An adaptive reversing lane system control method

Abstract

The present invention discloses an adaptive reversing lane system control method, including step 1, traffic flow data collection; step 2, calculating the saturation of the left-turn lane; step 3, calculating the maximum queue length of the left-turn lane; step 4, calculating the left-turn traffic flow ratio; step 5, left-turn lane reversal: when the calculated values ​​of step 2 to step 4 all meet the corresponding set thresholds, the left-turn lane reversal is started; step 6, main road pedestrian crossing control, control of variable zebra crossing passage timing. The present invention can adaptively start the reversing lane and the crossing guide device through video detection and dynamic analysis of the main road motor vehicle flow, the pedestrian and non-motor vehicle flow of the crossed road, while reducing the intersection phase and improving the motor vehicle traffic capacity, avoiding conflicts between motor vehicle traffic and pedestrian and non-motor vehicle crossing, and improving the flexibility and applicability of the reversing lane setting.

Description

Technical Field

[0001] The present invention relates to the field of traffic management, and in particular to an adaptive reversing lane system control method. Background Art

[0002] As the number of motor vehicles gradually increases, urban traffic congestion has become an increasingly serious urban disease that restricts the healthy and sustainable development of cities, and has become a livelihood issue that affects the normal life of cities. However, the current road resources at intersections are limited, so how to use special traffic organization methods to effectively achieve the optimal use of intersection resources and improve the overall traffic capacity of urban road intersections is currently the focus of alleviating traffic congestion at urban road intersections.

[0003] "Reversal lanes" is an unconventional way of organizing intersections. Its basic principle is to arrange left turns in adjacent directions in space while making full use of the time difference, reorganizing the road section, optimizing the left turning radius of vehicles, and allowing left turns in adjacent directions to be released in the same phase without conflict. That is, in the same phase, left turns in this direction, left turns in adjacent directions, and straight driving are released at the same time. However, the applicable conditions are relatively limited, and there is not much demand for pedestrians to cross the intersection.

[0004] The application condition is that there is a large demand for left-turn traffic at a certain time of the day, and there is a large demand for pedestrians and non-motor vehicles to cross the street. This traffic organization method is different from traditional traffic operation and requires special signs and markings to assist drivers in making decisions. Its applicable conditions are that there are many lanes, no less than 3 lanes in one direction, and the intersection is wide.

[0005] The current reversing lane settings are mainly static, which is inconsistent with the traditional traffic habits of motor vehicles, non-motor vehicles and pedestrians; at the same time, the reversing lane settings do not take into account the scenario where pedestrians and non-motor vehicles crossing the street completely conflict with the traffic of motor vehicles on the main road, posing a huge safety hazard to pedestrians and non-motor vehicles crossing the street.

[0006] The present invention mainly solves the problem that the existing static reversal traffic organization cannot cope with the direct conflict between pedestrians, non-motor vehicles and motor vehicles on the main road direction. It solves the conflict at the intersection from the perspective of dynamically starting the reversal traffic device and the pedestrian and non-motor vehicle guiding device to ensure the traffic safety at the intersection. Summary of the invention

[0007] The technical problem to be solved by the present invention is to provide an adaptive reversing lane system control method in view of the deficiencies of the above-mentioned prior art. The adaptive reversing lane system control method breaks through the existing variable lane setting and signal control method at intersections with large left-turn traffic and small opposite straight traffic. In view of the situation that the left-turn lane at the intersection can no longer meet the left-turn traffic, the lane direction can be dynamically adjusted, the rationality of the matching design of the lane function and the signal phase at the intersection is further improved, the queue length of left-turn vehicles at the intersection is reduced, and the overall traffic efficiency is improved. The present invention can be used in the field of traffic engineering.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0009] An adaptive reversing lane system control method comprises the following steps.

[0010] Step 1, traffic flow data collection: the lane to be reversed is a T-shaped intersection, including a main road and an intersected road; the main road is a bidirectional a lane, and has b main road left-turn lanes; where a≥6, b≥2; the intersected road is a bidirectional c lane, and has d intersected road left-turn lanes; where c≥6, d≥2; according to the set time interval, the traffic flow of each lane on the main road and the intersected road, as well as the queue length of each left-turn lane are collected.

[0011] Step 2: Calculate the saturation of the left-turn lane: Based on the traffic flow of the left-turn lanes on the main road and the intersected road collected in step 1 and the set capacity C of the left-turn lane, calculate the saturation of the left-turn lane on the main road. and the saturation of the left-turn lane of the intersecting road

[0012] Step 3: Calculate the maximum queue length of the left-turn lane: Based on the queue lengths of each left-turn lane collected in step 1, calculate the maximum queue length L of the left-turn lane on the main road. 1Max and the maximum queue length L of the left-turn lane of the intersection 2Max .

[0013] Step 4: Calculate the left-turn traffic flow ratio L Turn : Calculated based on the traffic flow of each lane on the main road and the intersected road collected in step 1; where L Turn The ratio of the sum of the traffic flow of the left-turn lanes and the through lanes on the same side of the main road to the sum of the traffic flow of the left-turn lanes on the intersected road.

[0014] Step 5, left turn lane reversal: When the following four indicators are met at the same time, the traffic lights on the main road and the intersected road are controlled to make the b main road left turn lanes and d intersected road left turn lanes realize left turn at the same time; the four indicators are:

[0015] Indicator 1: and in, is the saturation threshold of the left-turn lane.

[0016] Indicator 2: Q 1i ≥0.5C and Q 1j ≥0.5D; where Q 1i is the actual collected traffic flow of the left-turn lane of the i-th main road, 1≤i≤b; Q 1j is the actual collected traffic flow of the j-th main road through lane, 1≤j≤a / 2-b; D is the set traffic capacity of the main road through lane.

[0017] Indicator 3: L 1Max ≥L0 and L 2Max ≥L0; where L0 is the maximum queue length threshold of the left-turn lane.

[0018] Indicator 4: L1<L Turn <L2; where L1 is the minimum threshold of the left-turn traffic flow ratio; L2 is the maximum threshold of the left-turn traffic flow ratio.

[0019] In step 2, and The calculation formulas are:

[0020]

[0021]

[0022] In the formula, Q 1m The actual collected traffic flow of the left-turn lane of the mth intersected road, where 1≤m≤d.

[0023] In step 4, L Turn The calculation formula is:

[0024]

[0025] In step 5, C = 400 pcu / h / lane; D = 600 pcu / h / lane; L0 = 50m; L1 = 1 / 3; L2 = 2.

[0026] The method also includes step 6, pedestrian crossing control on the main road, and the specific control method includes the following steps:

[0027] Step 6-1. Set up a pedestrian crossing safety island: At a T-shaped intersection, set up a pedestrian crossing safety island in the center of the crosswalk.

[0028] Step 6-2, set up a variable zebra crossing: at a T-shaped intersection, a variable zebra crossing is set up on the main road to connect to the pedestrian crossing safety island; both ends of the variable zebra crossing are equipped with switchable pass or no-entry signs; main road pedestrian crossings are set up on the main road on both sides of the variable zebra crossing.

[0029] Step 6-3, collecting pedestrian and non-motor vehicle traffic volume: at the set time interval, collect the pedestrian and non-motor vehicle traffic volume P1 that needs to cross the main road at the T-shaped intersection.

[0030] Step 6-4, judging the timing of passing the variable zebra crossing: when P1>P0, the main road crosswalks on both sides of the variable zebra crossing are prohibited from pedestrians; the variable zebra crossing is switched to a passing state; wherein P0 is a threshold value set for pedestrian and non-motor vehicle traffic volume.

[0031] At the T-shaped intersection, a reversing traffic signal light is provided; when step 5 determines that the left-turn lane is reversed and the variable zebra crossing is switched to the passing state, there can be only two sets of traffic signal distributions in the reversing traffic signal light, namely, the straight-ahead signal phase and the simultaneous left-turn signal phase; wherein, the straight-ahead signal phase means that all the main road straight-ahead lanes can go straight at the same time; the left-turn signal phase means that b main road left-turn lanes and d intersecting road left-turn lanes can turn left at the same time.

[0032] When step 5 determines that the left-turn lane is reversed and the variable zebra crossing is switched to a no-entry state, the reverse traffic signal light will have three sets of traffic signal distributions, namely, the straight signal phase, the left-turn signal phase, and the pedestrian and non-motor vehicle traffic signal phase; pedestrians and non-motor vehicles need to pass through the main road crosswalks on both sides of the variable zebra crossing.

[0033] There are go or no go signal indicators in front of each lane on the main road and the intersecting road.

[0034] In step 1 and step 6-3, traffic flow data and pedestrian and non-motor vehicle traffic volume are collected using images.

[0035] In step 6, at the T-shaped intersection, roadside broadcasting is set on both sides of the variable zebra crossing and both sides of the main road crosswalk, and the roadside broadcasting and reverse traffic signal lights are connected to the central control platform.

[0036] The present invention has the following beneficial effects:

[0037] 1. The present invention takes into account that the T-intersection is at the EF-level service level and the overall traffic efficiency cannot be improved through signal control optimization. Through special traffic organization, the limited road resources are utilized to the maximum extent and the traffic flow efficiency of the intersection is improved.

[0038] 2. The present invention provides a starting device and method for dynamically implementing a reverse traffic strategy at a T-shaped intersection.

[0039] 3. The method of the present invention is aimed at the situation that there is a great conflict between motor vehicles and pedestrians and non-motor vehicles after implementing the "reverse traffic" traffic organization during peak hours, and can ensure the safety of pedestrians and non-motor vehicles crossing the street. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic flow chart of an adaptive reversing lane system control method of the present invention.

[0041] Figure 2 Schematic diagram of the reversing traffic signal light before and after reversal in the present invention; wherein (a) is before reversal; and (b) is after reversal.

[0042] Figure 3 This is a schematic diagram before the reversing lane device is activated.

[0043] Figure 4 This is a schematic diagram after the reversing lane device is turned on.

[0044] Figure 5 This is a schematic diagram before the pedestrian and non-motor vehicle crossing guidance device is turned on.

[0045] Figure 6 This is a schematic diagram of the pedestrian and non-motor vehicle crossing guidance device after it is turned on.

[0046] Figure 7 Schematic diagram of signal phase before lane reversal in the present invention

[0047] Figure 8 Schematic diagram of signal phase after lane reversal in the present invention

[0048] Fig. 9 This is a schematic diagram of the coordinated control section downstream of the T-intersection.

[0049] Fig.10 The phase distribution of the passing signal is not inverted.

[0050] Fig.11 To implement the inversion of the pass signal phase distribution. DETAILED DESCRIPTION

[0051] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0052] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0053] like Figure 1 As shown, an adaptive reversing lane system control method includes the following steps.

[0054] Step 1, traffic flow data collection: the lane to be reversed is a T-shaped intersection, including a main road and an intersected road; the main road is a bidirectional a lane, and has b main road left-turn lanes; where a≥6, b≥2; the intersected road is a bidirectional c lane, and has d intersected road left-turn lanes; where c≥6, d≥2; at set time intervals, image-based collection is preferably performed on the traffic flow of each lane on the main road and the intersected road, the queue length of each left-turn lane, and the traffic volume of pedestrians and non-motor vehicles.

[0055] In this embodiment, Figures 3 to 6 Taking the T-shaped intersection shown as an example, the main road is a=8 lanes in both directions in the north-south direction, with b=2 main road left-turn lanes and a / 2-b=2 south entrance main road straight lanes, with a width of 30m, and the south entrance left-turn widening section is 50m.

[0056] The intersected road is a bidirectional east-west road with c=6 lanes, d=2 left-turn lanes and 1 through lane of the intersected road at the west entrance.

[0057] The capacity of the left-turn lane at the T-shaped intersection in this embodiment is preferably C=400pcu / h / lane; the capacity of the through lane is preferably D=600pcu / h / lane.

[0058] In this embodiment, at a certain time K, the T-shaped intersection is in a non-reversing state, and the collected traffic flow data is preferably:

[0059] South entrance (with main road left-turn lane): the number of left-turn vehicles in each main road left-turn lane is 350pcu / h / lane, and the number of straight-going vehicles in the main road straight-going lane of the south entrance is 300pcu / h / lane; b=the queue lengths of the two main road left-turn lanes are 85m and 90m respectively.

[0060] West entrance: d = the number of through vehicles in the two left-turn lanes of the intersected roads is 380 pcu / h / lane, and the queue lengths in the two left-turn lanes of the intersected roads are 100m and 106m respectively.

[0061] North entrance (no left-turn lane on the main road): The through lane of the main road is 280pcu / h / lane for through vehicles.

[0062] The traffic volume of pedestrians and non-motor vehicles that need to cross the main road is P1 = 300 people / non-motor vehicles per hour.

[0063] When a T-junction is in a non-reversing state, it has the following characteristics: Figure 7 The three phases shown are:

[0064] (a) Through signal phase: All through lanes of the main road (including the through lanes of the south entrance main road and the through lanes of the north entrance main road) can go straight at the same time. Figure 2 As shown in Figure (a), at this time, the pedestrian crossing is in a traffic state.

[0065] (b) Main road left turn phase: b main road left turn lanes turn left at the same time. At this time, the north entrance pedestrian crossing is open to traffic.

[0066] (c) Left-turn phase of the intersecting road: d left-turn lanes of the intersecting road turn left at the same time. At this time, the south entrance crosswalk is in a traffic state.

[0067] At a certain time K in this embodiment, the T-shaped intersection is in a non-reversal state, and the durations of (a) the straight signal phase, (b) the main road left turn phase, and (c) the crossed road left turn phase are 19s, 20s, and 15s respectively, plus a 3s yellow light time is required for each phase. Specifically, as shown in Figure (10), the cycle is 63s, of which 9 seconds is the switching time of the three phases.

[0068] Step 2: Calculate the saturation of the left-turn lane: Based on the traffic flow of the left-turn lanes on the main road and the intersected road collected in step 1 and the set capacity C of the left-turn lane, calculate the saturation of the left-turn lane on the main road. and the saturation of the left-turn lane of the intersecting road

[0069] Above and The calculation formulas are preferably:

[0070]

[0071]

[0072] In the formula, Q 1m The actual collected traffic flow of the left-turn lane of the mth back-intersection road, where 1≤m≤d.

[0073] In this embodiment, and The calculation results are:

[0074]

[0075]

[0076] Step 3: Calculate the maximum queue length of the left-turn lane: Based on the queue lengths of each left-turn lane collected in step 1, calculate the maximum queue length L of the left-turn lane on the main road. 1Max and the maximum queue length L of the left-turn lane of the intersection 2Max .

[0077] In this embodiment:

[0078] L 1Max =Max(85,90)=90m

[0079] L 2Max =Max(100,106)=106m

[0080] Step 4: Calculate the left-turn traffic flow ratio L Turn : Calculated based on the traffic flow of each lane on the main road and the intersected road collected in step 1; where L Turn The ratio of the sum of the traffic flow of the left-turn lanes and the through lanes on the same side of the main road to the sum of the traffic flow of the left-turn lanes on the intersected road.

[0081] The above L Turn The calculation formula is preferably:

[0082]

[0083] In this embodiment, L Turn The calculation result is:

[0084]

[0085] Step 5, left turn lane reversal: When the following four indicators are met at the same time, the traffic lights on the main road and the intersected road are controlled to make the b main road left turn lanes and d intersected road left turn lanes realize left turn at the same time; the four indicators are:

[0086] Indicator 1: and in, is the saturation threshold of the left-turn lane.

[0087] Indicator 2: Q 1i ≥0.5C and Q 1j ≥0.5D; where Q 1i is the actual collected traffic flow of the left-turn lane of the i-th main road, 1≤i≤b; Q 1jis the actual collected traffic flow of the j-th main road through lane, 1≤j≤a / 2-b; D is the set traffic capacity of the main road through lane.

[0088] Indicator 3: L 1Max ≥L0 and L 2Max ≥L0; where L0 is the maximum queue length threshold of the left-turn lane.

[0089] Indicator 4: L1<L Turn <L2; where L1 is the minimum threshold of the left-turn traffic flow ratio; L2 is the maximum threshold of the left-turn traffic flow ratio.

[0090] In this embodiment, it is preferred L0=50m;L1=1 / 3;L2=2;then:

[0091] A. V C1 =0.875>0.85 and V C2 =0.95>0.85, meeting indicator 1. When the lane saturation exceeds 0.85, it means that the service level of the lane is E, reaching the critical value of congestion that drivers cannot tolerate.

[0092] B, 0.5C = 0.5*400 = 200pcu / h / lane, 0.5D = 0.5*600 = 300pcu / h / lane; Q 1i All are 350pcu / h / lane, all are greater than 0.5C; Q 1j Both are 300pcu / h / lane, which is equal to 0.5D, thus meeting indicator 2.

[0093] C.L 1Max =90m>50m and L 2Max =106m>50m, therefore, indicator three is met.

[0094] The maximum queue length threshold L0 of the left-turn lane is determined by the channelization of the intersection. If there is a widening section at the intersection, L0 is the length of the widening section; if there is no widening at the intersection, L0 is determined by the left-turn release time of the intersection, L0 = 1.5*left-turn release time*vehicle speed.

[0095] D. Satisfy indicator four.

[0096] In summary, the T-shaped intersection of this embodiment is suitable for implementing reverse traffic at a certain time K.

[0097] The central control platform sends a "reverse lane" command to the lane reversal device at the intersection, executes the lane reversal command, and the lane reversal device opens the intersection. Figure 2The lane electronic indicator light on the horizontal bar shown in the figure indicates that the vehicle enters the lane it needs to travel in and drives according to the instructions of the traffic lights. The lane change instruction is transmitted to the roadside broadcast through the networked joint control device to remind vehicles about to enter the intersection to pay attention to the lane electronic sign.

[0098] The lane electronic indicator light is also called the variable lane electronic indicator sign. It is located on the crossbar at the intersection. Each lane consists of four groups of indicator lights, divided into front and back sides.

[0099] exist Figure 2 In the working principle of the lane electronic indicator light, when the lane is in the original state, the lane light on the right side of the entrance road of the intersecting road is displayed as a green arrow light for vehicles turning left at the reversing direction intersection, and the lane light on the back is displayed as a no-entry sign to prevent vehicles at the intersecting intersection from entering this direction; at this time, the lane light on the left exit road facing the direction of the intersecting road is displayed as a red no-entry sign, while the lane light facing the intersecting trunk road, i.e. the main road, is displayed as a green arrow, indicating that vehicles turning left from the intersecting road can enter this direction; when the lane is reversed, the right side becomes the exit road, and the lane light facing the reversing intersection road is displayed as red, indicating no entry, and the back is a green arrow light, indicating that vehicles can turn left into the lane, and at the same time, the left side becomes the entrance road, and the lane light facing the reversing intersection road is displayed as green, while the back is displayed as red, indicating no entry.

[0100] Furthermore, after the "reverse lane" command is issued, the downstream signal light equipment is turned on to implement coordinated control. Fig. 9 The downstream section opening signal lights start the corresponding signal control mode and realize linkage control with the main intersection, which is convenient for vehicles entering the reversing intersection to pass in the reversed way on the one hand, and convenient for vehicles leaving the reversing intersection to resume the traditional intersection traffic mode on the other hand.

[0101] Step 6: Control of pedestrian crossing on the main road. The specific control method includes the following steps:

[0102] Step 6-1, set up pedestrian crossing safety island: Figures 3 to 6 As shown, at a T-shaped intersection, a pedestrian crossing safety island is set in the center of the crosswalk of the intersecting road.

[0103] Step 6-2, set up a variable zebra crossing: at a T-shaped intersection, a variable zebra crossing is set up on the main road to connect to the pedestrian crossing safety island; both ends of the variable zebra crossing are equipped with switchable pass or no-entry signs; main road pedestrian crossings are set up on the main road on both sides of the variable zebra crossing.

[0104] Step 6-3, collect pedestrian and non-motor vehicle traffic volume: at the set time interval, collect pedestrian and non-motor vehicle traffic volume P1 that needs to cross the main road at the T-shaped intersection. In this embodiment, referring to step 1, at time K, P1 = 300 people / non-motor vehicle per hour.

[0105] Step 6-4, judgment of the time to pass the variable zebra crossing: when P1>P0, the main road crosswalks on both sides of the variable zebra crossing are prohibited from pedestrians; the variable zebra crossing is switched to a passable state; wherein P0 is a threshold for pedestrian and non-motor vehicle traffic volume, and the threshold is preferably determined by the capacity value of the pedestrian crossing safety island in the middle of the road. In this embodiment, P1>P0, therefore, a command to turn on the pedestrian and non-motor vehicle crossing guide device is sent.

[0106] At the T-shaped intersection, a reverse traffic signal light is installed.

[0107] When step 5 determines that the left turn lane is reversed and the variable zebra crossing is switched to the pass state, the reverse pass signal light can only Figure 8 The two groups of traffic signal distributions shown are the straight signal phase and the simultaneous left turn signal phase; the straight signal phase means that all the main road straight lanes can go straight at the same time; the left turn signal phase means that b main road left turn lanes and d intersecting road left turn lanes can turn left at the same time.

[0108] In this embodiment, the distribution and corresponding duration of two groups of traffic signals are as follows: Fig.11 As shown, the phase of the straight signal is 25s and the phase of the left turn signal is 32s respectively.

[0109] If the pedestrian and non-motor vehicle guidance device is not turned on at this time, then the intersection needs to be equipped with separate pedestrian and non-motor vehicle signal lights to allow pedestrians to go from the crossed road to the main road, such as Figure 5 As shown in the figure, the east-west zebra crossing is for pedestrians. Because the average speed of pedestrians is 1.8m / s, a 17s pedestrian and non-motor vehicle passage time is required.

[0110] At this time, the reversing device of the pedestrian and non-motor vehicle guiding device is not turned on, and the intersection signal cycle is 32+25+3*3+17=83s.

[0111] When step 5 determines that the left-turn lane is reversed and the variable zebra crossing is switched to a no-entry state, the reverse traffic signal light will have three sets of traffic signal distributions, namely, the straight signal phase, the left-turn signal phase, and the pedestrian and non-motor vehicle traffic signal phase; pedestrians and non-motor vehicles need to pass through the main road crosswalks on both sides of the variable zebra crossing.

[0112] When the pedestrian and non-motor vehicle guidance device is turned on, there is no need to set up pedestrian and non-motor vehicle signal lights at the intersection. At this time, the signal cycle is 25+32+3*2=63s. Therefore, after implementation, the waiting time of vehicles at the entire intersection is reduced by 17s, and the overall traffic efficiency is increased by 24.1%.

[0113] In addition, the present invention releases the left-turning traffic at the intersection with large left-turn traffic demand and the adjacent entrance left-turning traffic at the same time, which can overlap the phases of the traffic entering and leaving the intersection, and can achieve the effect of reducing one signal phase. At the same time, direct conflicts between motor vehicles and pedestrians and non-motor vehicles are avoided.

[0114] Furthermore, each lane on the main road and the intersecting road is preferably provided with a go or no go signal indicator light. Before a vehicle enters a reversing intersection, it is necessary to observe the lane sign above the lane in advance and select the corresponding lane according to the driving direction.

[0115] The present invention dynamically analyzes the motor vehicle flow of the main road and the pedestrian and non-motor vehicle flow of the crossed road, and adaptively activates the reversing lane and the street crossing guide device, thereby reducing the intersection phase and improving the motor vehicle traffic capacity, while avoiding conflicts between motor vehicle traffic and pedestrian and non-motor vehicle crossing, thereby improving the flexibility and applicability of the reversing lane setting.

[0116] The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all belong to the protection scope of the present invention.

Claims

1. An adaptive reversing lane system control method, characterized by: The steps include: Step 1: Traffic flow data collection: the lane to be reversed is a T-shaped intersection, including a main road and an intersected road; the main road is a bidirectional a lane, and has b main road left-turn lanes; where a≥6, b≥2; the intersected road is a bidirectional c lane, and has d intersected road left-turn lanes; where c≥6, d≥2; at the set time interval, the traffic flow of each lane on the main road and the intersected road, as well as the queue length of each left-turn lane are collected; Step 2: Calculate the saturation of the left-turn lane: Based on the traffic flow of the left-turn lanes on the main road and the intersected road collected in step 1 and the set capacity C of the left-turn lane, calculate the saturation of the left-turn lane on the main road and the saturation of the left-turn lane of the intersecting road ;in, and The calculation formulas are: , , In the formula, is the actual collected traffic flow of the left-turn lane of the mth intersected road, where 1≤m≤d; Step 3: Calculate the maximum queue length of the left-turn lane: Calculate the maximum queue length of the left-turn lane on the main road based on the queue lengths of each left-turn lane collected in step 1. and the maximum queue length of the left-turn lane of the intersecting road ; Step 4: Calculate the left-turn traffic flow ratio : Calculated based on the traffic flow of each lane on the main road and the intersected road collected in step 1; where: The ratio of the sum of the traffic flow of the left-turn lanes and the through lanes on the same side of the main road to the sum of the traffic flow of the left-turn lanes on the intersected road; Step 5, left turn lane reversal: When the following four indicators are met at the same time, the traffic lights on the main road and the intersected road are controlled to make the b main road left turn lanes and d intersected road left turn lanes realize left turn at the same time; the four indicators are: Indicator 1: ≥ and ≥ ;in, is the left-turn lane saturation threshold; Indicator 2: and ;in, is the actual collected traffic flow of the left-turn lane of the i-th main road, 1≤i≤b; is the actual collected traffic flow of the jth main road through lane, 1≤j≤a / 2-b; D is the set traffic capacity of the main road through lane; Indicator 3: and ;in, is the maximum queue length threshold of the left-turn lane; Indicator 4: ;in, is the minimum threshold of left-turn traffic volume ratio; is the maximum threshold of left-turn traffic flow ratio.

2. The adaptive reversing lane system control method according to claim 1, characterized in that: In step 4, The calculation formula is: 。 3. The adaptive reversing lane system control method according to claim 1, characterized in that: In step 5, =0.85; C=400pcu / h / lane; D=600pcu / h / lane; =50m; =1 / 3; =2.

4. The adaptive reversing lane system control method according to claim 1, characterized in that: The method also includes step 6, pedestrian crossing control on the main road, and the specific control method includes the following steps: Step 6-1, set up a pedestrian crossing safety island: at the T-shaped intersection, set up a pedestrian crossing safety island in the center of the crosswalk of the intersecting road; Step 6-2, set up variable zebra crossings: at T-shaped intersections, set up variable zebra crossings on the main road to connect to pedestrian crossing safety islands; both ends of the variable zebra crossings are equipped with switchable pass or no-pass signs; main road pedestrian crossings are set up on the main roads on both sides of the variable zebra crossings; Step 6-3, collect pedestrian and non-motor vehicle traffic volume: collect pedestrian and non-motor vehicle traffic volume P1 that needs to cross the main road at the T-shaped intersection according to the set time interval; Step 6-4, judging the timing of passing the variable zebra crossing: when P1>P0, the main road crosswalks on both sides of the variable zebra crossing are prohibited from pedestrians; the variable zebra crossing is switched to a passing state; wherein P0 is a threshold value set for pedestrian and non-motor vehicle traffic volume.

5. The adaptive reversing lane system control method according to claim 4, characterized in that: At the T-shaped intersection, a reversing traffic signal light is provided; when step 5 determines that the left-turn lane is reversed and the variable zebra crossing is switched to the passing state, there can be only two sets of traffic signal distributions in the reversing traffic signal light, namely, the straight-ahead signal phase and the simultaneous left-turn signal phase; wherein, the straight-ahead signal phase means that all the main road straight-ahead lanes can go straight at the same time; the left-turn signal phase means that b main road left-turn lanes and d intersecting road left-turn lanes can turn left at the same time.

6. The adaptive reversing lane system control method according to claim 5, characterized in that: When step 5 determines that the left-turn lane is reversed and the variable zebra crossing is switched to a no-entry state, the reverse traffic signal light will have three sets of traffic signal distributions, namely, the straight signal phase, the left-turn signal phase, and the pedestrian and non-motor vehicle traffic signal phase; pedestrians and non-motor vehicles need to pass through the main road crosswalks on both sides of the variable zebra crossing.

7. The adaptive reversing lane system control method according to claim 5, characterized in that: There are go or no go signal indicators in front of each lane on the main road and the intersecting road.

8. The adaptive reversing lane system control method according to claim 4, characterized in that: In step 1 and step 6-3, traffic flow data and pedestrian and non-motor vehicle traffic volume are collected using images.

9. The adaptive reversing lane system control method according to claim 5, characterized in that: In step 6, at the T-shaped intersection, roadside broadcasting is set on both sides of the variable zebra crossing and both sides of the main road crosswalk, and the roadside broadcasting and reverse traffic signal lights are connected to the central control platform.

Images