A method and device for designing the length of an early right turn based on a traffic trajectory diagram

Abstract

The present invention discloses a method and device for designing the length of an early right turn based on a traffic trajectory diagram. The method collects relevant traffic data, converts the total traffic volume obtained into equivalent standard car traffic volume, and calculates the saturated flow of the right through lane of the intersection based on the maximum headway. A Greenshields linear relationship model is established to obtain the relationship between the speed before entering the intersection entrance and the green light speed of the intersection entrance. Based on the traffic trajectory diagram, the relationship between the gathering wave and the dissipation wave is obtained, thereby calculating the traffic dissipation time of the right through lane of the intersection. The maximum number of vehicles queuing in the right turn lane during the straight red light period is calculated, and finally the maximum queue length of the right turn lane of the intersection entrance is obtained, which is the distance from the stop line to the early right turn line. The present invention effectively alleviates the waste of resources caused by vehicle congestion at intersections, alleviates the problem of tight urban vehicle resources, and effectively improves travel efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of road traffic design in traffic engineering, and in particular relates to a method and device for designing the length of an early right turn based on a traffic flow trajectory diagram. Background Art

[0002] With recent socioeconomic development, the number of motor vehicles has surged, and traffic congestion at urban intersections has become increasingly severe. To effectively support the development of production and transportation activities, the capacity of urban intersections must be continuously improved to accommodate this rapid growth. Given the scarcity of urban land resources, the difficulty of expanding existing roads, and the fact that traffic flow control can hinder related economic activities, optimizing intersection design is the primary approach to improving intersection capacity. At urban intersections, right-turn traffic is a key factor contributing to low intersection capacity. Right-turn lanes are few in number and conflict with traffic flows in other directions. Adjusting right-turn lanes will significantly improve intersection capacity.

[0003] At present, many scholars at home and abroad have conducted research on optimizing early right-turn lanes to improve the traffic capacity of intersections. However, the existing research on early right-turn lanes at highway intersections is not specific enough and cannot be directly used. Summary of the Invention

[0004] Purpose of the invention: The present invention provides a method and device for designing the length of an advance right turn based on a traffic flow trajectory diagram, analyzes the red light duration, and uses the Greenshields formula and the traffic flow trajectory diagram to calculate the length of the vehicle queue when the red light duration is long in the straight waiting area of ​​the right lane of the intersection.

[0005] Technical solution: The present invention provides a method for designing the length of an early right turn based on a traffic trajectory diagram, which specifically includes the following steps:

[0006] (1) Collect traffic data, including the speed before entering the intersection entrance v1, the green light speed at the intersection entrance v3, and the red light duration t A , the maximum headway h for vehicles going straight in the right lane at the intersection entrance t , the headway time of straight vehicles before entering the intersection entrance lane h t2 , the headway time of straight vehicles when the intersection entrance lane passes the green light h t3 , the arrival flow Q of through vehicles in the right lane at the intersection entrance;

[0007] (2) Based on the moderate traffic flow density, the Greenshields linear relationship model is established to obtain the relationship between the speed v1 before entering the intersection entrance and the green light speed v3 of the intersection entrance;

[0008] (3) According to the headway distance h s, headway h t , and the relationship between speed v, the headway is obtained;

[0009] (4) Obtain the vehicle flow trajectory diagram based on the traffic flow data and calculate the gathering wave W1 and the dissipation wave W2;

[0010] (5) Based on the gathering wave W1 and the dissipating wave W2, calculate the time t for the through traffic flow in the right lane of the intersection entrance to dissipate. s ;

[0011] (6) Combined with the duration of the red light for going straight at the intersection entrance, t A The time t when the through traffic flow in the right lane at the intersection entrance dissipates s , calculate the maximum number of vehicles N queuing in the right-turn lane during the straight red light max ;

[0012] (7) Calculate the maximum queue length L of the right-turn lane at the intersection entrance.

[0013] Furthermore, step (2) is achieved by the following formula:

[0014]

[0015]

[0016]

[0017]

[0018] Where K3 = K s =0.5K j , K2=K j , is the maximum straight traffic flow in the right lane at the intersection entrance, K is the maximum headway time for vehicles going through the right lane at the intersection entrance, j is the blocking density of through vehicles in the right lane at the intersection entrance, K1 is the traffic density of through vehicles in the right lane at the intersection entrance, and K s is the density corresponding to the saturated traffic flow in the right lane of the intersection entrance, v is the speed of the straight-moving vehicles in the right lane of the intersection entrance, and v f is the free-flowing speed of through-going vehicles in the right lane of the intersection entrance, that is, the speed when the through-going traffic density in the right lane of the intersection entrance approaches zero, v1 is the actual speed before entering the intersection entrance, v3 is the green light speed at the intersection entrance, Q is the arrival flow of through-going vehicles in the right lane of the intersection entrance, and K is the traffic density of through-going vehicles in the right lane of the intersection entrance.

[0019] Furthermore, step (3) is achieved by the following formula:

[0020]

[0021]

[0022]

[0023]

[0024] in, is the headway of straight-moving vehicles before entering the intersection entrance lane, is the headway of straight vehicles when the intersection entrance lane has a green light; l1 is the headway between the second and third vehicles when traffic is gathering; l2 is the headway between the first and second vehicles when traffic is gathering, and is also the headway between the second and third vehicles when traffic is dissipating. It is also the maximum headway of traffic in the right lane at the intersection entrance; l3 is the headway between the first and second vehicles when traffic is dissipating.

[0025] Furthermore, step (4) is achieved by the following formula:

[0026] Rallying Wave:

[0027] l2-l1=t1v2-t1v1

[0028]

[0029] x1=-l1+t1v1

[0030]

[0031]

[0032] Evanescent Wave:

[0033] l3-l2=t2v3-t2v2

[0034]

[0035] x2=-l2+t2v2

[0036]

[0037]

[0038] Where W1 is the traffic wave transitioning from a low-density state to a high-density state, W2 is the traffic wave transitioning from a high-density state to a low-density state, v2 is the speed of vehicles going through the right lane at the intersection entrance when the traffic light is red, Q1 is the number of vehicles going through the right lane at the intersection entrance when the traffic light is red, Q2 is the maximum number of vehicles going through the right lane at the intersection entrance when the traffic light is red, and Q3 is the number of vehicles passing through the right lane at the intersection entrance when the traffic light is green. In the case of an aggregation wave, the speed change point of the first vehicle is taken as the zero initial point, and x1 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle. In the case of an evanescent wave, the speed change point of the first vehicle is taken as the zero initial point, and x2 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle. In the case of an aggregation wave, the speed change moment of the first vehicle is taken as the zero time, t1 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point. In the case of an evanescent wave, the speed change moment of the first vehicle is taken as the zero time, and t2 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point.

[0039] Furthermore, step (5) is implemented by the following formula:

[0040] W1(t A +t s )=x+W2t s

[0041] x=v2t A =0

[0042]

[0043] Among them, t A is the duration of the red light at the intersection entrance, x is the distance the straight traffic flow in the right lane at the intersection entrance moves when the light is red, and t s It is the time it takes for the through traffic flow in the right lane at the intersection entrance to dissipate.

[0044] Furthermore, step (6) is implemented by the following formula:

[0045]

[0046]

[0047]

[0048] Among them, N max is the maximum number of vehicles queuing in the right-turn lane during the straight red light period, Q w1 is the wave flow before entering the intersection entrance, t B The duration of the queue for through-going vehicles in the right lane at the entrance of the intersection.

[0049] Furthermore, step (7) is implemented by the following formula:

[0050]

[0051] Where L is the maximum queue length of the right-turn lane at the intersection entrance.

[0052] The present invention further provides a device, comprising a memory and a processor, wherein:

[0053] a memory for storing computer programs capable of running on the processor;

[0054] The processor is used to execute the steps of the above-mentioned method for designing the length of an early right turn based on a traffic flow trajectory diagram when running the computer program.

[0055] The present invention also provides a storage medium having a computer program stored thereon. When the computer program is executed by at least one processor, the steps of the method for designing the length of an early right turn based on a traffic flow trajectory diagram are implemented.

[0056] Beneficial effects: Compared with the existing technology, the beneficial effects of the present invention are: the present invention fills the current gap in the domestic design of the length of early right turns, and improves the road service level of intersections; the present invention can alleviate the congestion of cars at intersections; the present invention is based on a full analysis and investigation of the construction of intersection facilities, comprehensively considers the traffic density during peak traffic hours, and sets sufficient length for vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a schematic diagram of the right turn waiting area;

[0058] Figure 2 Schematic diagram of vehicle data measurement location;

[0059] Figure 3 The vehicle flow trajectory diagram proposed by the present invention;

[0060] Figure 4 This is the 85% vehicle speed measured in the example of the present invention. DETAILED DESCRIPTION

[0061] The present invention will be further described in detail below with reference to the accompanying drawings.

[0062] The present invention provides a method for designing the length of an early right turn based on a traffic flow trajectory diagram, and the specific implementation steps are as follows:

[0063] Step 1: Collect Figure 1 , Figure 2 The traffic data shown includes the 85% speed v1 of the vehicle going straight before entering the intersection entrance, the 85% speed v3 of the vehicle going straight with a green light at the intersection entrance, and the duration of the red light t A , the maximum headway h for vehicles going straight in the right lane at the intersection entrancet , the headway of straight vehicles before entering the intersection entrance lane Headway time between vehicles going straight when the light on the entrance lane of an intersection is green The arrival flow rate Q of through vehicles in the right lane at the intersection entrance.

[0064] Collect traffic data, including the 85% speed v1 of the vehicle going straight before entering the intersection, and the red light duration t A , the maximum headway time for through traffic in the right lane at the intersection entrance Survey point for the arrival flow Q of the through traffic flow in the right lane. First, investigate the duration of the red light within a red light and record it; then, at the survey point, continuously investigate the peak hour traffic volume of large, medium and small vehicles passing through the through lane at a time interval of 2 minutes. All vehicles are divided into small, medium and large vehicles, and surveyed separately. The collected traffic data includes statistics on the traffic volume of small, medium and large vehicles and converted into equivalent car traffic volume. The calculation method for converting the traffic volume of large, medium and small vehicles into equivalent car traffic volume is: Q = ∑Q i E i , where Q is the equivalent car traffic volume after conversion, E i is the conversion coefficient for category i vehicles, Q i is the traffic volume of type i vehicles. At the same time, the time between the second and third vehicles in the right lane passing the stop line is measured, which is the limit headway time. At the survey point where the speed v1 of straight-moving vehicles before entering the intersection entrance is measured, the time interval between straight-moving vehicles passing through a section is measured, that is, the headway time of straight-moving vehicles before entering the intersection entrance. At the survey point where the 85% speed of the intersection entrance lane is measured when the green light is on, the time interval between the straight right lane passing a section when the green light is on is measured, that is, the headway time of the straight right lane when the green light is on at the intersection entrance lane.

[0065] Step 2, select an intersection with moderate traffic flow density, and the speed-density relationship can be established as a Greenshields linear relationship.

[0066] The Greenshields linear model formula satisfied by the through vehicles on the intersection entrance is:

[0067]

[0068] Where v is the speed of the straight-going vehicle in the right lane of the intersection entrance, unit: km / h; v f is the free-flowing speed of vehicles going through the right lane of the intersection entrance, that is, the speed when the density of straight traffic in the right lane of the intersection entrance approaches zero, unit: km / h; K jis the blocking density of through vehicles in the right lane of the intersection entrance, unit: vehicles / km; K is the traffic flow density of through vehicles in the right lane of the intersection entrance, unit: vehicles / km.

[0069] The Greenshields linear relationship model is established to derive the relationship between the speed v1 before entering the intersection and the green light speed v3 at the intersection:

[0070]

[0071]

[0072]

[0073] K1 is the traffic density of straight-moving vehicles in the right lane of the intersection entrance, vehicles / km; K s is the density corresponding to the saturated traffic flow in the right lane of the intersection entrance, vehicles / km; v is the speed of the through vehicles in the right lane of the intersection entrance, v f is the free-flowing speed of vehicles going through the right lane of the intersection entrance, that is, the speed when the density of straight traffic in the right lane of the intersection entrance approaches zero. v1 is the actual speed before entering the intersection entrance, unit: km / h. v3 is the green light speed of the intersection entrance, unit: km / h. Q is the flow rate of straight vehicles arriving in the right-turn lane, unit: km / h.

[0074] Step 3: According to the headway distance h s , headway h t , and the relationship between the speed v, the headway is obtained:

[0075]

[0076]

[0077]

[0078]

[0079] in, The headway time of straight vehicles before entering the intersection entrance lane, unit: seconds / vehicle; h t3 is the headway time of straight vehicles when the green light is on at the entrance to the intersection, unit: seconds / vehicle; l1 is the headway distance between the second and third vehicles when the traffic flow is gathering, unit: meter / vehicle; l2 is the headway distance between the first and second vehicles when the traffic flow is gathering, and is also the headway distance between the second and third vehicles when the traffic flow is dissipating, unit: meter / vehicle; it is also the maximum headway distance of traffic flow in the right lane at the entrance of the intersection; l3 is the headway distance between the first and second vehicles when the traffic flow is dissipating, unit: meter / vehicle.

[0080] Step 4: Obtain a vehicle flow trajectory diagram (time-space diagram) based on the traffic flow data and calculate the gathering wave W1 and the dissipation wave W2.

[0081] According to the actual speed v1 before entering the intersection entrance, the green light speed v3 of the intersection entrance, the speed v2 of the straight vehicles in the right lane of the intersection entrance when the light is red, the traffic wave W1 when the low density state changes to the high density state, and the traffic wave W2 when the high density state changes to the low density state, the first three vehicles entering the right lane of the intersection entrance are studied. The time-space running trajectories of the three vehicles affected by the congestion are as follows: Figure 3 As shown by the three broken lines in .

[0082] Figure 3 The three speed states v1, v2, and v3 correspond to three regions. In the region corresponding to v1, l1 represents the distance between the second and third vehicles at the current moment, and l2 represents the distance between the first and second vehicles at the current moment. Similarly, the distance between the straight lines in regions v2 and v3 is also the distance between the vehicles. Therefore, based on the distance between the vehicles in the three regions in the figure, the distance between the vehicles in regions v1, v2, and v3 decreases and then increases again. The distance between vehicles is inversely proportional to the traffic density. Therefore, the traffic density changes from small to large and then decreases. The increase in density forms a gathering wave W1 (the slope of the dashed line OB), and the decrease in density forms a dissipating wave W2 (the slope of the dashed line BA).

[0083] Special points: Point O indicates that when the first car is driving at a speed of v1 in the intersection entrance, a low-speed car enters the intersection entrance, and the speed of the first car changes (the straight line in the v1 area is converted to the straight line in the v2 area, and the slope becomes smaller); Point A indicates that when the first car is driving at a speed of v2 in the right lane of the intersection, the ... A At the moment (point A on the horizontal axis) when the first vehicle leaves the intersection exit and goes straight into the right lane, the speed of the first vehicle changes again (the straight line in area v2 transforms to the straight line in area v3, and the slope becomes larger). This is the point where the congestion queue is the longest. Point B represents the point to which the rally wave W1 propagates during the duration of the queue of straight vehicles in the right lane at the intersection entrance.

[0084] According to the traffic trajectory diagram (time-space diagram), the gathering wave W1 and the dissipation wave W2 are calculated.

[0085] Rallying Wave:

[0086] l2-l1=t1v2-t1v1

[0087]

[0088] x1=-l1+t1v1

[0089]

[0090]

[0091] Evanescent Wave:

[0092] l3-l2=t2v3-t2v2

[0093]

[0094] x2=-l2+t2v2

[0095]

[0096]

[0097] Among them, W1 is the traffic flow wave from low density to high density, unit: km / h; W2 is the traffic flow wave from high density to low density, unit: km / h; v2 is the speed of vehicles going straight in the right lane at the intersection entrance when the traffic light is red, unit: km / h; Q1 is the number of vehicles going straight in the right lane at the intersection entrance when the traffic light is red, unit: vehicle / hour; Q2 is the maximum number of vehicles going straight in the right lane at the intersection entrance when the traffic light is red, unit: vehicle / hour; Q3 is the number of vehicles passing the right lane at the intersection entrance when the traffic light is green, unit: vehicle / hour; The speed point is the zero initial point, x1 is the displacement difference between the speed change point of the second car and the speed change point of the first car; unit: meter; when the wave is dissipating, the speed change point of the first car is the zero initial point, x2 is the displacement difference between the speed change point of the second car and the speed change point of the first car, unit: meter; when the wave is gathering, the speed change moment of the first car is the zero moment, t1 is the time when the second car reaches the speed change point and the time interval when the first car reaches the speed change point, unit: second; when the wave is dissipating, the speed change moment of the first car is the zero moment, t2 is the time when the second car reaches the speed change point and the time interval when the first car reaches the speed change point, unit: second.

[0098] Step 5: Calculate the time t for the through traffic flow in the right lane of the intersection entrance to dissipate based on the gathering wave W1 and the dissipating wave W2. s .

[0099] W1(t A +t s )=x+W2t s

[0100] x=v2t A =0

[0101]

[0102] Among them, t Ais the duration of the red light at the intersection entrance, in hours; x is the distance the traffic moves when the light is red, in meters; t s It is the time it takes for a congested convoy to dissipate, in hours.

[0103] Step 6: Combine the duration of the red light for going straight at the intersection entrance, t A The time t when the through traffic flow in the right lane at the intersection entrance dissipates s , calculate the maximum number of vehicles N queuing in the right-turn lane during the straight red light max ; The implementation formula is as follows:

[0104]

[0105]

[0106]

[0107] Among them, N max The maximum number of vehicles queuing in the right-turn lane during the straight red light period, unit: vehicle, Q w1 is the wave flow of vehicles going straight before entering the intersection entrance, unit: vehicle / hour; t B The duration of the queue for through-going vehicles in the right lane at the entrance of the intersection.

[0108] Step 7: Calculate the maximum queue length L of the right-turn lane at the intersection entrance using the following formula:

[0109]

[0110] Where L is the maximum queue length of the right-turn lane at the intersection entrance, unit: meter.

[0111] The present invention also provides a device comprising a memory and a processor, wherein the memory is used to store a computer program that can be run on the processor; the processor is used to execute the steps of the above-mentioned method for designing the length of an early right turn based on a traffic flow trajectory diagram when running the computer program.

[0112] The present invention also provides a storage medium having a computer program stored thereon. When the computer program is executed by at least one processor, the steps of the method for designing the length of an early right turn based on a traffic flow trajectory diagram are implemented.

[0113] Take the intersection of Mingyuan Road and Chengde Road in Qingjiangpu District as an example. The entrance of the intersection has three lanes, namely a dedicated left-turn lane, a straight lane and a straight right lane. The intersection has set up a no-lane-change line at the intersection entrance and an early right-turn lane. The process of determining the distance between the early right-turn lane and the intersection is as follows: at the red light duration survey point, record the red light duration of the straight lane, and the red light duration t is 83 seconds. Measure the length X of the no-lane-change line at the intersection entrance, and the length X of the no-lane-change line at the intersection entrance is 7.5 meters. Use a radar speed meter to measure the 85% speed of the vehicle in the straight right lane at the 85% speed survey point when it starts to decelerate before stopping and waiting for the traffic light. The measured data is as follows Figure 4 As shown, 85% of the vehicle speed V m It is 54 kilometers per hour. Substituting it into the formula, we can get that the distance S between the early right-turn lane entrance and the intersection is 0.05 kilometers, that is, the distance between the early right-turn lane entrance and the intersection is 50 meters.

[0114] It should be understood that the above-described specific embodiments of the present invention are merely illustrative or illustrative of the principles of the present invention and do not constitute limitations of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included within the scope of protection of the present invention. In addition, the appended claims are intended to cover all variations and modifications that fall within the scope and metes and bounds of the appended claims, or equivalents thereof.

Claims

1. A method for designing the length of an early right turn based on a traffic trajectory diagram, characterized in that: The following steps are involved: (1) Collect traffic data, including the speed before entering the intersection entrance v1, the green light speed at the intersection entrance v3, and the red light duration t A , the maximum headway time for vehicles going through in the right lane at the intersection entrance Headway time of straight-moving vehicles before entering the intersection entrance lane Headway time between vehicles going straight when the light on the entrance lane of an intersection is green Arrival flow rate Q of through vehicles in the right lane at the intersection entrance; (2) Based on the moderate traffic flow density, the Greenshields linear relationship model is established to obtain the relationship between the speed v1 before entering the intersection entrance and the green light speed v3 of the intersection entrance; (3) According to the headway h s , headway h t , and the relationship between speed v, the headway is obtained; (4) Obtain the vehicle flow trajectory diagram based on the traffic flow data and calculate the gathering wave W1 and the dissipation wave W2; (5) Based on the gathering wave W1 and the dissipating wave W2, calculate the time t for the through traffic flow in the right lane of the intersection entrance to dissipate. s ; (6) Combined with the duration of the red light for going straight at the intersection entrance, t A The time t when the through traffic flow in the right lane at the intersection entrance dissipates s , calculate the maximum number of vehicles N queuing in the right-turn lane during the straight red light max ; (7) Calculate the maximum queue length L of the right-turn lane at the intersection entrance; The step (2) is achieved by the following formula: Where K3 = K s =0.5K j , K2=K j , Q m is the maximum straight traffic flow in the right lane at the intersection entrance, h t K is the maximum headway time for vehicles going through the right lane at the intersection entrance, j is the blocking density of through vehicles in the right lane at the intersection entrance, K1 is the traffic density of through vehicles in the right lane at the intersection entrance, and K s is the density corresponding to the saturated traffic flow in the right lane of the intersection entrance, v is the speed of the straight-moving vehicles in the right lane of the intersection entrance, and v f is the free-flowing speed of through-going vehicles in the right lane of the intersection entrance, that is, the speed when the through-going traffic density in the right lane of the intersection entrance approaches zero, v1 is the actual speed before entering the intersection entrance, v3 is the green light speed at the intersection entrance, Q is the arrival flow of through-going vehicles in the right lane of the intersection entrance, and K is the traffic density of through-going vehicles in the right lane of the intersection entrance.

2. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 1, characterized in that: The step (3) is achieved by the following formula: in, is the headway of straight-moving vehicles before entering the intersection entrance lane, is the headway of straight vehicles when the intersection entrance lane has a green light; l1 is the headway between the second and third vehicles when traffic is gathering; l2 is the headway between the first and second vehicles when traffic is gathering, and is also the headway between the second and third vehicles when traffic is dissipating. It is also the maximum headway of traffic in the right lane at the intersection entrance; l3 is the headway between the first and second vehicles when traffic is dissipating.

3. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 2, characterized in that: The gathering wave W1 in step (4) is realized by the following formula: l2-l1=t1v2-t1v1 Where W1 is the traffic wave transitioning from a low-density state to a high-density state, v2 is the speed of vehicles going through the right lane at the intersection entrance when the traffic light is red, Q1 is the number of vehicles going through the right lane at the intersection entrance, Q2 is the maximum number of vehicles going through the right lane at the intersection entrance when the traffic light is red, x1 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle; in the case of a dissipating wave, the speed change point of the first vehicle is taken as the zero initial point, and x2 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle; in the case of a gathering wave, the speed change moment of the first vehicle is taken as the zero time, t1 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point; in the case of a dissipating wave, the speed change moment of the first vehicle is taken as the zero time, and t2 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point.

4. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 3, characterized in that: The evanescent wave W2 in step (4) is realized by the following formula: l3-l2=t2v3-t2v2 x2=-l2+t2v2 Among them, W2 is the traffic wave that transitions from a high-density state to a low-density state, v2 is the speed of vehicles going straight in the right lane at the intersection entrance when the light is red; Q2 is the maximum number of vehicles going straight in the right lane at the intersection entrance when the light is red, and Q3 is the number of vehicles passing through the right lane at the intersection entrance with a green light; in the case of an aggregation wave, the speed change point of the first vehicle is taken as the zero initial point, and x1 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle; in the case of a dissipation wave, the speed change point of the first vehicle is taken as the zero initial point, and x2 is the displacement difference between the speed change point of the second vehicle and the speed change point of the first vehicle; in the case of an aggregation wave, the speed change moment of the first vehicle is taken as the zero moment, t1 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point; in the case of a dissipation wave, the speed change moment of the first vehicle is taken as the zero moment, and t2 is the time interval between the time when the second vehicle reaches the speed change point and the time when the first vehicle reaches the speed change point.

5. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 4, characterized in that: The step (5) is achieved by the following formula: W1(t A +t s )=x+W2t s x=v2t A =0 Among them, t A is the duration of the red light at the intersection entrance, x is the distance the straight traffic flow in the right lane at the intersection entrance moves when the light is red, t s It is the time it takes for the through traffic flow in the right lane at the intersection entrance to dissipate.

6. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 5, characterized in that: The step (6) is achieved by the following formula: Among them, N max is the maximum number of vehicles queuing in the right-turn lane during the straight red light period, Q w1 is the wave flow before entering the intersection entrance, t B The duration of the queue for through-going vehicles in the right lane at the intersection entrance.

7. The method for designing the length of an early right turn based on a traffic flow trajectory diagram according to claim 6, characterized in that: The step (7) is achieved by the following formula: Where L is the maximum queue length of the right-turn lane at the intersection entrance.

8. A device, characterized in that: comprising a memory and a processor, wherein: a memory for storing computer programs capable of running on the processor; A processor is used to execute the steps of the method for designing the length of an early right turn based on a traffic trajectory diagram as described in any one of claims 1 to 7 when running the computer program.

9. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by at least one processor, implements the steps of the method for designing the length of an early right turn based on a traffic flow trajectory diagram as described in any one of claims 1 to 7.

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