Highway variable speed limit and lane change cooperative control method under vehicle-road cooperation

Abstract

The invention discloses an highway variable speed limit and lane change cooperative control method under vehicle-road cooperation, and the method specifically comprises the steps: laying a road side unit, and dividing a highway section containing an entrance ramp into a plurality of control sections; predicting that traffic congestion will occur in the next period in the highway bottleneck area; controlling the speed of the vehicle on the entrance ramp in the current period; determining the critical density of the main line lane allowing convergence after convergence; judging whether the traffic density of each control road section on the highway main line in the next period is greater than the critical density of the main line lane allowing convergence after convergence or not; carrying out the variable speed limiting control and lane changing control on each control road section on the highway main line; issuing the control information to the vehicle-mounted prompting system, and regulating and controlling the flow flowing into the downstream. According to the invention, on the basis of real-time information sharing of vehicle-road cooperation, through cooperation of variable speed limit control and lane change control, the passing efficiency of the highway is improved, a large number of centralized lane change behaviors are reduced, and the risk of rear-end collision is reduced.

Description

technical field [0001] The invention belongs to the technical field of intelligent traffic management and control, and relates to a coordinated control method for variable speed limit and lane change of an expressway under vehicle-road coordination. Background technique [0002] The merge area of ​​expressway entrance ramp is one of the accident-prone road sections. When the traffic demand on the main line of the expressway and the entrance ramp is large, and the traffic volume upstream of the bottleneck is higher than the maximum capacity of the bottleneck, the bottleneck will be activated and congestion will occur; in addition, there may be a large number of concentrated lane-changing behaviors between the main line vehicles and the ramp-in vehicles near the bottleneck , resulting in vehicle speed shocks will increase the risk of rear-end collisions and further cause traffic flow disorder, resulting in reduced traffic capacity and aggravated the severity of traffic congest...

AI Technical Summary

Problems solved by technology

The variable speed limit control dynamically adjusts the upstream traffic volume of the bottleneck area to maintain the traffic volume flowing into the bottleneck near its maximum capacity. speed control; when there are a large number of concentrated lane changes near the bottleneck, it will affect the traffic flow, cause congestion and queuing, and reduce the maximum traffic capacity of the bottleneck by 15%-25%, which will affect the implementation of the variable limit. speed control has a large negative impact, which is why variable speed limits sometimes fail to improve vehicle journey times

Lane change control enables vehicles to change lanes in advance when they are a certain distance away from the bottleneck by issuing lane change information, thereby reducing congestion near the bottleneck and eliminating queuing. Lane change

[0004] In the process of realizing the present invention, the inventor found that the existing variable speed limit control mainly has the following disadvantages: First, only a single variable speed limit control is used for the main line of the expressway, ignoring the impact of vehicle lane change on the variable speed limit Negative effects of control effects

Second, the existing variable speed limit control often implements the same speed limit value for all lanes in a certain speed limit section, without considering the difference between the maximum speed limit values ​​of different lanes on the expressway in practice, it is difficult to adapt to the vehicle The actual situation of split lane driving

Third, the existing variable speed limit is mainly when traffic congestion occurs in the bottleneck area, and the variable speed limit control is implemented on the upstream traffic flow, which cannot exert the active preventive effect of the variable speed limit, and it is difficult for the driver to detect Speed ​​limit information posted on variable information boards

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