1, take the intersection of the vehicle-non-motor vehicle separation line of the entrance road in direction i and the stop line of the entrance road in direction i as the starting point S ₁ of the left-turning non-motor vehicle flow, and the coordinates of the starting point S ₁ in the plane rectangular coordinate system XOY are S ₁ (nL _v ,-nL _v -L _nmv -R _r ); take the intersection of the stop line of the entrance road in direction i+1 and the vehicle-non-motor vehicle separation line of the exit road in direction i+1 as the end point E ₁ of the left-turning non-motor vehicle flow, and the coordinates of the end point E ₁ in the plane rectangular coordinate system XOY are E ₁ (-nL _v -L _nmv -R _r ,nL _v );

Step 3.2.2, using formula (1) to obtain the tangent point coordinates O′ ₁ (x, y) of the left-turning motor vehicle trajectory on the entrance lane in direction i relative to the origin O;

In formula (1), (x, y) represents the position coordinates of the tangent point of the left-turning non-motor vehicle flow trajectory on the entrance lane in direction i relative to the origin O in the plane rectangular coordinate system; D _v-nmv represents the lateral safety width of the vehicle during its movement;

Step 3.2.3, the quadratic function fitted by the starting point S ₁ , the end point E ₁ and the tangent point O′ ₁ is used as the left-turn trajectory of the non-motor vehicle flow in direction i; wherein the quadratic term coefficient a ₁ , the linear term coefficient b ₁ and the constant term c ₁ of the quadratic function are obtained by formula (2):

Step 3.3, determine the left-turn trajectory equation of non-motor vehicle flow in direction i+2:

Step 3.3.1, take the intersection of the vehicle-non-motor vehicle separation line of the entrance road on direction i+2 and the stop line of the entrance road on direction i+2 as the starting point S′ ₁ of the left-turning non-motor vehicle flow, and the coordinates of the starting point S′ ₁ in the plane rectangular coordinate system XOY are S′ ₁ (-nL _v ,nL _v +L _nmv +R _r ); take the intersection of the stop line of the entrance road on direction i+3 and the vehicle-non-motor vehicle separation line of the exit road on direction i+3 as the end point E′ ₁ of the left-turning non-motor vehicle flow, and the coordinates of the end point E′ ₁ in the plane rectangular coordinate system XOY are E′ ₁ (nL _v +L _nmv +R _r ,-nL _v );

Step 3.3.2, using formula (3), obtain the tangent point coordinates O′ ₂ (x′, y′) of the left-turning motor vehicle trajectory on the entrance lane in direction i+2 relative to the origin O;

In formula (3), (x′, y′) represents the position coordinates of the tangent point of the left-turning non-motor vehicle flow trajectory on the entrance lane in direction i+2 relative to the origin O in the plane rectangular coordinate system;

Step 3.3.3, the quadratic function fitted by the starting point _S'1 , the end point _E'1 and the tangent point _O'2 is used as the left-turn trajectory of the non-motor vehicle flow in direction i+2; wherein the quadratic term coefficient _a2 , the linear term coefficient _b2 and the constant term _c2 of the quadratic function are obtained by formula (4):

Step 4: Determine the maximum expansion width of the left-turning non-motor vehicle flow in direction i and direction i+2:

Step 4.1: Use formula (5) to calculate the number of non-motor vehicle lanes m:

In formula (5), _L0 represents the safe width of a single non-motor vehicle at the intersection. To round down;

Step 4.2, define the number of lanes of the non-motor vehicle left-turn lane on the entrance road in direction i as ^mi , and initialize ^mi = m-1; define the number of lanes of the non-motor vehicle left-turn lane on the entrance road in direction i+2 as mi ⁺² , and initialize mi ⁺² = m-1;

Step 4.3: Use formula (6) to calculate the width of the non-motor vehicle left-turn lane on the entrance road in direction i and the width of the non-motor vehicle left-turn lane on the entrance road in direction i+2/>

Step 4.4, obtain relevant data: the straight-line distance L between the starting point and the end point of the non-motorized vehicle flow, the left-turn phase green light duration _Tg (t) and the left-turn phase red light duration _Tr (t) of the entrance lane in direction i in the tth cycle, and the arrival rate of left-turn motor vehicles in the entrance lane in direction i in the tth cycle Arrival rate of left-turning vehicles on the entrance lane in direction i+2 in the tth cycle The arrival rate of left-turning non-motorized vehicles on the entrance lane in direction i in the tth cycle/> The arrival rate of left-turning non-motorized vehicles on the entrance lane in direction i+2 in the tth cycle/>

Step 4.5: Use formula (7) to calculate the number of left-turning motor vehicles accumulated on the entrance lane in direction i during the left-turn phase red light duration T _r (t) in the tth cycle: The number of left-turning vehicles accumulated on the entrance lane in direction i+2 during the left-turn phase red light duration T _r (t) in the tth cycle/>

Formula (8) is used to calculate the number of left-turning non-motorized vehicles on the entrance lane in direction i during the left-turn phase red light duration _Tr (t) in the tth cycle: The number of non-motorized vehicles turning left on the entrance lane in direction i+2 during the left-turn phase red light duration T _r (t) of the tth cycle/>

Use formula (9) to calculate the number of non-motor vehicles queuing in parallel on the entrance lane in direction i in the tth cycle: Number of non-motor vehicles queuing in parallel on the entrance lane in direction i+2 in the tth cycle/>

Step 4.6: Calculate the maximum expansion width w ⁱ (t) of the left-turning non-motor vehicle flow on the entrance lane in direction i in the t-th cycle and the maximum expansion width w ^{i+2 (t) of the left-turning non-motor vehicle flow on the entrance lane in direction i+2} in the t-th cycle according to formula (10):

In formula (10), is a constant term affecting the maximum expansion width in direction i,/> is a constant term affecting the maximum expansion width in direction i+2,/> is the coefficient of the jth factor affecting the maximum expansion width in direction i,/> is the coefficient of the jth factor affecting the maximum expansion width in direction i+2;

Step 5: Determine the shortest distance between the trajectories of left-turning non-motor vehicles and judge whether it meets the safety spacing requirements:

Step 5.1: The maximum expansion width of the left-turning non-motorized vehicle flow occurs in the middle area of the left-turning vehicle flow. The shortest spacing between the two-way left-turning non-motorized vehicle flows is also in the middle area. The most dangerous situation between the two-way left-turning non-motorized vehicle flows, that is, the maximum expansion width of the left-turning vehicle flow, occurs at the shortest spacing between the vehicle flow trajectories. The shortest distance w(t) _min between the left-turning trajectory of the non-motorized vehicle flow in direction i and the left-turning trajectory of the non-motorized vehicle flow in direction i+2 in the tth period is obtained using formula (11):

In formula (11), represents the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i, and is the point formed by the maximum expansion width w ⁱ (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i in the most dangerous case; /> represents the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2, and is the point formed by the maximum expansion width w ⁱ⁺² (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i+2 in the most dangerous case;

Step 5.2: If equation (12) holds, go to step 8; if equation (12) does not hold, go to step 6;

w(t) _min ＞ ^wi (t)+ ^wi+2 (t)+ _Dnmv-nmv (12)

In formula (12), D _nmv-nmv represents the lateral safety width of non-motorized vehicles during movement;

Step 6: Adjust the number of lanes dedicated to left turns for non-motor vehicles to ensure the safety of the left-turn expansion space for non-motor vehicles on the two-way entrance road;

Step 6.1, using formula (13), calculate the number of non-motor vehicle left-turn lanes k i (t) in direction i and the number of non-motor vehicle left-turn lanes k ⁱ +2 (t) in direction i+ ² required for the number of non-motor vehicle vehicles coming during the left-turn phase red light time in the t-th cycle to completely pass through the intersection during the left-turn phase green light time;

In formula (13), C is the maximum traffic capacity of a non-motorized vehicle lane; To round up;

Step 6.2: If ^mi > ^ki (t) and ^mi+2 > ^ki+2 (t), perform the assignment operation according to equation (14) and equation (15), and then return to step 4.3 to execute sequentially;

Step 6.3: If ^mi > ^ki (t) and mi ⁺ 2≤ki ⁺² (t), perform the assignment operation according to formula (14) and then return to step 4.3 to execute sequentially;

Step 6.4: If ^{mi ≤ki} (t) and ^mi+2 > ^ki+2 (t), perform the assignment operation according to formula (15) and return to step 4.3 to execute sequentially;

Step 6.5: If ^{mi ≤ki} (t) and mi ⁺² ≤ki ⁺² (t), proceed to step 7;

Step 7: After performing the assignment operation according to formula (16), return to step 4.4 and execute sequentially;

T _r (t)←T _r (t)-ΔT(16)

In formula (16), ΔT is a red light time step;

Step 8: Calculate the activation length of each left-turn lane luminous stud using formula (17):

L _q (t) = T _g (t) · C · L _s (17)

In formula (17), _Lq (t) represents the length of the activated light studs in each left-turn lane in the tth period; _Ls represents the safe parking length of a non-motor vehicle;

Step 9, the coordinate axis is rotated 90° clockwise with the origin as the rotation center, the opposite direction of the Y axis is recorded as the direction i where the non-motor vehicle is located, and the remaining three directions are numbered as i+1, i+2, and i+3 in the clockwise direction, so as to control the expansion width of the non-motor vehicle in the uncontrolled entrance lane of the intersection in the order of steps 2 to 8;

Step 10: After assigning t+1 to t, return to step 1 and execute sequentially, so as to adjust the expansion width of non-motor vehicles at the intersection of the next cycle.

The device for controlling a left-turn lane for non-motor vehicles of the present invention is characterized in that it receives and stores data transmitted by wireless communication, establishes a plane rectangular coordinate system at an intersection, and uses known data to calculate the motor vehicle trajectory and the non-motor vehicle trajectory equation; establishes a mathematical relationship between the maximum expansion width of a non-motor vehicle flow turning left and its influencing factors, that is, a multiple regression equation, and obtains the maximum expansion width; thereby judging whether it is necessary to adjust the number of left-turn lanes for non-motor vehicles or adjust the duration of the left-turn phase red light based on the shortest spacing requirement of the opposite non-motor vehicle trajectory, and feedback is given to the luminous road studs or intelligent signal machine by wireless communication.

Compared with the prior art, the beneficial technical effects of the present invention are embodied in:

1. The present invention acquires and processes relevant data in real time through information interaction between roadside intelligent collection equipment and an information processing center, determines whether the shortest distance between two-way non-motor vehicle trajectories meets the minimum requirements, and dynamically controls the number of non-motor vehicle left-turn lanes and the length of red lights to control the expansion width of non-motor vehicle flow while ensuring traffic operation safety, thereby reducing conflicts between two-way non-motor vehicle flows at intersections and improving the safety of non-motor vehicle left-turn expansion space and high road traffic capacity.

2. From the perspective of non-motor vehicles, the present invention adopts different judgment conditions according to different scenarios to judge the number of left-turn lanes for non-motor vehicles in each cycle and whether the red light duration needs to be adjusted, thereby improving the accuracy of judgment.

3. The present invention utilizes luminous road studs to realize the dynamic change of the number of lanes dedicated for left turns for non-motor vehicles, thus overcoming the deficiency of static allocation of non-motor vehicle lanes in traditional traffic environments and improving the traffic capacity of the road.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 is an overall flow chart of the present invention;

Fig. 2 is a detailed flow chart of the present invention;

FIG3 is a schematic diagram of an intersection of the present invention;

FIG. 4 is a detailed diagram of the non-motor vehicle lane of the present invention.

Detailed ways

In this embodiment, the implementation scenario is a cross-shaped signalized intersection with only one left-turn lane, but the technical idea of the present invention is not limited to cross-shaped intersections and single left-turn non-motorized vehicle lanes. Other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In this embodiment, as shown in Figure 1, in order to reduce conflicts between two-way non-motorized vehicles and improve the safety of traffic operation and the overall traffic capacity of the road, a non-motorized vehicle left-turn lane control method based on the expansion characteristics of cycling traffic flow is carried out according to the following steps:

Step 1: Wireless communication technology transmits the basic road information collected by the roadside intelligent collection equipment to the information processing center. The information processing center establishes a suitable rectangular coordinate system at the intersection, as shown in Figure 3:

Any direction of the cross intersection is numbered as i, and the remaining three directions are numbered as i+1, i+2, and i+3 in the clockwise direction. The center point of the signal intersection is taken as the origin O, the driving direction of the exit lane vehicles in the direction i+3 is taken as the positive direction of the X-axis, and extended in the reverse direction, and the driving direction of the exit lane vehicles in the direction i+2 is taken as the positive direction of the Y-axis, and extended in the reverse direction, so as to establish a plane rectangular coordinate system XOY;

Step 2: After the information processing center establishes the plane rectangular coordinate system shown in FIG. 3, the tangent point coordinates of the left-turning motor vehicle trajectories in direction i and direction i+2 relative to the origin O are determined according to the following steps:

Step 2.1, taking the midpoint of the stop line of the motor vehicle left-turn lane on the entrance road in direction i as the starting point S ₀ of the left-turn motor vehicle driving trajectory, the end point E ₀ of the left-turn motor vehicle driving trajectory is on the outermost motor vehicle lane of the exit road in direction i+1, taking the perpendicular distance between the end point E ₀ and the stop line of the entrance road in direction i as the radius, and the arc between the starting point S ₀ and the end point E ₀ as the left-turn motor vehicle driving trajectory in direction i;

Step 2.2: The intersection point formed by the perpendicular line between the center of the left-turning vehicle trajectory in direction i and the diagonal line of the intersection on the arc is taken as the tangent point O ₁ of the left-turning vehicle trajectory in direction i relative to the origin O. The coordinates of the tangent point are:

Step 2.3, taking the midpoint of the stop line of the motor vehicle left-turn lane on the entrance road in the direction i+2 as the starting point S ₀ ′ of the left-turn motor vehicle driving trajectory, the end point E ₀ ′ of the left-turn motor vehicle driving trajectory is on the outermost motor vehicle lane of the exit road in the direction i+3, taking the perpendicular distance between the end point E ₀ ′ and the stop line of the entrance road in the direction i+2 as the radius, and the arc between the starting point S ₀ ′ and the end point E ₀ ′ as the left-turn motor vehicle driving trajectory in the direction i+2;

Step 2.4: The intersection point formed by the perpendicular line between the center of the left-turning vehicle trajectory in direction i+2 and the diagonal line of the intersection on the arc is used as the tangent point O ₂ of the left-turning vehicle trajectory in direction i+2 relative to the origin O. The coordinates of the tangent point are

Step 3: Determine the left-turn trajectory equations of non-motor vehicle flows in direction i and direction i+2:

Step 3.1, obtain intersection-related data through roadside intelligent data collection equipment: the intersection curb turning radius is R _r , the non-motor vehicle lane width is L _nmv , and the motor vehicle lane width is L _v ;

Step 3.2: Determine the left-turn trajectory equation of non-motor vehicle flow in direction i:

Step 3.2.1, the information processing center exchanges information with the roadside intelligent collection equipment. As shown in Figure 3, the intersection of the vehicle-non-motor vehicle separation line on the entrance road in direction i and the stop line on the entrance road in direction i is taken as the starting point S ₁ of the left-turning non-motor vehicle flow. The coordinates of the starting point S ₁ in the plane rectangular coordinate system XOY are

S ₁ (nL _v ,-nL _v -L _nmv -R _r ); the intersection of the stop line of the entrance lane in direction i+1 and the vehicle-non-motor vehicle separation line of the exit lane in direction i+1 is taken as the end point E ₁ of the left-turning non-motor vehicle flow, and the coordinates of the end point E ₁ in the plane rectangular coordinate system XOY are E ₁ (-nL _v -L _nmv -R _r ,nL _v );

Step 3.2.2, using formula (1) to obtain the tangent point coordinates O ₁ ′(x,y) of the left-turning motor vehicle trajectory on the entrance lane in direction i relative to the origin O;

In formula (1), (x, y) represents the position coordinates of the tangent point of the left-turning non-motor vehicle flow trajectory on the entrance lane in direction i relative to the origin O in the plane rectangular coordinate system; D _v-nmv represents the lateral safety width of the vehicle during its movement;

Step 3.2.3, the quadratic function fitted by the starting point S ₁ , the end point E ₁ and the tangent point O ₁ ′ is used as the left-turn trajectory of the non-motor vehicle flow in direction i; wherein the quadratic term coefficient a ₁ , the linear term coefficient b ₁ and the constant term c ₁ of the quadratic function are obtained by formula (2):

Step 3.3, determine the left-turn trajectory equation of non-motor vehicle flow in direction i+2:

Step 3.3.1. The information processing center interacts with the roadside intelligent collection device. As shown in Figure 3, the intersection of the vehicle-non-motor vehicle separation line on the entrance road in direction i+2 and the stop line on the entrance road in direction i+2 is taken as the starting point S ₁ ′ of the left-turning non-motor vehicle flow. The coordinates of the starting point S ₁ ′ in the plane rectangular coordinate system XOY are

S ₁ ′(-nL _v ,nL _v +L _nmv +R _r ); The intersection of the stop line of the entrance lane in direction i+3 and the vehicle-non-motor vehicle separation line of the exit lane in direction i+3 is taken as the end point E ₁ ′ of the left-turning non-motor vehicle flow, and the coordinates of the end point E ₁ ′ in the plane rectangular coordinate system XOY are E ₁ ′(nL _v +L _nmv +R _r ,-nL _v );

Step 3.3.2, using formula (3), obtain the tangent point coordinates O ₂ ′(x′,y′) of the left-turning motor vehicle trajectory on the entrance lane in direction i+2 relative to the origin O;

In formula (3), (x′, y′) represents the position coordinates of the tangent point of the left-turning non-motor vehicle flow trajectory on the entrance lane in direction i+2 relative to the origin O in the plane rectangular coordinate system;

Step 3.3.3, the quadratic function fitted by the starting point S ₁ ′, the end point E ₁ ′ and the tangent point O ₂ ′ is used as the left-turn trajectory of the non-motor vehicle flow in direction i+2; wherein the quadratic term coefficient a ₂ , the linear term coefficient b ₂ and the constant term c ₂ of the quadratic function are obtained by formula (4):

Step 4: Determine the maximum expansion width of the left-turning non-motor vehicle flow in direction i and direction i+2:

Step 4.1: Use formula (5) to calculate the number of non-motor vehicle lanes m:

In formula (5), _L0 represents the safe width of a single non-motor vehicle at the intersection. To round down;

Step 4.2, the information processing center defines the number of lanes of the non-motor vehicle left-turn lane on the entrance road in direction i as ^mi , and initializes ^mi = m-1 according to the detailed flow chart 2; defines the number of lanes of the non-motor vehicle left-turn lane on the entrance road in direction i+ ² as mi+2, and initializes ^mi+2 = m-1 according to the detailed flow chart 2;

Step 4.3: The information processing center uses formula (6) to calculate the width of the non-motor vehicle left-turn lane on the entrance road in direction i: and the width of the non-motor vehicle left-turn lane on the entrance road in direction i+2/>

Step 4.4: Obtain relevant data through the roadside intelligent data collection equipment: the straight-line distance L between the starting point and the end point of the non-motorized vehicle flow, the left-turn phase green light duration _Tg (t) and the left-turn phase red light duration _Tr (t) on the entrance lane in direction i in the tth cycle, and the arrival rate of left-turn motor vehicles on the entrance lane in direction i in the tth cycle. The arrival rate of left-turning vehicles on the entrance lane in direction i+2 in the tth period/> The arrival rate of left-turning non-motorized vehicles on the entrance lane in direction i in the tth cycle/> The arrival rate of left-turning non-motorized vehicles on the entrance lane in direction i+2 in the tth cycle/>

Step 4.5: Use formula (7) to calculate the number of left-turning motor vehicles accumulated on the entrance lane in direction i during the left-turn phase red light duration T _r (t) in the tth cycle: The number of left-turning vehicles accumulated on the entrance lane in direction i+2 during the left-turn phase red light duration T _r (t) in the tth cycle/>

Formula (8) is used to calculate the number of left-turning non-motorized vehicles on the entrance lane in direction i during the left-turn phase red light duration _Tr (t) in the tth cycle: The number of non-motorized vehicles turning left on the entrance lane in direction i+2 during the left-turn phase red light duration T _r (t) of the tth cycle/>

Use formula (9) to calculate the number of non-motor vehicles queuing in parallel on the entrance lane in direction i in the tth cycle: Number of non-motor vehicles queuing in parallel on the entrance lane in direction i+2 in the tth cycle/>

Step 4.6: During the red light period, all non-motor vehicles queue up behind the stop line. When they are given the right of way, they are eager to pass through the intersection in the limited green light time. The non-motor vehicle flow will spread to both sides like a fluid, and finally the vehicle flow trajectory is distributed in a spindle shape. The information processing center establishes a left-turn non-motor vehicle flow expansion width regression model based on the relevant significant variables affecting the non-motor vehicle expansion width, namely the number of left-turn non-motor vehicles, the number of non-motor vehicle queues, the number of left-turn motor vehicles, the width of the non-motor vehicle lane, the left-turn green light signal duration, and the straight-line distance between the starting point and the end point of the non-motor vehicle flow to reflect the mathematical relationship between a dependent variable and multiple independent variables. That is, according to formula (10), the maximum expansion width w ⁱ (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i+2 in the tth cycle and the maximum expansion width w ⁱ⁺² (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i+2 in the tth cycle are calculated:

In formula (10), is a constant term affecting the maximum expansion width in direction i,/> is a constant term affecting the maximum expansion width in direction i+2,/> is the coefficient of the jth factor affecting the maximum expansion width in direction i,/> is the coefficient of the jth factor affecting the maximum expansion width in direction i+2;

Step 5: Determine the shortest distance between the trajectories of left-turning non-motor vehicles and judge whether it meets the safety spacing requirements:

Step 5.1: The maximum expansion width of the left-turning non-motorized vehicle flow occurs in the middle area of the left-turning vehicle flow. The shortest spacing between the two-way left-turning non-motorized vehicle flows is also in the middle area. The most dangerous situation between the two-way left-turning non-motorized vehicle flows, that is, the maximum expansion width of the left-turning vehicle flow, occurs at the shortest spacing between the vehicle flow trajectories. Connect the starting point of the left-turning non-motorized vehicle flow on the entrance lane in direction i and the end point of the left-turning non-motorized vehicle flow on the entrance lane in direction i+2. The information processing center translates the line perpendicular to the diagonal line of the intersection with a step length of one thousandth to find two points that meet the shortest spacing. That is, the shortest distance w(t) _min between the left-turning trajectory of the non-motorized vehicle flow in direction i and the left-turning trajectory of the non-motorized vehicle flow in direction i+2 in the tth period is obtained using formula (11):

In formula (11), represents the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i, and is the point formed by the maximum expansion width w ⁱ (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i in the most dangerous case; /> represents the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2, and is the point formed by the maximum expansion width w ⁱ⁺² (t) of the left-turn non-motor vehicle flow on the entrance lane in direction i+2 in the most dangerous case;

Step 5.2: If equation (12) holds, go to step 8; if equation (12) does not hold, go to step 6;

w(t) _min ＞ ^wi (t)+ ^wi+2 (t)+ _Dnmv-nmv (12)

In formula (12), D _nmv-nmv represents the lateral safety width of non-motorized vehicles during movement;

Step 6: When the spacing between the oncoming non-motor vehicle trajectories does not meet the requirement, the information processing center adjusts the number of non-motor vehicle left-turn lanes through calculation to ensure the safety of the left-turn expansion space for non-motor vehicles on the two-way entrance road;

Step 6.1, using formula (13), calculate the number of non-motor vehicle left-turn lanes k i (t) in direction i and the number of non-motor vehicle left-turn lanes k ⁱ +2 (t) in direction i+ ² required for the number of non-motor vehicle vehicles coming during the left-turn phase red light time in the t-th cycle to completely pass through the intersection during the left-turn phase green light time;

In formula (13), C is the maximum traffic capacity of a non-motorized vehicle lane; To round up;

Step 6.2: According to the detailed flow chart 2, if ^mi > ^ki (t) and mi ⁺² > ^ki+2 (t), then after performing the assignment operation according to equations (14) and (15), return to step 4.3 and execute sequentially;

Step 6.3: According to the detailed flow chart 2, if ^mi > ^ki (t) and mi ⁺ 2≤ki ⁺² (t), then after performing the assignment operation according to formula (14), return to step 4.3 and execute sequentially;

Step 6.4: According to the detailed flow chart 2, if ^{mi ≤ki} (t) and ^mi+2 > ^ki+2 (t), then after performing the assignment operation according to formula (15), return to step 4.3 and execute sequentially;

Step 6.5: According to the detailed flow chart 2, if ^{mi ≤ki} (t) and mi ⁺² ≤ki ⁺² (t), execute step 7;

Step 7: After performing the assignment operation according to formula (16), return to step 4.4 and execute sequentially;

T _r (t)←T _r (t)-ΔT(16)

In formula (16), ΔT is a red light time step;

Step 8: The information processing center uses formula (17) to calculate the activation length of the luminous road studs in each left-turn lane. The specific form can be seen in Figure 4:

L _q (t) = T _g (t) · C · L _s (17)

In formula (17), _Lq (t) represents the length of the activated light studs in each left-turn lane in the tth period; _Ls represents the safe parking length of a non-motor vehicle;

In this embodiment, a non-motor vehicle left turn lane control device based on the expansion characteristics of cycling traffic flow connects roadside intelligent collection equipment, information processing center, luminous road studs and intelligent signal machines through wireless communication technology, realizes real-time information interaction and improves information transmission efficiency, specifically including:

A roadside intelligent data collection device that can quickly and accurately collect data related to intersection road geometry characteristics and traffic flow and other data, and send the information to the processing center using wireless communication technology.

A luminous road stud is evenly arranged on each imported non-motorized vehicle lane in each direction. After receiving the calculation result of the information processing center, it quickly responds and turns on the luminous road stud on the left-turn special lane.

An intelligent traffic light intelligently adjusts the time step of the left-turn phase red light to change the expansion width when the number of bidirectional non-motor vehicle lanes cannot be changed, thereby ensuring the safety of the left-turn expansion space for bidirectional non-motor vehicles.

An information processing center receives and stores data transmitted by wireless communication technology, establishes a suitable plane rectangular coordinate system at the intersection, and uses known data to calculate the trajectory of the connected vehicle and the trajectory equation of the non-motor vehicle; establishes a mathematical relationship between the maximum expansion width of the left turn of non-motor vehicle flow and its influencing factors, that is, a multiple regression equation, and obtains the maximum expansion width; and based on the shortest spacing requirement of the opposite non-motor vehicle trajectory, determines whether it is necessary to adjust the number of non-motor vehicle left-turn lanes or adjust the left-turn phase red light duration, and uses wireless communication technology to feedback to the luminous road studs or intelligent signal machines.

Claims (1)

1. A method for regulating and controlling a left-turn lane of a non-motor vehicle based on the expansion characteristic of riding traffic flow is characterized in that the application scene of the method is a cross signal intersection in a network environment, the motor vehicle in the network environment is a network automatic driving vehicle, and the non-motor vehicle is a non-network vehicle; a special four-phase signal lamp with a left-turn phase is arranged at the cross signal intersection to control motor vehicles and non-motor vehicles in four directions of the intersection; the lane at each intersection is divided into an entrance lane and an exit lane by double yellow lines, each entrance lane and each exit lane are respectively divided into n motor lanes and m non-motor lanes by white marked lines, the entrance lane in each direction is provided with a motor vehicle left-turning special lane, and the luminous spikes are arranged on m+1 non-motor lane lines on the entrance lane in each direction; the dynamic regulation and control method is characterized by comprising the following steps of:

Step1, establishing a plane rectangular coordinate system:

Numbering any direction of a cross signal intersection as i, sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, taking the central point of the signal intersection as an origin O, taking the running direction of the exit vehicle in the direction i+3 as the positive direction of an X axis, extending reversely, and taking the running direction of the exit vehicle in the direction i+2 as the positive direction of a Y axis, and extending reversely, so as to establish a plane rectangular coordinate system XOY;

step 2, determining the tangential point coordinates of the left-turning motor car track in the direction i and the direction i+2 relative to the origin O:

Step 2.1, taking the midpoint position of a stopping line of a motor vehicle left-turning special lane of an entrance lane in a direction i as a starting point S ₀ of a left-turning motor vehicle running track, wherein an end point E ₀ of the left-turning motor vehicle running track is on the outermost motor vehicle lane of the exit lane in a direction i+1, the perpendicular line distance between the end point E ₀ and the stopping line of the entrance lane in the direction i is taken as a radius, and an arc between the starting point S ₀ and the end point E ₀ is taken as the left-turning motor vehicle running track in the direction i;

2.2, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track and the diagonal line of the intersection in the direction i on an arc as a tangential point O ₁ of the left-turning motor vehicle track relative to the origin point O in the direction i, wherein the tangential point coordinate is as follows

Step 2.3, taking the midpoint position of a stopping line of a left-turning special lane of the motor vehicle of the entrance lane in the direction i+2 as a starting point S ₀ ' of a left-turning motor vehicle running track, wherein an end point E ₀ ' of the left-turning motor vehicle running track is on the outermost motor lane of the exit lane in the direction i+3, the perpendicular line distance between the end point E ₀ ' and the stopping line of the entrance lane in the direction i+2 is taken as a radius, and an arc between the starting point S ₀ ' and the end point E ₀ ' is taken as the left-turning motor vehicle running track in the direction i+2;

2.4, taking an intersection point formed by a perpendicular line between the circle center of the left-turning motor vehicle running track in the direction i+2 and the diagonal line of the intersection on the circular arc as a tangential point O ₂ of the left-turning motor vehicle track in the direction i+2 relative to the origin point O, wherein the tangential point coordinate is

Step 3, determining a non-motor vehicle flow left-hand tracking equation of the direction i and the direction i+2:

Step 3.1, acquiring intersection related data: the turning radius of the border stone of the intersection is R _r, the width of a non-motor vehicle lane is L _nmv, and the width of the motor vehicle lane is L _v;

step 3.2, determining a non-motor vehicle flow left-hand tracking equation of the direction i:

Step 3.2.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i and the stop line of the inlet road in the direction i as a starting point S ₁ of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S ₁ in a plane rectangular coordinate system XOY is S ₁(nL_v,-nL_v-L_nmv-R_r); taking the intersection point of the stop line of the inlet road in the direction i+1 and the mechanical non-separation line of the outlet road in the direction i+1 as a terminal point E ₁ of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E ₁ in a plane rectangular coordinate system XOY is E ₁(-nL_v-L_nmv-R_r,nL_v);

Step 3.2.2, obtaining a tangential point coordinate O ₁' (x, y) of the left-turning motor car track of the entrance lane in the direction i relative to the origin point O by using the formula (1);

In the formula (1), (x, y) represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i under a plane rectangular coordinate system relative to the tangent point at the origin O; d _v-nmv denotes a lateral safety width during travel of the vehicle;

Step 3.2.3, taking a quadratic function fitted by the starting point S ₁, the end point E ₁ and the tangential point O ₁' as a left-turning track of the non-motor vehicle flow in the direction i; wherein the quadratic coefficient a ₁, the first order coefficient b ₁, and the constant term c ₁ of the quadratic function are obtained by the formula (2):

step 3.3, determining a non-motor vehicle flow left-hand tracking equation of the direction i+2:

step 3.3.1, taking the intersection point of the mechanical non-separation line of the inlet road in the direction i+2 and the stop line of the inlet road in the direction i+2 as a starting point S ₁ 'of the left-turning non-motor vehicle flow, wherein the coordinate of the starting point S ₁' under a plane rectangular coordinate system XOY is S ₁′(-nL_v,nL_v+L_nmv+R_r); taking the intersection point of the stop line of the inlet road in the direction i+3 and the mechanical non-separation line of the outlet road in the direction i+3 as a terminal point E ₁ 'of the left-turning non-motor vehicle flow, wherein the coordinate of the terminal point E ₁' under a plane rectangular coordinate system XOY is E ₁′(nL_v+L_nmv+R_r,-nL_v);

Step 3.3.2, obtaining a tangential point coordinate O ₂ ' (x ', y ') of the left-turning motor car track of the entrance lane in the direction i+2 relative to the origin point O by using the formula (3);

in the formula (3), (x ', y') represents the position coordinate of the left-turning non-motor vehicle flow track of the inlet road in the direction i+2 under a plane rectangular coordinate system relative to the tangential point at the origin O;

Step 3.3.3, taking the quadratic function fitted by the starting point S ₁ ', the end point E ₁ ' and the tangent point O ₂ ' as the left-turning track of the non-motor vehicle flow in the direction i+2; wherein the quadratic coefficient a ₂, the first order coefficient b ₂, and the constant term c ₂ of the quadratic function are obtained by the formula (4):

step 4, determining the maximum expansion width of the non-motor vehicle flow turning left in the direction i and the direction i+2:

step 4.1, calculating the number m of lanes of the non-motor vehicle by using the formula (5):

In the formula (5), L ₀ represents the safety width of the running of the single non-motor vehicle at the intersection, Is rounded downwards;

Step 4.2, defining the number of lanes of the left-turning lane of the non-motor vehicle of the entrance lane in the direction i as m ⁱ, and initializing m ⁱ =m-1; defining the number of lanes of the left-turn lane of the non-motor vehicle of the entrance lane in the direction i+2 as m ⁱ⁺², and initializing m ⁱ⁺² =m-1;

step 4.3, calculating the width of the left-turning special lane of the non-motor vehicle of the entrance lane in the direction i by using the method (6) And width/>, of a left-turn lane of a non-motor vehicle for an entrance lane in direction i+2

Step 4.4, acquiring related data: straight line distance L between start point and end point of non-motor vehicle flow, left-turning phase green light duration T _g (T) and left-turning phase red light duration T _r (T) of inlet road in T-th period direction i, arrival rate of left-turning motor vehicle of inlet road in T-th period lower direction iArrival rate of left-turning motor vehicle at entrance lane in direction i+2 under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i under t th cycleArrival rate/>, of left-turning non-motor vehicle at entrance lane in direction i+2 under t th cycle

Step 4.5, calculating the accumulated left-turning motor vehicle number of the entrance way in the direction i in the T-th period left-turning phase red light duration T _r (T) by using a formula (7)Left-turning motor vehicle number/>, accumulated by entrance way in direction i+2 in period T left-turning phase red light duration T _r (T)

Calculating the number of left-turning non-motor vehicles entering the lane in the direction i in the period T, left-turning phase red light duration T _r (T) by using the method (8)Number of left-turn non-motor vehicles entering the lane in direction i+2 within the T-th cycle left-turn phase red light duration T _r (T)

Calculating the number of non-motor vehicle parallel queuing vehicles of the inlet road in the direction i under the t period by using the method (9)Non-motor vehicle parallel queuing vehicle number/>, of inlet road in direction i+2 under t th period

Step 4.6, calculating the maximum expansion width w ⁱ (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i under the t th period and the maximum expansion width w ⁱ⁺² (t) of the left-turning non-motor vehicle flow of the inlet road in the direction i+2 under the t period according to the formula (10):

in the formula (10), the amino acid sequence of the compound, To influence the constant term of the maximum expansion width in direction i,/>To influence the constant term of the maximum expansion width in direction i+2,/>Factor of j-th class factor affecting maximum expansion width in direction i,/>Coefficients for a j-th type factor affecting the maximum expansion width in the direction i+2;

step 5, determining the shortest distance between the left-turning non-motor vehicle flow tracks and judging whether the shortest distance meets the safety spacing requirement:

Step 5.1, the maximum expansion width of the left-turning non-motor vehicle flow occurs in the middle area of the left-turning vehicle flow, the shortest distance between the bidirectional left-turning non-motor vehicle flows is also in the middle area, and the most dangerous situation between the bidirectional left-turning non-motor vehicle flows, namely, the shortest distance between the maximum expansion width of the left-turning vehicle flow and the vehicle flow track occurs, is that the shortest distance w (t) _min between the left-turning track of the non-motor vehicle flow in the direction i and the left-turning track of the non-motor vehicle flow in the direction i+2 under the t-th period is obtained by using the formula (11):

In the formula (11), the amino acid sequence of the compound, Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i and being the point formed by the maximum expansion width w ⁱ (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i in the most dangerous situation; /(I)Representing the coordinates of a point on the left-turn trajectory of the non-motor vehicle flow in direction i+2 and being the point formed by the maximum expansion width w ⁱ⁺² (t) of the left-turn non-motor vehicle flow of the inlet lane in direction i+2 in the most dangerous situation;

step 5.2, if the formula (12) is satisfied, proceeding to step 8; if the formula (12) is not satisfied, the process proceeds to step 6;

w(t)_min＞wⁱ(t)+wⁱ⁺²(t)+D_nmv-nmv (12)

In formula (12), D _nmv-nmv represents a lateral safety width during travel of the non-motor vehicle;

Step 6, adjusting the number of left-turning special lanes of the non-motor vehicle to ensure the safety of the left-turning expansion space of the non-motor vehicle in the bidirectional entrance road;

Step 6.1, calculating the number k ⁱ (t) of left-turning special lanes of the non-motor vehicle in the direction i and the number k ⁱ⁺² (t) of left-turning special lanes of the non-motor vehicle in the direction i+2, wherein the number k ⁱ (t) of left-turning special lanes of the non-motor vehicle in the direction i is required to be set when the number of coming vehicles of the non-motor vehicle completely passes through an intersection in the left-turning phase green light time in the t-th period by utilizing the formula (13);

In the formula (13), C is the maximum traffic capacity of a road section of a non-motor vehicle lane; Is rounded upwards;

Step 6.2, if m ⁱ＞kⁱ (t) and m ⁱ⁺²＞kⁱ⁺² (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14) and formula (15);

Step 6.3, if m ⁱ＞kⁱ (t) and m ⁱ⁺²≤kⁱ⁺² (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (14);

Step 6.4, if m ⁱ≤kⁱ (t) and m ⁱ⁺²＞kⁱ⁺² (t), returning to step 4.3 for sequential execution after performing assignment operation according to formula (15);

step 6.5, if m ⁱ≤kⁱ (t) and m ⁱ⁺²≤kⁱ⁺² (t), executing step 7;

step 7, after performing assignment operation according to the formula (16), returning to the step 4.4 for sequential execution;

T_r(t)←T_r(t)-ΔT (16)

in equation (16), Δt is a red light time step;

Step 8, calculating the starting length of each left-turn special lane luminous spike by using the method (17):

L_q(t)＝T_g(t)·C·L_s (17)

In the formula (17), L _q (t) represents the starting length of the light-emitting spike of each left-turning lane in the t-th period; l _s represents a safe parking length of the non-motor vehicle;

Step 9, rotating the coordinate axis clockwise by 90 degrees by taking the origin as a rotation center, marking the reverse direction of the Y axis as the direction i of the non-motor vehicle, and sequentially numbering the rest three directions as i+1, i+2 and i+3 according to the clockwise direction, so as to regulate the expansion width of the non-motor vehicle of the inlet road which is not regulated at the intersection according to the sequence from step 2 to step 8;

And step 10, after t+1 is assigned to t, returning to the step 1 for sequential execution, so as to regulate and control the expansion width of the non-motor vehicle at the next periodic intersection.