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

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.

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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