A highway construction period tunnel intersection signal control method based on UWB

Abstract

The application is suitable for the field of traffic control technology, and relates to a highway construction period tunnel intersection signal control method based on UWB, which comprises the following steps: S10, on the basis of UWB networking of a target area and a construction vehicle, a plurality of detection zones are set, and the real-time state of the construction vehicle and the detection zones is analyzed by using a difference method according to real-time coordinates of the vehicle; S20, according to the real-time state of the relevant detection zones of each working face, a target working face of the vehicle in the entry slope hole direction of the intersection is analyzed; S30, based on the real-time state of the vehicle reaching the detection zone, the sequence of the vehicle reaching the entry road of the intersection is analyzed, and the passing right of the vehicle reaching the entry road of the intersection is distributed according to the release rule of the conflict zone of the intersection; and S40, for the vehicle with the passing right, the turning decision of the vehicle at the intersection is determined according to the construction organization demand. The application solves the traffic control technical problem in the scene that the driving sight distance of the conflict vehicle flow of the intersection in the bidirectional traffic tunnel is seriously limited.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of traffic control, and particularly relates to a signal control method for a tunnel intersection in a highway construction period based on UWB. BACKGROUND

[0002] In the construction process of a long tunnel or an extra-long tunnel of a highway, in order to speed up the construction progress, a slant hole is usually used as an auxiliary construction passage to realize construction organization optimization. This kind of construction organization mode leads to the formation of a planar intersection of the slant hole and the main hole, and the construction vehicles serving multiple working faces conflict at the intersection. In order to improve safety and construction efficiency, the intersection organization is very important, the in-hole road needs to be bidirectional, and the right-angle corner of the intersection does not meet the driving sight distance condition of the turning vehicles. At the same time, the ground is muddy, and the driving sight condition is very limited, and the conflicting vehicle flow has serious traffic safety hazards. Therefore, the traffic control of the intersection in the tunnel in the highway construction period is very important.

[0003] The conventional inductive signal control strategy is aimed at the vehicle group of the intersection entrance, rather than single vehicle control, and cannot meet the intersection traffic organization demand under the aforementioned harsh conditions. The turning decision or scheduling of the construction vehicles at the intersection at present mainly relies on manual command. In the existing public literature "Automatic control system of auxiliary transportation traffic light based on UWB precise positioning", UWB positioning technology is adopted to realize intersection state monitoring and driving behavior monitoring, and the traffic light is remotely controlled to effectively avoid vehicle blind area collision and regional congestion problems. However, the release mode of the "branch" unit in the literature lacks control of single vehicles, and it is difficult to meet the intersection traffic organization demand under the aforementioned harsh conditions. In the paper "Research on intelligent management system of mine trackless rubber-tyred vehicle", the red and green light control is realized based on UWB positioning technology, and the vehicle path planning and scheduling in the road network are realized based on A* algorithm. The red and green light control in the achievement is only aimed at the one-way roadway, and cannot meet the traffic organization demand of the bidirectional in-hole roadway. In addition, the vehicle path planning and scheduling in the achievement is aimed at the path analysis and scheduling of the road network, and cannot meet the real-time turning decision demand of the intersection.

[0004] Therefore, how to solve the traffic control technical problem of the intersection conflict vehicle flow in the bidirectional in-hole tunnel under the condition that the driving sight distance is seriously limited, so as to meet the intersection traffic organization demand under the harsh conditions and improve the traffic safety and efficiency, is a problem to be solved by the personnel in the technical field. SUMMARY

[0005] In view of the deficiencies of the prior art, the purpose of the present application is to provide a signal control method for a tunnel intersection in a highway construction period based on UWB, so as to solve the "traffic control technical problem of intersection conflict vehicle flow in bidirectional in-hole tunnel under the condition that the driving sight distance is seriously limited" problem which is difficult to solve in the prior art.

[0006] To solve the above technical problems, the application adopts the following technical solutions:

[0007] The application provides a UWB-based expressway construction period tunnel intersection signal control method, which comprises the following steps:

[0008] S10, on the basis of UWB networking of the target area and the construction vehicle, a plurality of detection zones are set, and the real-time state of the construction vehicle and the detection zone is analyzed by using a differential method according to the real-time coordinates of the vehicle;

[0009] S20, according to the real-time state of the related detection zone of each working face, the target working face of the vehicle entering the entrance of the inclined hole direction of the intersection is analyzed;

[0010] S30, based on the real-time state of the vehicle reaching the detection zone, the sequence of the vehicle reaching the entrance of the intersection is analyzed, and the right-to-pass of the vehicle reaching the entrance of the intersection is distributed according to the release rule of the conflict zone of the intersection;

[0011] S40, for the vehicle with the right-to-pass, the turning decision of the vehicle at the intersection is determined according to the construction organization demand.

[0012] Further, in the S10, assuming that the UWB networking in the target area is completed, the real-time two-dimensional coordinates of the construction vehicle are obtained, and the two-dimensional real-time coordinate expression of the vehicle is as follows:

[0013]

[0014] wherein i is the vehicle number, is a time stamp, is the two-dimensional coordinate at the moment.

[0015] Further, the detection zone comprises a vehicle reaching detection zone , wherein j represents the vehicle reaching detection zone number, j=0 corresponds to the entrance of the inclined hole direction; the intersection conflict detection zone ; the working face vehicle detection zone , wherein j represents the working face vehicle detection zone number; the working face queuing detection zone , wherein j represents the working face queuing detection zone number; the vehicle reaching detection zone , the intersection conflict detection zone , the working face vehicle detection zone and the working face queuing detection zone corresponding two-dimensional coordinate range is defined as , , , .

[0016] Further, the two-dimensional coordinates of the target area​ The two-dimensional coordinates of vehicle i at time t The two-dimensional coordinate range of the detection zone If , vehicle i is located in the detection zone , thus The number of vehicles in the detection zone at time t is , and the formula is as follows:

[0017]

[0018]

[0019] Further, for vehicle arrival detection zone , the number of vehicles =0 or 1, when the number of vehicles in the detection zone changes from 0 to 1, the time is recorded as the vehicle arrival time , and the clock at any time before the vehicle leaves the detection zone is , and the vehicle occupancy time of the detection zone is (j=0,1,2,…,M), and the formula is as follows:

[0020]

[0021] For the intersection conflict detection zone , when >0, it indicates that the conflict zone is in an occupied state, and when =0, it indicates that the conflict zone is in an empty state.

[0022] For the working face vehicle detection zone , the vehicle occupancy time is (j=1,2,3,…,N), and the formula is as follows:

[0023]

[0024] Among them, when the number of vehicles in the working face vehicle detection zone changes from 0 to 1, the time is recorded as the vehicle arrival time , and the clock at any time before the vehicle leaves the detection zone is

[0025] For the working face queuing detection zone ​​​​​​​​​​The number of vehicles in the queue is (j=1,2,3,…,P).

[0026] Furthermore, the specific steps of S20 are as follows:

[0027] S201. Based on the survey and analysis of the time consumption of construction vehicles in the working face of the inclined tunnel in the early stage of construction, the average time consumption of construction vehicles in the working face is statistically obtained and denoted as μ.

[0028] S202, Based on the number of vehicles queuing at each work site (j=1,2,3,…,P) and vehicle occupancy time (j=1,2,3,…,P), calculate the total remaining time occupied for each working face. (j=1,2,3,…,N), the formula is as follows:

[0029] = μ*( +1)- ;

[0030] S203, When a construction vehicle arrives at the inspection area Inner time, that is When the time changes from 0 to 1, calculate the total remaining time occupied by all working faces. (j=0,1,2,…,N);

[0031] S204. Find the earliest available working surface at the current time, satisfying min{ The working face is the estimated first idle working face, when min{ When multiple working faces exist, select the working face that is closest to the intersection conflict detection zone and record it as... That is, the vehicle arrives at the inspection area. The estimated target working face for the vehicle at that moment is .

[0032] Furthermore, in S30, analyzing the order in which vehicles arrive at the intersection approach lane specifically includes the following steps:

[0033] S301. Calculate the vehicle occupancy time for all vehicles arriving at the inspection area. (j=0,1,2,…,M);

[0034] S302, Find max{ When the vehicle arrives at the inspection area, when max{ When multiple vehicles arrive at the inspection area, one is randomly selected, and the arrival of that vehicle is recorded as... That is, the first vehicle to arrive at the inspection area at that moment is .

[0035] Further, according to the vehicle occupation time analysis of all vehicles reaching the detection area, the vehicle reaching the detection area first is found out; according to the average time consumption investigation data of the working face and the real-time queue number of each working face, the total remaining occupation time of all working faces is estimated, and when a vehicle reaches the entrance of the cross intersection, the working face with the minimum total remaining occupation time is taken as the target working face of the vehicle.

[0036] Further, if the conflict detection area of the cross intersection is in the occupation state, all vehicles of the entrance cannot obtain the right of way; if the conflict detection area of the cross intersection is in the empty state, the vehicle reaching the detection area first obtains the right of way, and when the vehicle obtaining the right of way is located in the direction of the inclined hole, the opposite entrance has a vehicle, and the vehicles of the two-way entrance are straight at the cross intersection, the vehicles of the two-way entrance obtain the right of way at the same time.

[0037] Further, in the S40, if the vehicle with the right of way is located in the direction of the exit inclined hole or the main hole, the turning target of the vehicle at the cross intersection is to drive out of the inclined hole;

[0038] If the vehicle with the right of way is located in the direction of the entrance inclined hole, the turning target working face of the vehicle at the cross intersection is determined according to the real-time queue situation of each working face:

[0039] If the vehicle with the right of way is located in the direction of the entrance inclined hole, the turning target working face of the vehicle at the cross intersection is determined according to the real-time queue situation of each working face:

[0040] If the vehicle with the right of way is located in the direction of the entrance inclined hole, the turning target working face of the vehicle at the cross intersection is determined according to the real-time queue situation of each working face:

[0041] If the vehicle with the right of way is located in the direction of the entrance inclined hole, the turning target working face of the vehicle at the cross intersection is determined according to the real-time queue situation of each working face:

[0042] If the vehicle with the right of way is located in the direction of the entrance inclined hole, the turning target working face of the vehicle at the cross intersection is determined according to the real-time queue situation of each working face:

[0043] The UWB-based signal control method for a tunnel intersection during highway construction period provided by the application has at least the following beneficial effects compared with the prior art:

[0044] ​The application solves the traffic control technical problem of the limited field of view of the vehicle under the scene of the intersection conflict vehicle flow in the bidirectional tunnel, and solves the turning scheduling problem of the construction vehicle at the intersection under the demand of the multi-working face collaborative construction organization. The application sets multiple detection zones including the intersection entrance vehicle arrival detection zone, the intersection conflict detection zone, the working face vehicle detection zone and the working face queuing detection zone, analyzes the real-time state of the construction vehicle and the detection zone by using the difference method according to the real-time coordinates of the vehicle, distributes the right of way to the intersection entrance vehicle according to the analysis of the sequence of the vehicle arriving at the intersection entrance and the release rule of the intersection conflict zone, and further analyzes the turning decision of the vehicle with the right of way at the intersection according to the demand of the multi-working face construction organization collaboration. The whole application process is simple and convenient to operate, effectively solves the traffic control technical problem of the limited field of view of the vehicle under the scene of the intersection conflict vehicle flow in the bidirectional tunnel, can meet the traffic organization demand of the intersection under the adverse conditions, and greatly improves the traffic safety and efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the scheme of the application, the drawings needed in the following embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0046] Figure 1 A flow chart of a highway construction period tunnel intersection signal control method based on UWB provided for the embodiment of the application is shown in the figure.

[0047] Figure 2 A hole plane layout schematic diagram applied to the highway construction period tunnel intersection signal control method based on UWB provided for the embodiment of the application is shown in the figure. DETAILED DESCRIPTION

[0048] In order to facilitate the understanding of the application, the application will be described more fully below with reference to the related drawings. The preferred embodiments of the application are shown in the drawings. However, the application can be realized in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the application more thorough and comprehensive.

[0049] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs. The terms used in the specification of the application herein are only for the purpose of describing the specific embodiments and are not intended to limit the application.

[0050] The application provides a highway construction period tunnel intersection signal control method based on UWB, which is applied to intersection vehicle organization work during construction of long tunnels or super-long tunnels on highways, and comprises the following steps:

[0051] S10, on the basis of UWB networking of a target area and construction vehicles, a plurality of detection zones are set, and real-time states of the construction vehicles and the detection zones are analyzed by using a difference method according to real-time coordinates of the vehicles; S20, a target working face of a vehicle entering an approach tunnel of an intersection is analyzed according to real-time states of related detection zones of each working face; S30, an order of vehicles arriving at an approach lane of the intersection is analyzed based on real-time states of the vehicles arriving at the detection zones, and a right-to-pass of the vehicles arriving at the approach lane of the intersection is distributed according to a release rule of a conflict zone of the intersection; and S40, for the vehicles with the right-to-pass, a turning decision of the vehicles at the intersection is determined according to construction organization requirements.

[0052] The application solves the technical problem of traffic control in a scenario where a line-of-sight of conflict vehicle flow at an intersection in a bidirectional tunnel is seriously limited.

[0053] In order for the personnel in the technical field to better understand the application scheme, the technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings.

[0054] The application provides a highway construction period tunnel intersection signal control method based on UWB, which is applied to intersection vehicle organization work during construction of long tunnels or super-long tunnels on highways, and comprises the following steps: Figure 1 And Figure 2 In the embodiment, the highway construction period tunnel intersection signal control method based on UWB comprises the following steps:

[0055] S10, on the basis of UWB networking of a target area and construction vehicles, a plurality of detection zones are set, and real-time states of the construction vehicles and the detection zones are analyzed by using a difference method according to real-time coordinates of the vehicles.

[0056] Specifically, in the embodiment, it is assumed that UWB networking has been completed in the target area, real-time two-dimensional coordinates of the construction vehicles can be obtained, and the two-dimensional real-time coordinates of the vehicles are , and the expression is as follows:

[0057]

[0058] Wherein, i is a vehicle number, is a time stamp, is a two-dimensional coordinate at a moment.

[0059] ​Further, in this embodiment, a detection area is provided, the detection area includes a vehicle arrival detection area , wherein j represents the number of vehicle arrival detection area, j=0, 1, 2…, M, j=0 corresponds to the entrance of the inclined hole direction; intersection conflict detection area ; working face vehicle detection area , wherein j represents the number of working face vehicle detection area, j=0, 1, 2…, N; working face queuing detection area , wherein j represents the number of working face queuing detection area, j=0, 1, 2…, P; wherein the vehicle arrival detection area , the width is the lane width, and the length is suggested to be 0.5 times the length of the construction vehicle, so as to ensure that the number of internal vehicles detected is not more than 1; intersection conflict detection area , that is, the range of intersection conflict area, which needs to include the range of turning by borrowing a road; working face vehicle detection area , that is, the working face vehicle parking area, the width is the width of the empty tunnel, and the length is the length of the construction vehicle; working face queuing detection area covers the working face queuing lane, from the boundary of the intersection conflict area to the boundary of the working face vehicle detection area, vehicle arrival detection area , intersection conflict detection area , working face vehicle detection area , and working face queuing detection area The corresponding two-dimensional coordinate range is defined as , , , .

[0060] Further, in this embodiment, the two-dimensional coordinates of the vehicle i at the moment are matched with the two-dimensional coordinate range of the detection area , ( ={ , , , }). , that is, the vehicle i is located in the detection area , so that the number of vehicles in the detection area at the moment is , and the formula is as follows:

[0061]

[0062] .

[0063] Further, in this embodiment, for the vehicle arrival detection area , since the vehicle arrival detection area The size can accommodate a maximum of one vehicle, and the number of vehicles =0 or 1, when the vehicle arrives at the inspection area. Number of vehicles The moment when the value changes from 0 to 1 is recorded as the vehicle's arrival time. As the vehicle leaves the inspection area The clock at any previous time is The vehicle occupancy time in the testing area is (j=0,1,2,…,M), the formula is as follows:

[0064] ;

[0065] For intersection conflict detection area ,when When >0, it indicates that the conflict zone is occupied. When =0, it means the conflict zone is in an empty state;

[0066] For the vehicle inspection area at the work site The vehicle's occupation time is (j=1,2,3,…,N), the calculation method is the same as the vehicle arrival detection area. Vehicle occupancy time The calculation method is the same, and the formula is as follows:

[0067]

[0068] Among them, when the vehicle inspection area at the work site Number of vehicles The moment when the value changes from 0 to 1 is recorded as the vehicle's arrival time. The vehicle left the inspection area. The clock at any previous time is ;

[0069] For the workface queuing and inspection area The number of vehicles in the queue is (j=1,2,3,…,P).

[0070] S20. Based on the real-time status of the relevant detection areas of each working face, analyze the target working face of vehicles entering the inclined tunnel at the intersection.

[0071] Specifically, in this embodiment, the specific steps of S20 are as follows:

[0072] S201. Based on the survey and analysis of the time consumption of construction vehicles in the working face of the inclined tunnel in the early stage of construction, the average time consumption of construction vehicles in the working face is statistically obtained and denoted as μ.

[0073] S202, Based on the number of vehicles queuing at each work site (j=1,2,3,…,P) and the vehicle occupation time length (j=1,2,3,…,P), and the total residual occupation time length of each working face is denoted as (j=1,2,3,…,N), and the specific calculation formula is as follows:

[0074] = μ*( +1)- ;

[0075] S203, when a construction vehicle arrives in the vehicle arrival detection area , that is, when 0 changes to 1, the total residual occupation time length of all working faces (j=0,1,2,…,N) is calculated.

[0076] S204, in order to improve the working efficiency of multiple working faces, the working face that is estimated to be the first idle working face at the current time is found, and the working face that satisfies min{ } is the estimated first idle working face. When min{ } appears multiple working faces, the working face closest to the intersection conflict detection area is selected, and the working face is denoted as , that is, the estimated target working face of the vehicle in the vehicle arrival detection area at the current time is .

[0077] S30, based on the real-time state of the vehicle arrival detection area, the order in which the vehicles arrive at the intersection entrance is analyzed, and the right to pass through the intersection entrance is distributed according to the intersection conflict area release rule.

[0078] Specifically, in the embodiment, the analysis of the order in which the vehicles arrive at the intersection entrance in S30 specifically includes the following steps:

[0079] S301, the vehicle occupation time (j=0,1,2,…,M) of all vehicles arriving at the detection area is calculated.

[0080] S302, the vehicle arrival detection area that satisfies max{ } is found, and when max{ } appears multiple vehicle arrival detection areas, one of them is randomly selected, and the vehicle arrival detection area is denoted as , that is, the vehicle arrival detection area where the first vehicle arrives at the current time is .

[0081] ​Further, in this embodiment, due to the very limited turning sight distance at the intersection, to ensure driving safety, except for the case of "vehicles in opposite directions straightening at the same time", only one vehicle is allowed to pass through the intersection conflict zone. The intersection formed by the inclined hole and the main tunnel hole and the in-hole plane layout are shown in the accompanying drawings Figure 2 For intersection ①, according to the vehicle occupancy time analysis of all vehicles arriving at the detection zone, the vehicle that first arrived at the detection zone is found out; according to the average time consumption investigation data of the working face and the real-time queue vehicle number of each working face, the total remaining occupancy time of all working faces is estimated, and when there is a vehicle arriving at the entrance of the intersection into the inclined hole, the working face with the minimum total remaining occupancy time is taken as the target working face of the vehicle.

[0082] Further, in this embodiment, the intersection entrance vehicle right of way allocation is as follows: if the intersection conflict zone is in the occupied state, that is, when > 0, all entrance vehicles cannot obtain the right of way.

[0083] If the intersection conflict zone is in the empty state, that is, when = 0, the vehicle that first arrived at the detection zone has the right of way, and since there is a non-conflict condition of "vehicles in opposite directions straightening at the same time" for the entrance vehicles of the inclined hole and the exit inclined hole, to improve the efficiency of the intersection, the vehicles of the exit inclined hole and the entrance inclined hole can have the right of way at the same time, that is:

[0084] When = , = or , > 0, , the vehicles have the right of way at the same time;

[0085] When = , = 0, the vehicles have the right of way individually;

[0086] When = , the vehicles have the right of way individually;

[0087] When = , > 0, = or , , the vehicles have the right of way at the same time;

[0088] when = , When =0, Vehicles within the area are granted the right of way individually;

[0089] when = hour, Vehicles within the area are granted the right of way.

[0090] S40. For vehicles with right-of-way at the intersection entrance, determine their turning decision at the intersection based on the needs of multi-face construction organization and coordination: if the vehicle with right-of-way is located in the direction of exiting the inclined tunnel or the main tunnel, its turning target at the intersection is to exit the inclined tunnel; if the vehicle with right-of-way is located in the direction of entering the inclined tunnel, determine its turning target working face at the intersection based on the real-time queuing situation of each working face.

[0091] Specifically, in this embodiment, the vehicle turning analysis algorithm for the intersection approach lanes is as follows:

[0092] If a vehicle in the main tunnel reaches the inspection area and is granted the right of way alone, according to construction organization needs, the turning target of this vehicle at the intersection is to exit the inclined tunnel, that is:

[0093] when Vehicles within the intersection are granted the right of way, and when turning at the intersection, they must turn right.

[0094] when Vehicles within the intersection are granted the right of way and may turn left at the intersection.

[0095] If a vehicle entering from the ramp exiting the underpass arrives at the inspection area and is granted the right of way alone, its turning target at the intersection should be to exit the ramp, that is:

[0096] when Vehicles within the intersection are granted the right of way and can proceed straight when turning at the intersection.

[0097] If a vehicle entering the inclined tunnel from the entrance lane arrives at the inspection area and is granted the right of way alone, its turning target at the intersection is the estimated target working face, i.e.:

[0098] when Vehicles within the area are granted the right of way. = At that time, when turning at the intersection, it is a left turn;

[0099] when Vehicles within the area are granted the right of way. = At that time, its turn at the intersection is a right turn;

[0100] when Vehicles within the area are granted the right of way. = or At that time, it turns to go straight at the intersection.

[0101] If vehicles entering and exiting the inclined tunnel arrive at the inspection area simultaneously and are granted the right of way, their turning targets at the intersection are respectively exiting the inclined tunnel and the estimated target working face, i.e.:

[0102] when , When vehicles within the intersection simultaneously obtain the right of way, their turns at the intersection are all for going straight.

[0103] The UWB-based signal control method for highway tunnel intersections during construction, as described in the above embodiments, solves the traffic control problem in scenarios where the visibility of conflicting vehicles at intersections in two-way tunnels is severely limited, a problem that existing technologies struggle to address. This invention establishes multiple detection zones, including an intersection entrance vehicle arrival detection zone, an intersection conflict detection zone, a work face vehicle detection zone, and a work face queuing detection zone. Based on real-time vehicle coordinates, a differential method is used to analyze the real-time status of construction vehicles and the detection zones. By analyzing the order in which vehicles arrive at the intersection entrance, and allocating right-of-way to vehicles arriving at the intersection entrance according to the intersection conflict zone release rules, and considering the need for coordinated multi-workface construction, the turning decisions of vehicles with right-of-way at the intersection are further analyzed. The entire invention process is simple and easy to operate, effectively solving the traffic control problem in scenarios where the visibility of conflicting vehicles at intersections in two-way tunnels is severely limited. It can meet the traffic organization needs of intersections under adverse conditions, greatly improving traffic safety and efficiency.

[0104] Obviously, the embodiments described above are merely preferred embodiments of the present invention, and not all embodiments. The accompanying drawings illustrate preferred embodiments of the present invention, but do not limit the scope of the patent. The present invention can be implemented in many different forms; rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this invention.

Claims

1. A signal control method for tunnel intersections during highway construction based on UWB, characterized in that, Includes the following steps: S10. Based on the UWB networking of the target area and construction vehicles, multiple detection zones are set up, and the real-time status of construction vehicles and detection zones is analyzed using the differential method according to the real-time coordinates of the vehicles. The detection area includes the vehicle arrival detection area. Where j represents the vehicle arrival detection zone number, j=0 corresponds to the entrance lane in the direction of the inclined tunnel; intersection conflict detection zone Vehicle inspection area at the work site Where j represents the vehicle inspection area number at the work site; the queuing inspection area at the work site Where j represents the work area queuing inspection zone number; vehicles arrive at the inspection zone Intersection Conflict Detection Area Vehicle inspection area at the work site and the work area queuing for inspection The corresponding two-dimensional coordinate range is defined as follows , , , ; Within the target area Two-dimensional coordinates of vehicle i at time i Two-dimensional coordinate range of the detection area Perform a match, if That is, vehicle i is located in the detection area. Therefore, Time detection area The number of vehicles inside is The formula is as follows: ； ； For vehicles arriving at the inspection area Number of vehicles =0 or 1, when the vehicle arrives at the inspection area. Number of vehicles The moment when the value changes from 0 to 1 is recorded as the vehicle's arrival time. As the vehicle leaves the inspection area The clock at any previous time is The vehicle occupancy time in the testing area is (j=0,1,2,…,M), the formula is as follows: ； For intersection conflict detection area ,when When >0, it indicates that the conflict zone is occupied. When =0, it means the conflict zone is in an empty state; For the vehicle inspection area at the work site The vehicle's occupation time is (j=1,2,3,…,N), the formula is as follows: ； Among them, when the vehicle inspection area at the work site Number of vehicles The moment when the value changes from 0 to 1 is recorded as the vehicle's arrival time. The vehicle left the inspection area. The clock at any previous time is ; For the workface queuing and inspection area The number of vehicles in the queue is (j=1,2,3,…,N); S20. Analyze the target working face of vehicles entering the inclined tunnel from the intersection based on the real-time status of the relevant detection areas of each working face. The specific steps of S20 are as follows: S201. Based on the survey and analysis of the time consumption of construction vehicles in the working face of the inclined tunnel in the early stage of construction, the average time consumption of construction vehicles in the working face is statistically obtained and denoted as μ. S202, Based on the number of vehicles queuing at each work site (j=1,2,3,…,N) and vehicle occupancy time (j=1,2,3,…,N), calculate the total remaining time occupied for each working face. (j=1,2,3,…,N), the formula is as follows: = μ*(n) Dj+1 )- ; S203, When a construction vehicle arrives at the inspection area Inner time, that is When the time changes from 0 to 1, calculate the total remaining time occupied by all working faces. (j=0,1,2,…,N); S204. Find the earliest available working surface at the current time, satisfying min{ The working face is the estimated first idle working face, when min{ When multiple working faces exist, select the working face that is closest to the intersection conflict detection zone and record it as... That is, the vehicle arrives at the inspection area. The estimated target working face for the vehicle at that moment is ; S30. Based on the real-time status of vehicles arriving at the detection area, analyze the order in which vehicles arrive at the intersection entrance lane, and allocate the right of way to vehicles arriving at the intersection entrance lane according to the intersection conflict zone release rules. In step S30, analyzing the order in which vehicles arrive at the intersection approach lane specifically includes the following steps: S301. Calculate the vehicle occupancy time for all vehicles arriving at the inspection area. (j=0,1,2,…,M); S302, Find max{ When the vehicle arrives at the inspection area, when max{ When multiple vehicles arrive at the inspection area, one is randomly selected, and the arrival of that vehicle is recorded as... That is, the first vehicle to arrive at the inspection area at that moment is ; Based on the analysis of the vehicle occupancy time of all vehicles arriving at the inspection area, the vehicle that arrived at the inspection area first is identified; based on the survey data of the average vehicle occupancy time at the work face and the real-time number of vehicles queuing at each work face, the total remaining occupancy time of all work faces is estimated; when a vehicle arrives at the entrance road of the intersection towards the inclined tunnel, the work face with the smallest remaining total occupancy time is taken as the target work face for that vehicle. If the intersection conflict detection zone is occupied, all vehicles entering the intersection will not be granted the right of way; if the intersection conflict detection zone is cleared, the first vehicle to arrive at the detection zone will be allowed to pass. Vehicles within the tunnel are granted the right of way. When a vehicle with the right of way is located in the direction of the tunnel, there are vehicles in the opposite approach lane, and vehicles in both directions of the approach lane are going straight at the intersection, the vehicle in the two-way approach lane is granted the right of way at the same time. S40. For vehicles with the right of way, determine their turning decisions at the intersection based on construction organization requirements.

2. The UWB-based signal control method for tunnel intersections during highway construction as described in claim 1, characterized in that, In step S10, assuming that UWB networking has been completed within the target area, the real-time two-dimensional coordinates of the construction vehicle are obtained. The expression for the real-time two-dimensional coordinates of the vehicle is as follows: ； Where i is the vehicle number. For timestamps, for Two-dimensional coordinates of time.

3. The UWB-based signal control method for tunnel intersections during highway construction as described in claim 1, characterized in that, In S40, if a vehicle with the right of way is located in the direction of exiting the inclined tunnel or the main tunnel, its turning target at the intersection is to exit the inclined tunnel. If a vehicle with right-of-way is located in the direction of entering the inclined tunnel, its target turning face at the intersection will be determined based on the real-time queuing situation at each working face: If a vehicle in the main tunnel enters the inspection area and is granted the right of way, the vehicle's turning target at the intersection should be to exit the inclined tunnel, depending on the construction organization requirements. If a vehicle entering from the ramp exiting the tunnel arrives at the inspection area and is granted the right of way alone, its turning target at the intersection is to exit the ramp. If a vehicle entering the inclined tunnel arrives at the inspection area and is granted the right of way alone, its turning target at the intersection is the estimated target working face. If vehicles entering or exiting the inclined tunnel arrive at the inspection area and simultaneously gain the right of way, their turning targets at the intersection are respectively exiting the inclined tunnel and the estimated target working face.

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