A traffic intersection lane direction adaptive switching control method and system

Abstract

The application provides a traffic intersection lane direction adaptive switching control method and system, wherein the method comprises the following steps: obtaining a straight congestion coefficient and a left-turn congestion coefficient of an entering lane of a traffic intersection; and switching the lane direction of a variable lane on the entering lane based on the straight congestion coefficient and the left-turn congestion coefficient. According to the application, the straight congestion coefficient and the left-turn congestion coefficient of an entering lane of a traffic intersection are obtained, and the lane direction of a variable lane on the entering lane is switched based on the straight congestion coefficient and the left-turn congestion coefficient, so that the variable lane can be flexibly controlled in real time and accurately according to the traffic flow of each turning direction at the intersection, the turning function of the variable lane can be dynamically switched according to real-time traffic demand, the traffic efficiency of the urban road is improved, and the traffic congestion degree of the urban road is reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent traffic control technology, and in particular to a method and system for adaptive lane direction switching control at traffic intersections. Background Technology

[0002] With the continuous growth of the number of motor vehicles in Chinese cities, traffic congestion is becoming more and more frequent, especially during the morning and evening rush hours. The uneven traffic flow at intersections often leads to severe traffic congestion in certain directions, causing vehicles to be stranded and forming long queues on the road. This reduces the efficiency of traffic flow on relevant roads and nodes and exacerbates the degree of traffic congestion on urban roads.

[0003] As early as 2004, Shenyang City pioneered the application of variable lanes, and subsequently, many cities in China implemented variable lane solutions for signalized intersections with the aforementioned problems. Although variable lanes have achieved good results in some cities, their control modes are mainly divided into: on-site remote control by traffic police, remote control by the command center, and switching according to fixed time periods. These control modes are mostly based on human experience, lack flexibility, and cannot accurately adapt to the changing characteristics of traffic flow at different turns in real time at intersections.

[0004] With the rapid advancement of dynamic traffic detection technology and computer data processing and analysis capabilities, how to dynamically switch the steering function of variable guidance lanes according to real-time traffic demand has become an urgent problem to be solved. Summary of the Invention

[0005] This invention provides a method and system for adaptive lane direction switching control at traffic intersections. It obtains the straight-ahead congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection, and switches the lane direction of the variable lane on the entering lane based on the straight-ahead congestion coefficient and left-turn congestion coefficient. It can flexibly control the variable lane to adapt to the traffic flow of each turning direction at the intersection in real time and accurately, and dynamically switch the turning function of the variable guide lane according to real-time traffic demand, thereby improving the traffic efficiency of urban roads and reducing the degree of traffic congestion on urban roads.

[0006] This invention provides a lane direction adaptive switching control method at traffic intersections, comprising:

[0007] Obtain the straight-through congestion coefficient and left-turn congestion coefficient for an entering lane at a traffic intersection;

[0008] Based on the straight-through congestion coefficient and the left-turn congestion coefficient, the lane direction is switched for the variable lanes on the entering lane.

[0009] Preferably, the straight-ahead congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection are obtained, including:

[0010] Obtain information on the first vehicle in the straight lane of the lane that has entered the vehicle; the information on the first vehicle includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification.

[0011] Based on the preset first algorithm rules and the first vehicle information, the straight-through congestion coefficient is calculated;

[0012] Obtain information about the second vehicle in the left-turn lane of the lane that has entered the vehicle;

[0013] Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

[0014] Preferably, based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, the lane direction is switched for the variable lane entering the lane, including:

[0015] When the lane direction of the reversible lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection running continuously for a preset number of traffic light cycles;

[0016] When the lane direction is self-driving, if the straight-ahead congestion coefficient is consistently lower than the left-turn congestion coefficient during the target period, the lane direction will be switched to left turn.

[0017] Preferably, before switching the lane direction of a variable lane in the entering lane, it is determined whether the entering lane meets the conditions for lane direction switching. If it does, then the lane direction of the variable lane is switched.

[0018] The conditions for lane direction switching include:

[0019] There were no vehicles in the lane.

[0020] or,

[0021] There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold.

[0022] Preferably, the adaptive lane direction switching control method at traffic intersections further includes:

[0023] Obtain the second driving trajectory of emergency vehicles in the city within a pre-set second time period;

[0024] Determine whether the second driving trajectory passes through the lane;

[0025] When the condition is yes, determine whether entering the lane meets the conditions for lane direction switching.

[0026] When the conditions are met, the reversible lane will be temporarily closed to traffic.

[0027] If the condition is not met, attempt to determine the first target lane that meets the first lane condition from among the multiple sub-lanes within the entry lane;

[0028] When the attempt is successful, a avoidance prompt is given to vehicles in the first target lane, causing the first target lane to begin to be cleared of vehicles;

[0029] Determine whether the first target lane is a reversible lane;

[0030] If not, obtain the original lane direction of the first target lane;

[0031] Switch the direction of the variable lane back to the original direction of the first lane;

[0032] If the attempt fails, determine a second target lane that meets the conditions for the second lane from among multiple sub-lanes;

[0033] Vehicles in the second target lane are given a warning to avoid the lane, which then begins to clear the lane.

[0034] Determine whether the second target lane is a reversible lane;

[0035] If not, obtain the direction of the second original lane of the second target lane;

[0036] Switch the direction of the reversible lane to the direction of the second original lane;

[0037] The conditions for the first lane include:

[0038] The number of vehicles in the first target lane is ranked in the first N positions in the target number sequence; the target number sequence is the sequence of vehicle numbers in each sub-lane arranged in ascending order; N is a positive integer;

[0039] The difference between the number of the first vehicle and the number of the second vehicle is greater than or equal to a preset difference threshold; the number of the second vehicle is the average number of vehicles in the sub-lane adjacent to the first target lane;

[0040] The conditions for the second lane include:

[0041] The number of third vehicles in the second target lane is ranked first in the target number sequence.

[0042] This invention provides a lane direction adaptive switching control system for traffic intersections, comprising:

[0043] The congestion coefficient acquisition module is used to obtain the straight-through congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection.

[0044] The lane direction switching module is used to switch the direction of the variable lane on the entering lane based on the straight-through congestion coefficient and the left-turn congestion coefficient.

[0045] Preferably, the congestion coefficient acquisition module acquires the straight-ahead congestion coefficient and the left-turn congestion coefficient of an entering lane at a traffic intersection, including:

[0046] Obtain information on the first vehicle in the straight lane of the lane that has entered the vehicle; the information on the first vehicle includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification.

[0047] Based on the preset first algorithm rules and the first vehicle information, the straight-through congestion coefficient is calculated;

[0048] Obtain information about the second vehicle in the left-turn lane of the lane that has entered the vehicle;

[0049] Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

[0050] Preferably, the lane direction switching module switches the direction of the variable lane on the entering lane based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, including:

[0051] When the lane direction of the reversible lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection running continuously for a preset number of traffic light cycles;

[0052] When the lane direction is self-driving, if the straight-ahead congestion coefficient is consistently lower than the left-turn congestion coefficient during the target period, the lane direction will be switched to left turn.

[0053] Preferably, before switching the lane direction of the variable lane in the entering lane, the lane direction switching module determines whether the entering lane meets the timing conditions for lane direction switching. If it does, then the variable lane is switched.

[0054] The conditions for lane direction switching include:

[0055] There were no vehicles in the lane.

[0056] or,

[0057] There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold.

[0058] Preferably, the adaptive lane direction switching control method at traffic intersections further includes:

[0059] Control module, for including:

[0060] Obtain the second driving trajectory of emergency vehicles in the city within a pre-set second time period;

[0061] Determine whether the second driving trajectory passes through the lane;

[0062] When the condition is yes, determine whether entering the lane meets the conditions for lane direction switching.

[0063] When the conditions are met, the reversible lane will be temporarily closed to traffic.

[0064] If the condition is not met, attempt to determine the first target lane that meets the first lane condition from among the multiple sub-lanes within the entry lane;

[0065] When the attempt is successful, a avoidance prompt is given to vehicles in the first target lane, causing the first target lane to begin to be cleared of vehicles;

[0066] Determine whether the first target lane is a reversible lane;

[0067] If not, obtain the original lane direction of the first target lane;

[0068] Switch the direction of the variable lane back to the original direction of the first lane;

[0069] If the attempt fails, determine a second target lane that meets the conditions for the second lane from among multiple sub-lanes;

[0070] Vehicles in the second target lane are given a warning to avoid the lane, which then begins to clear the lane.

[0071] Determine whether the second target lane is a reversible lane;

[0072] If not, obtain the direction of the second original lane of the second target lane;

[0073] Switch the direction of the reversible lane to the direction of the second original lane;

[0074] The conditions for the first lane include:

[0075] The number of vehicles in the first target lane is ranked in the first N positions in the target number sequence; the target number sequence is the sequence of vehicle numbers in each sub-lane arranged in ascending order; N is a positive integer;

[0076] The difference between the number of the first vehicle and the number of the second vehicle is greater than or equal to a preset difference threshold; the number of the second vehicle is the average number of vehicles in the sub-lane adjacent to the first target lane;

[0077] The conditions for the second lane include:

[0078] The number of third vehicles in the second target lane is ranked first in the target number sequence.

[0079] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0080] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0081] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0082] Figure 1 This is a flowchart of a traffic intersection lane direction adaptive switching control method according to an embodiment of the present invention;

[0083] Figure 2 This is a schematic diagram illustrating a specific application of an adaptive lane direction switching control method at a traffic intersection according to an embodiment of the present invention.

[0084] Figure 3 This is yet another schematic diagram illustrating a specific application of a lane direction adaptive switching control method at a traffic intersection according to an embodiment of the present invention.

[0085] Figure 4 This is a schematic diagram of a traffic intersection lane direction adaptive switching control system according to an embodiment of the present invention; Detailed Implementation

[0086] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0087] This invention provides a lane direction adaptive switching control method for traffic intersections, such as... Figure 1 As shown, it includes:

[0088] Step S1: Obtain the straight-through congestion coefficient and left-turn congestion coefficient for an entering lane at the traffic intersection;

[0089] Step S2: Based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, switch the lane direction of the variable lane on the entering lane;

[0090] Among these measures, based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, lane direction switching is performed on the reversible lanes entering the lane, including:

[0091] When the lane direction of the reversible lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection running continuously for a preset number of traffic light cycles;

[0092] When the lane direction is self-driving, if the straight-ahead congestion coefficient is consistently lower than the left-turn congestion coefficient during the target period, the lane direction will be switched to left turn.

[0093] In the above technical solution, the entering lane is the lane that vehicles enter before passing through the traffic intersection; the straight-ahead congestion coefficient represents the degree of congestion of vehicles in the straight-ahead lane of the entering lane, and similarly, the left-turn congestion coefficient represents the degree of congestion of vehicles in the left-turn lane of the entering lane; the preset number can be, for example, 2; one traffic light cycle is the traffic light at the intersection changing sequentially to red, green, and yellow; when the straight-ahead congestion coefficient is consistently greater than the left-turn congestion coefficient during the target period, it indicates that there are more vehicles needing to go straight, and the lane direction is switched to straight; conversely, if the straight-ahead congestion coefficient is consistently less than the left-turn congestion coefficient during the target period, it indicates that there are more vehicles needing to turn left, and the lane direction is switched to left.

[0094] In practical applications, such as Figure 2 , Figure 3 As shown, the hardware of the system includes, but is not limited to, a radar-visual integrated machine, a traffic light signal detector, an LED lane indicator, an edge computing terminal, and a set of front-end and back-end control software; the software includes, but is not limited to, abnormal parking, illegal parking, driving in the wrong direction, crossing the line, pedestrian events, non-motorized vehicle events, occupying the emergency lane, intrusion events, exceeding the speed limit, exceeding the speed limit, queue exceeding the limit, queue overflow, congestion, etc.; the application includes, but is not limited to, manual and automatic lane direction switching, system component status monitoring, fault alarm, and real-time traffic data display.

[0095] The radar-visual integrated machine installed at the intersection uses a radar-visual fusion algorithm to detect traffic information such as traffic flow, queue length, lane occupancy, average vehicle speed, average headway, and vehicle type classification in the target lane.

[0096] The traffic light detectors installed at intersections are directly connected to the pulse signal output interfaces of each phase of the traffic signal controller. They acquire the pulse signals of the traffic signal controller in real time and convert them into digital signals through an analog-to-digital converter module before sending them to the edge computing terminal.

[0097] The edge computing terminal connects via an interface to obtain traffic detection data from the radar-visual integrated machine and traffic light duration data from the traffic light detector. It analyzes the detection data of each lane and, combined with the traffic light status, completes the reasonable switching of lane direction.

[0098] In this application, the straight-through congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection are obtained. Based on the straight-through congestion coefficient and left-turn congestion coefficient, the lane direction of the variable lane on the entering lane is switched. The variable lane is flexibly controlled in real time to adapt to the traffic flow of each turning direction at the intersection. The turning function of the variable lane is dynamically switched according to the real-time traffic demand, which improves the traffic efficiency of urban roads and reduces the degree of traffic congestion on urban roads.

[0099] In one embodiment, obtaining the straight-ahead congestion coefficient and the left-turn congestion coefficient of an entering lane at a traffic intersection includes:

[0100] Obtain information on the first vehicle in the straight lane of the lane that has entered the vehicle; the information on the first vehicle includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification.

[0101] Based on the preset first algorithm rules and the first vehicle information, the straight-through congestion coefficient is calculated;

[0102] Obtain information about the second vehicle in the left-turn lane of the lane that has entered the vehicle;

[0103] Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

[0104] In the above technical solution, the second vehicle information and the first vehicle information have the same content type, but belong to the straight lane and the left-turn lane respectively. Therefore, they are distinguished as first and second. The second algorithm rule is also the same as the first algorithm rule, but it calculates and processes the first vehicle information and the second vehicle information separately. Therefore, they are distinguished as first and second. To avoid redundancy, the first algorithm rule and the second algorithm rule are expressed by calculation formulas as follows: Here, Q is the congestion coefficient, W is the traffic flow, E is the vehicle queue length, R is the lane occupancy rate, T is the average vehicle speed, Y1 is the number of sedans in the vehicle type category, Y2 is the number of trucks in the vehicle type category, and γ1, γ2, γ3, γ4, γ5, γ6, and γ7 are preset weight values ​​that can be set in advance by technicians. When the first vehicle information is input into the calculation formula, the calculated congestion coefficient is for straight-ahead traffic; when the second vehicle information is input into the calculation formula, the calculated congestion coefficient is for left-turn traffic.

[0105] In one embodiment, before switching the lane direction of a variable lane in the entering lane, it is determined whether the entering lane meets the timing conditions for lane direction switching. If it does, the lane direction of the variable lane is then switched.

[0106] The conditions for lane direction switching include:

[0107] Condition 1: There are no vehicles in the lane you enter;

[0108] or,

[0109] Condition 2: There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold.

[0110] In the above technical solution, the reversible lane will have lane markings near the traffic intersection to guide vehicles into the lane. The preset first time can be, for example, 3 minutes. The standard driving trajectory is the trajectory that a vehicle should generate when entering the reversible lane from the entry lane in the opposite direction to the traffic intersection. This can be set in advance by technicians, or a large number of historical driving trajectories generated by vehicles entering the reversible lane from the entry lane in the opposite direction to the traffic intersection can be collected in advance as the standard driving trajectory. Generally, the lane direction of the reversible lane cannot be changed arbitrarily, as this may bring driving risks and induce traffic safety accidents. For example, if a vehicle sees the sign above the reversible lane... The sign indicates that the reversible lane is currently open for straight-ahead travel, but as the vehicle is about to enter the reversible lane, the sign indicates that the reversible lane has changed to open for left turns. The vehicle may suddenly swerve to change lanes, potentially colliding with adjacent vehicles. Therefore, this embodiment of the invention sets lane direction switching timing conditions. When the entered lane meets the lane direction switching timing conditions, the reversible lane is switched in direction, improving traffic safety and enhancing the system's applicability. In condition 1, there are no vehicles in the entered lane, and the reversible lane can be switched directly. In condition 2, no vehicles intend to enter the reversible lane, and the reversible lane can be switched in direction.

[0111] In one embodiment, the traffic intersection lane direction adaptive switching control method further includes:

[0112] The system obtains the second driving trajectory of emergency vehicles within the city within a preset second time period. Emergency vehicles include fire trucks, ambulances, police cars, engineering rescue vehicles, and rescue equipment transport vehicles. The preset second time period can be, for example, 3 minutes. When an emergency vehicle departs, it plans a navigation route based on its location and destination. Therefore, the second driving trajectory can be obtained based on the navigation route.

[0113] Determine whether the second driving trajectory passes through the lane;

[0114] When the condition is yes, determine whether entering the lane meets the conditions for lane direction switching.

[0115] When the conditions are met, the reversible lane is temporarily closed to traffic. Specifically, when the second driving trajectory passes through the entering lane, it indicates that an emergency vehicle is about to pass through the intersection via the entering lane. When the entering lane meets the conditions for lane direction switching, it indicates that the lane direction of the reversible lane can be safely switched, and the reversible lane is directly controlled to enter a temporary closed state. This prevents other vehicles from entering the reversible lane, allowing emergency vehicles to use it exclusively and quickly pass through the intersection via the entering lane. When the reversible lane is controlled to enter a temporary closed state, the message "Lane Closed" can be displayed on the sign above the reversible lane.

[0116] When the conditions are not met, an attempt is made to determine the first target lane that meets the first lane conditions from among the multiple sub-lanes within the entering lane; where, when the entering lane does not meet the lane direction switching timing conditions, it means that multiple sub-lanes within the entering lane are occupied by vehicles, and an attempt is made to select the first target lane that is most suitable for clearing vehicles; the sub-lanes are the left-turn lane, reversible lane, straight lane, and right-turn lane within the entering lane;

[0117] When the attempt is successful, vehicles in the first target lane are given a yielding warning, causing the first target lane to begin to be cleared of vehicles. Specifically, when the first target lane that is most suitable for clearing vehicles is determined, the vehicles in the first target lane are cleared. When giving yielding warnings to vehicles in the first target lane, the warnings can be displayed on the traffic screens at the intersection or broadcast by loudspeakers at the intersection. At this time, the first target lane begins to be cleared of vehicles to allow emergency vehicles to pass through the intersection.

[0118] Determine whether the first target lane is a reversible lane;

[0119] If not, obtain the original lane direction of the first target lane;

[0120] The reversible lane's direction is switched back to its original direction. When the first target lane is not a reversible lane, allowing emergency vehicles to pass through intersections can affect other vehicles that would otherwise need to use the first target lane, especially trucks transporting rescue equipment, which travel at slower speeds and are thus more significantly impacted. Therefore, switching the reversible lane's direction back to the original direction of the first target lane—for example, if the original lane direction was right turn, switching the reversible lane's direction to right turn—greatly improves the system's rationality and applicability. In this case, the reversible lane's direction is temporarily changed, and vehicles that entered the reversible lane before this change will be penalized for not following lane markings. This can be addressed by integrating with the traffic violation system to exempt these vehicles from the violation.

[0121] When an attempt fails, a second target lane that meets the conditions for a second lane is determined from multiple sub-lanes; when the most suitable first target lane for clearing vehicles cannot be determined, the next most suitable second target lane is determined.

[0122] Vehicles in the second target lane are given a warning to give way, so that the second target lane is cleared of vehicles; similarly, the second target lane is cleared of vehicles to allow emergency vehicles to pass through the intersection.

[0123] Determine whether the second target lane is a reversible lane;

[0124] If not, obtain the direction of the second original lane of the second target lane;

[0125] Switch the lane direction of the variable lane to the second original lane direction; similarly, when the second target lane is not a variable lane, switch the lane direction of the variable lane to the second original lane direction of the second target lane.

[0126] The conditions for the first lane include:

[0127] The number of vehicles in the first target lane is ranked in the top N positions in the target number sequence; the target number sequence is the sequence of the number of vehicles in each sub-lane arranged in ascending order; N is a positive integer; N can be set in advance by the technician, for example, 2; when this first lane condition is met, it means that the number of vehicles in the first target lane is relatively small compared to other sub-lanes, and the time to clear the vehicles will also be shorter.

[0128] The difference between the number of first vehicles and the number of second vehicles is greater than or equal to a preset difference threshold; the number of second vehicles is the average number of vehicles in the sub-lane adjacent to the first target lane; the difference threshold can be, for example, 3; when this first lane condition is met, it means that the vehicles in the first target lane are more likely to change lanes to the sub-lane adjacent to the first target lane, and the time to clear the vehicles will be shorter.

[0129] The conditions for the second lane include:

[0130] The number of vehicles in the second target lane is the first in the target number sequence. When this second lane condition is met, it means that the number of vehicles in the second target lane is the minimum among all sub-lanes.

[0131] Generally, emergency vehicles need to pass through traffic intersections quickly due to the urgency of their missions. This invention first considers the scenario where the entering lane meets the lane direction switching conditions, directly allowing one emergency vehicle to pass through a variable lane. Then, it considers the scenario where the entering lane does not meet the lane direction switching conditions, introducing a first lane condition and a second condition for the entering lane, using a tiered selection process to choose the most suitable lane for clearing vehicles, allowing one emergency vehicle to pass through. Furthermore, it utilizes variable lanes to minimize the impact on traffic flow at the intersection when the most suitable lane for clearing vehicles is used for one emergency vehicle, greatly improving the system's rationality. This is particularly suitable for urban traffic intersections and is also more intelligent.

[0132] This invention provides a traffic intersection lane direction adaptive switching control system, such as... Figure 4 As shown, it includes:

[0133] Congestion coefficient acquisition module 1 is used to acquire the straight-through congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection;

[0134] Lane direction switching module 2 is used to switch the direction of the variable lane on the entering lane based on the straight-through congestion coefficient and the left-turn congestion coefficient.

[0135] Congestion coefficient acquisition module 1 acquires the straight-ahead congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection, including:

[0136] Obtain information on the first vehicle in the straight lane of the lane that has entered the vehicle; the information on the first vehicle includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification.

[0137] Based on the preset first algorithm rules and the first vehicle information, the straight-through congestion coefficient is calculated;

[0138] Obtain information about the second vehicle in the left-turn lane of the lane that has entered the vehicle;

[0139] Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

[0140] Lane direction switching module 2, based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, performs lane direction switching on the variable lane in the entering lane, including:

[0141] When the lane direction of the reversible lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection running continuously for a preset number of traffic light cycles;

[0142] When the lane direction is self-driving, if the straight-ahead congestion coefficient is consistently lower than the left-turn congestion coefficient during the target period, the lane direction will be switched to left turn.

[0143] Before switching the lane direction of the variable lane in the entering lane, the lane direction switching module 2 determines whether the entering lane meets the timing conditions for lane direction switching. If it does, the variable lane is then switched.

[0144] The conditions for lane direction switching include:

[0145] There were no vehicles in the lane.

[0146] or,

[0147] There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold.

[0148] The adaptive lane direction switching control method at traffic intersections also includes:

[0149] Control module, for including:

[0150] Obtain the second driving trajectory of emergency vehicles in the city within a pre-set second time period;

[0151] Determine whether the second driving trajectory passes through the lane;

[0152] When the condition is yes, determine whether entering the lane meets the conditions for lane direction switching.

[0153] When the conditions are met, the reversible lane will be temporarily closed to traffic.

[0154] If the condition is not met, attempt to determine the first target lane that meets the first lane condition from among the multiple sub-lanes within the entry lane;

[0155] When the attempt is successful, a avoidance prompt is given to vehicles in the first target lane, causing the first target lane to begin to be cleared of vehicles;

[0156] Determine whether the first target lane is a reversible lane;

[0157] If not, obtain the original lane direction of the first target lane;

[0158] Switch the direction of the variable lane back to the original direction of the first lane;

[0159] If the attempt fails, determine a second target lane that meets the conditions for the second lane from among multiple sub-lanes;

[0160] Vehicles in the second target lane are given a warning to avoid the lane, which then begins to clear the lane.

[0161] Determine whether the second target lane is a reversible lane;

[0162] If not, obtain the direction of the second original lane of the second target lane;

[0163] Switch the direction of the reversible lane to the direction of the second original lane;

[0164] The conditions for the first lane include:

[0165] The number of vehicles in the first target lane is ranked in the first N positions in the target number sequence; the target number sequence is the sequence of vehicle numbers in each sub-lane arranged in ascending order; N is a positive integer;

[0166] The difference between the number of the first vehicle and the number of the second vehicle is greater than or equal to a preset difference threshold; the number of the second vehicle is the average number of vehicles in the sub-lane adjacent to the first target lane;

[0167] The conditions for the second lane include:

[0168] The number of third vehicles in the second target lane is ranked first in the target number sequence.

[0169] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A lane direction adaptive switching control method at a traffic intersection, characterized in that, include: Obtain the straight-through congestion coefficient and left-turn congestion coefficient for an entering lane at a traffic intersection; Based on the straight-through congestion coefficient and the left-turn congestion coefficient, the lane direction of the variable lane on the entering lane is switched; Before switching the lane direction of the variable lane on the entering lane, it is determined whether the entering lane meets the timing conditions for lane direction switching. If it does, then the lane direction of the variable lane is switched. The conditions for lane direction switching include: There were no vehicles in the lane the vehicle was said to have entered. or, There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by the multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold. Also includes: Obtain the second driving trajectory of emergency vehicles in the city within a pre-set second time period; Determine whether the second driving trajectory passes through the lane into which it entered; When yes, determine whether the lane being entered meets the lane direction switching timing conditions; When the conditions are met, the variable lane is controlled to enter a temporary restricted state; If the condition is not met, an attempt is made to determine a first target lane that meets the first lane condition from among the multiple sub-lanes within the entering lane; When the attempt is successful, a avoidance prompt is given to the vehicles in the first target lane, so that the first target lane begins to be cleared of vehicles; Determine whether the first target lane is the variable lane; If not, obtain the first original lane direction of the first target lane; Switch the direction of the variable lane back to the original direction of the first lane; If the attempt fails, determine a second target lane that meets the conditions for the second lane from among multiple sub-lanes; Vehicles in the second target lane are given a warning to avoid the lane, causing the lane to be cleared of vehicles. Determine whether the second target lane is the variable lane; If not, obtain the second original lane direction of the second target lane; Switch the direction of the variable lane to the second original lane direction; The conditions for the first lane include: The number of vehicles in the first target lane is ranked in the first N positions in the target number sequence; the target number sequence is a sequence in which the number of vehicles in each sub-lane is arranged in ascending order; N is a positive integer; The difference between the first number of vehicles and the second number of vehicles is greater than or equal to a preset difference threshold; the second number of vehicles is the average number of vehicles in the sub-lane adjacent to the first target lane; The conditions for the second lane include: The number of third vehicles in the second target lane is ranked first in the target number sequence.

2. The adaptive lane direction switching control method at a traffic intersection as described in claim 1, characterized in that, The acquisition of the straight-through congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection includes: Obtain information on the first vehicle in the straight lane of the entering lane; the first vehicle information includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification. Based on the preset first algorithm rule, the straight-through congestion coefficient is calculated according to the first vehicle information; Obtain information about the second vehicle in the left-turn lane of the entering lane; Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

3. The adaptive lane direction switching control method at a traffic intersection as described in claim 1, characterized in that, The process of switching the direction of the variable lane on the entering lane based on the straight-ahead congestion coefficient and the left-turn congestion coefficient includes: When the lane direction of the variable lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection continuously running for a preset number of traffic light cycles; When the lane direction is self-driving, if the straight-ahead congestion coefficient is continuously less than the left-turn congestion coefficient during the target period, the lane direction will be switched to left-turn.

4. A lane direction adaptive switching control system for traffic intersections, characterized in that, include: The congestion coefficient acquisition module is used to obtain the straight-through congestion coefficient and left-turn congestion coefficient of an entering lane at a traffic intersection. The lane direction switching module is used to switch the lane direction of the variable lane on the entering lane based on the straight-through congestion coefficient and the left-turn congestion coefficient. Before switching the variable lane on the entering lane, the lane direction switching module determines whether the entering lane meets the lane direction switching timing conditions. If it does, the variable lane is then switched. The conditions for lane direction switching include: There were no vehicles in the lane the vehicle was said to have entered. or, There are no vehicles in the variable lane, and the maximum match between the first driving trajectory generated by the multiple vehicles entering the lane in the most recent preset first time period and the preset standard driving trajectory corresponding to the variable lane is less than or equal to the preset matching degree threshold. Also includes: Control module, for including: Obtain the second driving trajectory of emergency vehicles in the city within a pre-set second time period; Determine whether the second driving trajectory passes through the lane into which it entered; When yes, determine whether the lane being entered meets the lane direction switching timing conditions; When the conditions are met, the variable lane is controlled to enter a temporary restricted state; If the condition is not met, an attempt is made to determine a first target lane that meets the first lane condition from among the multiple sub-lanes within the entering lane; When the attempt is successful, a avoidance prompt is given to the vehicles in the first target lane, so that the first target lane begins to be cleared of vehicles; Determine whether the first target lane is the variable lane; If not, obtain the first original lane direction of the first target lane; Switch the direction of the variable lane back to the original direction of the first lane; If the attempt fails, determine a second target lane that meets the conditions for the second lane from among multiple sub-lanes; Vehicles in the second target lane are given a warning to avoid the lane, causing the lane to be cleared of vehicles. Determine whether the second target lane is the variable lane; If not, obtain the second original lane direction of the second target lane; Switch the direction of the variable lane to the second original lane direction; The conditions for the first lane include: The number of vehicles in the first target lane is ranked in the first N positions in the target number sequence; the target number sequence is a sequence in which the number of vehicles in each sub-lane is arranged in ascending order; N is a positive integer; The difference between the first number of vehicles and the second number of vehicles is greater than or equal to a preset difference threshold; the second number of vehicles is the average number of vehicles in the sub-lane adjacent to the first target lane; The conditions for the second lane include: The number of third vehicles in the second target lane is ranked first in the target number sequence.

5. The traffic intersection lane direction adaptive switching control system as described in claim 4, characterized in that, The congestion coefficient acquisition module acquires the straight-ahead congestion coefficient and the left-turn congestion coefficient of an entering lane at a traffic intersection, including: Obtain information on the first vehicle in the straight lane of the entering lane; the first vehicle information includes: traffic flow, vehicle queue length, lane vehicle occupancy rate, average vehicle speed, average vehicle headway, and vehicle type classification. Based on the preset first algorithm rule, the straight-through congestion coefficient is calculated according to the first vehicle information; Obtain information about the second vehicle in the left-turn lane of the entering lane; Based on the preset second algorithm rules and the second vehicle information, the left-turn congestion coefficient is calculated.

6. The traffic intersection lane direction adaptive switching control system as described in claim 4, characterized in that, The lane direction switching module, based on the straight-ahead congestion coefficient and the left-turn congestion coefficient, performs lane direction switching on the variable lane in the entering lane, including: When the lane direction of the variable lane is left turn, if the straight-ahead congestion coefficient is continuously greater than the left turn congestion coefficient during the target period, the lane direction will be switched to straight-ahead; the target period includes: the traffic lights at the intersection continuously running for a preset number of traffic light cycles; When the lane direction is self-driving, if the straight-ahead congestion coefficient is continuously less than the left-turn congestion coefficient during the target period, the lane direction will be switched to left-turn.

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