A Coordinated Control Method for Variable Speed ​​Limit and Lane Change on Expressway under Vehicle-Road Coordination

A technology of expressway, vehicle-road coordination, applied in the direction of controlling traffic signals, etc., can solve the problems of traffic flow, uncontrollable, vehicles unable to change lanes smoothly, etc., to achieve the effect of improving traffic efficiency, improving traffic conditions, and reducing the risk of rear-end collision

CN113450583BActive Publication Date: 2021-11-19CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-11-19

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Abstract

The invention discloses a coordinated control method for variable speed limit and lane change of an expressway under vehicle-road coordination, specifically: arranging roadside units, dividing an expressway section containing an entrance ramp into several control sections; predicting expressway bottlenecks Traffic congestion will occur in the next cycle in the area; implement speed control on the vehicles on the entrance ramp in the current cycle; determine the critical density of the main line lane that is allowed to merge after the merge; Whether the traffic density is greater than the critical density allowed by the main lane after the merge; carry out variable speed limit control and coordinated lane change control for each control section on the expressway main line; release control information to the on-board prompt system to regulate the flow flowing downstream. The present invention is based on the real-time information sharing of vehicle-road coordination, and through the coordination of variable speed limit control and lane change control, the expressway traffic efficiency is improved, a large number of centralized lane change behaviors are reduced, and the risk of rear-end collision is reduced.
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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...

Examples

Embodiment 1

[0069] A coordinated control method for expressway variable speed limit and lane change under vehicle-road coordination, such as figure 1 As shown, follow the steps below:

[0070] S1: Lay out roadside unit 2. Roadside unit 2 is arranged longitudinally along the roadside. The distance between two adjacent roadside units is 50m. Divide the highway section containing the entrance ramp into several control sections, and the main lane downstream of the entrance ramp is Bottleneck area 4; roadside unit 2 receives the information of all vehicles passing through all control sections of the current main line and on-ramps (that is, communication vehicles 3 ), and sends them to the traffic control center 1 .

[0071] S11: If figure 2 As shown, the control road section has two division dimensions, that is, the division along the direction of traffic flow and the division along the width direction of the highway; l The sections of the traffic flow are numbered sequentially from the up...

Embodiment 2

[0129] Such as figure 2 As shown, there is an expressway section with an entrance ramp, and its main line is two-way six-lane (one-way three-lane). The expressway section with an entrance ramp is divided into 10 identical sections with a length of 1 km, numbered 1 to 10, which is N Equal to 10; each road segment is divided by lane, numbered 1 to 3 from the outer lane to the inner lane, that is J Equal to 3; one roadside unit is laid every 50m;

[0130] Assuming that the maximum capacity of each lane is 1800veh / h based on historical data, the maximum speed limits of lanes 1, 2, and 3 are 80, 100, and 120km / h respectively, and the critical densities are 23, 18, and 15veh / km / ln (vehicle / km / lane), namely =23 veh / km / ln, =18 veh / km / ln, =15veh / km / ln; Section 1 ( i =1) the critical density of the first lane and the road section N ( i = N ) is the same as the critical density of the first lane.

[0131] Critical density for on-ramps It is 18veh / km / ln, and the maximum ...