A method for dynamically regulating short-time channel of vehicle turning and U-turn in a networked environment

Abstract

The application discloses a kind of dynamic short-time passage regulation and control methods of vehicle turning under network environment, comprising:1, whether target vehicle is located in the turnable headway lane;2, whether there is vehicle travel in destination area;3, when there is no vehicle travel in destination area, short-time passage is constructed to make target vehicle left turn across two opposite lanes to enter destination;4, when there is vehicle travel in destination area, whether opposite lane meets the condition of being able to insert vehicle, short-time passage is constructed to make target vehicle U-turn into opposite lane and enter destination.The dynamic regulation and control method proposed in the application can realize information interaction between network vehicles and roadside facilities, network vehicles and network vehicles under network environment, fully utilize road resources under the premise of ensuring traffic safety, improve the efficiency of vehicle turning or U-turn into destination, reduce vehicle delay and improve road traffic capacity.

Description

Technical Field

[0001] This invention belongs to the field of connected vehicle traffic control, specifically a method for dynamic short-term lane control of vehicles turning and making U-turns in a connected environment. Background Technology

[0002] In a connected environment, vehicles can communicate with each other, with infrastructure, and with the network in real time. This connected environment provides the foundation for dynamic short-term lane control, especially when vehicles are turning or making U-turns. Dynamic short-term lane control is a set of techniques used to temporarily adjust traffic flow control measures in response to short-term fluctuations in traffic demand.

[0003] Traditional turning and U-turn methods often struggle to adapt to instantaneous changes in traffic flow, thus limiting the efficiency and safety of road networks. In a connected environment, vehicles and infrastructure can exchange data in real time, including information such as location, speed, direction of travel, and headway. This information exchange enables more flexible and intelligent traffic management. For example, a connected traffic control system can use real-time data to determine when and where vehicles are permitted to turn and make U-turns, thereby optimizing traffic flow and reducing conflicts.

[0004] Research and development on dynamic short-term lane control for vehicle turning and U-turns can not only significantly improve the adaptability of the transportation system, but also enhance road safety and further promote the overall development of intelligent transportation systems. Summary of the Invention

[0005] This invention overcomes the shortcomings of existing technologies and proposes a dynamic short-term lane control method for vehicle turning and U-turns in a connected environment. The aim is to set up dynamic short-term lanes to meet the needs of vehicle turning and U-turns while ensuring safe vehicle operation, thereby improving traffic flow efficiency.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solution:

[0007] The present invention provides a dynamic short-term lane control method for vehicles turning and making U-turns in a connected environment. The method is applied to a four-lane road with two-way traffic. Let any lane be the i-th lane, i = 1, 2, 3, 4. The motor vehicles in the connected environment are all connected autonomous vehicles. The target vehicle is traveling in the 3rd or 4th lane. The 1st lane is the outer lane of the opposite lane, the 2nd lane is the inner lane of the opposite lane, the 3rd lane is the inner lane of the same lane and is a lane that can turn and make U-turns, and the 4th lane is the outer lane of the same lane.

[0008] Automatically retractable bollards are installed in the central median strip between lane 2 and lane 3 to receive turn or U-turn signals from the roadside intelligent transportation equipment and provide space for the target vehicles to turn or U-turn, so that the target vehicles can enter the opposite lane by turning or U-turn to reach their destination on the side of lane 1.

[0009] The dynamic short-time channel control method includes the following steps:

[0010] Step 1: Use roadside intelligent transportation equipment to collect vehicle information for the four lanes of two-way traffic at time t, including: vehicle position, speed, and headway; let the j-th vehicle in the i-th lane be denoted as...

[0011] Step 2: When the target vehicle intends to go to its destination on the side of the first lane at time t, determine whether the target vehicle is in the turn-around lane at time t; if so, proceed to step 3; otherwise, it means that the target vehicle is in the fourth lane. After changing lanes to the third lane, proceed to step 3.

[0012] Step 3: Take the overall width of lanes 1 and 2 as the width of the destination area. The length of the destination area starts from the edge of the destination entrance and extends upstream towards the opposite lane. The distance extended is S. Then, use equation (1) to calculate the length S of the destination area.

[0013]

[0014] In equation (1), w is the width of the target vehicle, h is the width of the turning section of the target vehicle, and v max For the maximum speed limit of the road, a c To improve vehicle comfort and reduce speed, l safe This refers to the longitudinal safety distance of the vehicle.

[0015] Step 4: Determine if there are any vehicles traveling in the destination area at time t. If not, proceed to step 5; otherwise, proceed to step 6.

[0016] Step 5: Construct a short-time lane so that at time t, the target vehicle can turn left within the short-time lane, cross the two opposite lanes, and reach its destination.

[0017] Step 5.1: Calculate the duration T of the short-time channel using equations (2)-(4). z , length L z , width W z Among them, the width W z The center point is the entrance center point of the destination;

[0018]

[0019] L z=3d+g (3)

[0020] W z =w+h+l safe (4)

[0021] In equations (2)-(4), r z v is the turning radius of the target vehicle. z Let d be the turning speed of the target vehicle, d be the width of the lane, and g be the width of the central divider.

[0022] Step 5.2: Calculate the number of road bollards N to be lowered using formula (5). z Thus, under the control of roadside intelligent transportation equipment, N automatically descends at time t. z Each bollard provides turning space for the target vehicle;

[0023]

[0024] In equation (5), e is the distance between two road stakes;

[0025] Step 5.3, at time t, the target vehicle is at N z Within the turning space provided by the road bollards, vehicles can turn left across the two oncoming lanes to reach their destination; simultaneously, oncoming vehicles in the two oncoming lanes outside the short-term lane receive the left-turn signal from the target vehicle and, for a duration of T... z The central authorities will coordinate to allow vehicles to pass each other, maintaining a short-term level of traffic in the lane before ending the control measures.

[0026] Step 6: Determine whether the two vehicles adjacent to the target vehicle in the two opposing lanes at time t meet the conditions for insertion.

[0027] Step 6.1: Obtain the two vehicles adjacent to the target vehicle in lane 2 at time t. and Headway between in, The last vehicle in lane 2 that has passed in front of the target vehicle. Is it with Chi? The first vehicle that failed to pass the front of the target vehicle;

[0028] Step 6.2, if Proceed to step 6.3; otherwise, the target vehicle continues driving in lane 3, assign t+Δt to t, and return to step 6.1; T c The time between available stops is given, and Δt is the update interval.

[0029] Step 6.3: Calculate the time T for the vehicle to turn around and return to lane 1 using equation (6). d1 ;

[0030]

[0031] In equation (6), r d1 v is the U-turn radius for the target vehicle to turn into lane 1. d R represents the target vehicle's U-turn speed. 内1 R is the inner radius of the target vehicle turning into lane 1. 外1 R is the outer radius of the target vehicle turning into lane 1, r1 is the minimum outer radius of the target vehicle turning into lane 1, L is the wheelbase of the target vehicle, n is the front track of the target vehicle, and m is the front overhang dimension.

[0032] Step 6.4: Obtain the two vehicles adjacent to the target vehicle on the two opposing lanes at time t. and Headway in, This refers to the first vehicle in lane 1 that has not passed the front of the target vehicle;

[0033] like Then proceed to step 7; otherwise, proceed to step 8.

[0034] Step 7: Construct a short-term lane. At time t, the target vehicle crosses lane 2 within the short-term lane and makes a U-turn to enter lane 1.

[0035] Step 7.1: Calculate the width W of the short-time channel using equation (7). d1 Duration is T d1 The length is L z Among them, the width W d1 The center point is the center point of the front of the target vehicle when making a U-turn;

[0036] W d1 =R 外1 -R 内1 +l safe (7)

[0037] Step 7.2: Calculate the number of road bollards N to be lowered using formula (8). d1 Thus, under the control of the roadside intelligent transportation equipment, at time t, N automatically lowers with the front of the target vehicle as the center. d1 Each bollard provides space for the target vehicle to turn around;

[0038]

[0039] Step 7.3: Within the short-term channel provided by the descending bollard, the target vehicle crosses lane 2 and makes a U-turn into lane 1; simultaneously, vehicles approaching from the opposite lanes outside the short-term channel receive the U-turn signal from the target vehicle and, within duration T... d1The central authorities coordinate to give way, maintaining a short-term vehicle-free lane; proceed to step 9;

[0040] Step 8: Construct a short-term lane. At time t, the target vehicle makes a U-turn in the short-term lane and enters lane 2, then changes lanes to lane 1.

[0041] Step 8.1: Calculate the duration T of the short-time channel using equations (9) to (11). d2 , length L d2 , width W d2 Among them, the width W d2 The center point is the center point of the front of the target vehicle when making a U-turn;

[0042]

[0043] L d2 =2d+g (10)

[0044] W d2 =R 外2 -R 内2 +l safe (11)

[0045] In equation (9), r d2 R is the U-turn radius for the target vehicle to turn into lane 2. 内2 R is the inner radius of the target vehicle turning into lane 2. 外2 Let r1 be the outer radius of the target vehicle turning into the second lane, and r2 be the minimum outer radius of the target vehicle turning into the second lane.

[0046] Step 8.2: Calculate the number of road bollards N to be lowered using formula (12). d2 Thus, under the control of the roadside intelligent transportation equipment, at time t, N automatically lowers with the front of the target vehicle as the center. d2 Each bollard provides space for the target vehicle to turn around;

[0047]

[0048] Step 8.3: Within the short-term channel provided by the descending bollard, the target vehicle makes a U-turn and enters the second lane. Simultaneously, vehicles approaching from the second lane outside the short-term channel receive the U-turn signal from the target vehicle and, within a duration T... d2 The central authorities coordinated to give way in order to keep the lanes clear of vehicles for a short period of time;

[0049] Step 8.4: At time t, the target vehicle coordinates with the vehicle in lane 1 to change lanes to lane 1, then proceed to step 9;

[0050] Step 9: At time t, the target vehicle turns right in lane 1 to enter its destination, and the control ends.

[0051] The present invention provides an electronic device, including a memory and a processor, wherein the memory is used to store a program that supports the processor in executing the dynamic control method, and the processor is configured to execute the program stored in the memory.

[0052] The present invention discloses a computer-readable storage medium on which a computer program is stored, wherein the computer program is executed by a processor to perform the steps of the dynamic control method.

[0053] Compared with existing technologies, the beneficial technical effects of this invention are reflected in:

[0054] 1. This invention constructs a dynamic short-term channel that includes time and space, enabling target vehicles to adjust the time and position of turning and U-turns in real time. It also optimizes the turning and U-turn process, reduces waiting time, and improves vehicle traffic efficiency.

[0055] 2. This invention reduces the conflict between vehicles turning or making U-turns and oncoming vehicles going straight, thereby reducing the occurrence of traffic accidents and ensuring the safety of the target vehicle turning or making U-turns.

[0056] 3. Compared with the prior art, the present invention continuously reacquires traffic information and realizes information sharing between vehicles and traffic infrastructure and between vehicles based on real-time traffic information in order to cope with constantly changing road conditions, thereby improving the traffic operation efficiency of vehicles turning and making U-turns. Attached Figure Description

[0057] Figure 1 This is the overall flowchart of the present invention;

[0058] Figure 2 This is a flowchart of the decision-making method of the present invention;

[0059] Figure 3 This is a schematic diagram of a scenario according to the present invention. Detailed Implementation

[0060] In this example, a dynamic short-term lane control method for vehicles turning and making U-turns in a connected environment is applied to a four-lane road with two-way traffic. Let any lane be the i-th lane, i = 1, 2, 3, 4. All motor vehicles in the connected environment are connected autonomous vehicles. The target vehicle is traveling in the 3rd or 4th lane. The 1st lane is the outer lane of the opposite lane, the 2nd lane is the inner lane of the opposite lane, the 3rd lane is the inner lane of the same lane and is a lane that can turn and make U-turns, and the 4th lane is the outer lane of the same lane.

[0061] Automatically retractable bollards are installed in the central median strip between lanes 2 and 3 to receive turning or U-turn signals from roadside intelligent transportation equipment and provide turning or U-turn space for the target vehicles, allowing them to enter the oncoming lane and reach their destination on lane 1. Specifically, this dynamic short-term lane control method includes the following steps:

[0062] Step 1: Use roadside intelligent transportation equipment to collect vehicle information for the four lanes of two-way traffic at time t, including: vehicle position, speed, and headway; such as Figure 3 As shown, let the j-th car in the i-th lane be denoted as .

[0063] Step 2: When the target vehicle intends to go to its destination on the side of the first lane at time t, determine whether the target vehicle is in the turn-around lane at time t; if so, proceed to step 3; otherwise, it means that the target vehicle is in the fourth lane. After changing lanes to the third lane, proceed to step 3.

[0064] Step 3: Take the overall width of lanes 1 and 2 as the width of the destination area. The length of the destination area starts from the edge of the destination entrance and extends upstream towards the opposite lane. The distance extended is S. Then, use equation (1) to calculate the length S of the destination area.

[0065]

[0066] In equation (1), w is the width of the target vehicle, h is the width of the turning section of the target vehicle, and v max For the maximum speed limit of the road, a c To improve vehicle comfort and reduce speed, l safe This refers to the longitudinal safety distance of the vehicle.

[0067] Step 4: Consider whether there are vehicles approaching the destination area and determine if the target vehicle can turn left directly; determine whether there are vehicles traveling in the destination area at time t. If not, proceed to step 5; otherwise, proceed to step 6. Figure 2 As shown in the decision-making process flowchart, there are three different ways to construct a short-term passage when turning or making a U-turn to enter the destination, which are described in steps 5, 7 and 8 respectively.

[0068] Step 5: Construct a short-time lane so that at time t, the target vehicle can turn left within the short-time lane, cross the two opposite lanes, and reach its destination.

[0069] Step 5.1: Calculate the duration T of the short-time channel using equations (2)-(4). z , length L z , width W z Among them, the width W zThe center point is the entrance center point of the destination;

[0070]

[0071] L z =3d+g (3)

[0072] W z =w+h+l safe (4)

[0073] In equations (2)-(4), r z v is the turning radius of the target vehicle. z Let d be the turning speed of the target vehicle, d be the width of the lane, and g be the width of the central divider.

[0074] Step 5.2: Calculate the number of road bollards N to be lowered using formula (5). z Thus, under the control of roadside intelligent transportation equipment, N automatically descends at time t. z Each bollard provides turning space for the target vehicle;

[0075]

[0076] In equation (5), e is the distance between two road stakes;

[0077] Step 5.3, at time t, the target vehicle is at N z Within the turning space provided by the road bollards, vehicles can turn left across the two oncoming lanes to reach their destination; simultaneously, oncoming vehicles in the two oncoming lanes outside the short-term lane receive the left-turn signal from the target vehicle and, for a duration of T... z The system coordinates yielding to maintain a short-term vehicle-free lane before ending the control. Vehicles approaching from the opposite direction in lanes 1 and 2 can receive the target vehicle's left-turn signal and yield within a designated range. Vehicles approaching from outside the designated range are not affected by the target vehicle's turn and do not need to yield.

[0078] Step 6: Determine whether the two vehicles adjacent to the target vehicle in the two opposing lanes at time t meet the conditions for insertion.

[0079] Step 6.1: Obtain the two vehicles adjacent to the target vehicle in lane 2 at time t. and Headway between in, The last vehicle in lane 2 that has passed in front of the target vehicle. Is it with Chi? The first vehicle that failed to pass the front of the target vehicle;

[0080] Step 6.2: If, at time t, the target vehicle is traveling in lane 3 and reaches the vicinity of the intersection, then it makes a U-turn at the intersection to enter the opposite lane and the control ends; if the target vehicle is not near the intersection, then... At this point, if the two vehicles adjacent to the target vehicle in the second lane meet the conditions for lane insertion, proceed to step 6.3; otherwise, the target vehicle continues driving in the third lane, assign t+Δt to t, and return to step 6.1. c The time between available stops is given, and Δt is the update interval.

[0081] Step 6.3: Calculate the time T for the vehicle to turn around and return to lane 1 using equation (6). d1 ;

[0082]

[0083] In equation (6), r d1 v is the U-turn radius for the target vehicle to turn into lane 1. d R represents the target vehicle's U-turn speed. 内1 R is the inner radius of the target vehicle turning into lane 1. 外1 R is the outer radius of the target vehicle turning into lane 1, r1 is the minimum outer radius of the target vehicle turning into lane 1, L is the wheelbase of the target vehicle, n is the front track of the target vehicle, and m is the front overhang dimension.

[0084] Step 6.4: Obtain the two vehicles adjacent to the target vehicle on the two opposing lanes at time t. and Headway in, This refers to the first vehicle in lane 1 that has not passed the front of the target vehicle;

[0085] like If, at this point, the two vehicles adjacent to the target vehicle in the two opposing lanes meet the conditions for insertion, then proceed to step 7; otherwise, proceed to step 8.

[0086] Step 7: Construct a short-term lane. At time t, the target vehicle crosses lane 2 within the short-term lane and makes a U-turn to enter lane 1.

[0087] Step 7.1: Calculate the width W of the short-time channel using equation (7). d1 Duration is T d1 The length is L z Among them, the width W d1 The center point is the center point of the front of the target vehicle when making a U-turn; for example, Figure 3 As shown, the short-time channel is located and Between the two cars, and Between the two vehicles;

[0088] W d1 =R 外1 -R 内1 +l safe (7)

[0089] Step 7.2: Calculate the number of road bollards N to be lowered using formula (8). d1 Thus, under the control of the roadside intelligent transportation equipment, at time t, N automatically lowers with the front of the target vehicle as the center. d1 Each bollard provides space for the target vehicle to turn around;

[0090]

[0091] Step 7.3: Within the short-term channel provided by the descending bollard, the target vehicle crosses lane 2 and makes a U-turn into lane 1; simultaneously, vehicles approaching from the opposite lanes outside the short-term channel receive the U-turn signal from the target vehicle and, within duration T... d1 In the middle lane, coordinated yielding is implemented to maintain a short-term vehicle-free passage; step 9 is executed; oncoming vehicles in lanes 1 and 2 can receive the target vehicle's U-turn signal and yield in coordination within the specified range, while vehicles coming from outside the specified range are not affected by the target vehicle's U-turn and do not need to yield in coordination.

[0092] Step 8: Construct a short-term lane. At time t, the target vehicle makes a U-turn in the short-term lane to enter lane 2, and then changes lanes to lane 1. In this scenario, the width of the central divider allows the target vehicle to enter lane 2 without occupying lane 1.

[0093] Step 8.1: Calculate the duration T of the short-time channel using equations (9) to (11). d2 , length L d2 , width W d2 Among them, the width W d2 The center point is the center point of the front of the target vehicle when making a U-turn; for example, Figure 3 As shown, the short-time channel is located and Between the two vehicles;

[0094]

[0095] L d2 =2d+g (10)

[0096] W d2 =R 外2 -R 内2 +l safe (11)

[0097] In equation (9), r d2R is the U-turn radius for the target vehicle to turn into lane 2. 内2 R is the inner radius of the target vehicle turning into lane 2. 外2 Let r1 be the outer radius of the target vehicle turning into the second lane, and r2 be the minimum outer radius of the target vehicle turning into the second lane.

[0098] Step 8.2: Calculate the number of road bollards N to be lowered using formula (12). d2 Thus, under the control of the roadside intelligent transportation equipment, at time t, N automatically lowers with the front of the target vehicle as the center. d2 Each bollard provides space for the target vehicle to turn around;

[0099]

[0100] Step 8.3: Within the short-term channel provided by the descending bollard, the target vehicle makes a U-turn and enters the second lane. Simultaneously, vehicles approaching from the second lane outside the short-term channel receive the target vehicle's U-turn signal and, within a duration T... d2 The system coordinates yielding to maintain a short-term vehicle-free lane; vehicles approaching from the opposite direction in the second lane can receive the target vehicle's U-turn signal and yield within a designated range, while vehicles approaching from outside the designated range are not affected by the target vehicle's U-turn and do not need to yield.

[0101] Step 8.4: At time t, the target vehicle coordinates with the vehicle in lane 1 to change lanes to lane 1, and then proceeds to step 9.

[0102] Step 9: At time t, the target vehicle turns right in lane 1 to enter its destination, and the control ends.

[0103] In this embodiment, an electronic device includes a memory and a processor. The memory is used to store a program that supports the processor in executing the above-described dynamic control method, and the processor is configured to execute the program stored in the memory.

[0104] In this embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is run by a processor, it executes the steps of the above-described dynamic control method.

Claims

1. A dynamic short-term channel control method for vehicles turning and making U-turns in a connected environment, characterized in that, This is applied to a four-lane road system with two-way traffic, where any lane is designated as the first lane. i Lane, i =1,2,3,4, In the connected environment, all motor vehicles are connected autonomous vehicles. The target vehicle is driving in the 3rd or 4th lane. The 1st lane is the outer lane of the opposite lane, the 2nd lane is the inner lane of the opposite lane, the 3rd lane is the inner lane of the same lane and is a lane that can turn and make a U-turn, and the 4th lane is the outer lane of the same lane. Automatically retractable bollards are installed in the central median strip between lane 2 and lane 3 to receive turn or U-turn signals from the roadside intelligent transportation equipment and provide space for the target vehicles to turn or U-turn, so that the target vehicles can enter the opposite lane by turning or U-turn to reach their destination on the side of lane 1. The dynamic short-time channel control method includes the following steps: Step 1: Collect data using roadside intelligent transportation equipment t Vehicle information for a four-lane road with constant two-way traffic, including: vehicle position, speed, and headway; (Order number missing) i The first lane j Vehicles are recorded as ; Step 2, when the target vehicle is t When there is a constant intention to go to the destination on the side of the first road, make a judgment. t Check if the target vehicle is in a lane where turning or U-turns are permitted. If yes, proceed to step 3. Otherwise, if the target vehicle is in lane 4, change lanes to lane 3 and proceed to step 3. Step 3: Use the overall width of lanes 1 and 2 as the width of the destination area. The length of the destination area starts from the edge of the destination entrance and extends upstream towards the opposite lane, with the extended distance being... Therefore, the length of the destination region can be calculated using equation (1). ; (1) In equation (1), The width of the target vehicle. The width of the section where the target vehicle turns. This is the maximum speed limit for the road. To reduce speed for vehicle comfort, This refers to the longitudinal safety distance of the vehicle. Step 4, Judgment t Check if there are any vehicles traveling within the destination area at any given time. If not, proceed to step 5; otherwise, proceed to step 6. Step 5: Construct a short-term channel, so that t The target vehicle must make a left turn within the short-term lane, cross the two opposite lanes, and reach its destination. Step 5.1: Calculate the duration of the short-time channel using equations (2)-(4). ,long ,Width Among them, width The center point is the entrance center point of the destination; (2) (3) (4) In equations (2)-(4), The turning radius of the target vehicle. The turning speed of the target vehicle. For the width of the lane, The width of the central median strip; Step 5.2: Calculate the number of road bollards to be lowered using formula (5). Thus, under the control of roadside intelligent transportation equipment, t Automatically lower Each bollard provides turning space for the target vehicle; (5) In equation (5), e The distance between two road markers; Step 5.3 t The target vehicle at any time Within the turning space provided by the bollards, vehicles can turn left across the two oncoming lanes to reach their destination; simultaneously, oncoming vehicles in the two oncoming lanes outside the short-term lane receive the left-turn signal from the target vehicle and, within a certain time... The central authorities will coordinate to allow vehicles to pass each other, maintaining a short-term level of traffic in the lane before ending the control measures. Step 6, Judgment t At any given moment, on two opposing lanes, whether the conditions for inter-vehicle insertion are met between two vehicles adjacent to the target vehicle; Step 6.1, Obtain t At that moment, in lane 2, two vehicles adjacent to the target vehicle and Headway between ,in, The last vehicle in lane 2 that has passed in front of the target vehicle. Is it with Chi? The first vehicle that failed to pass the front of the target vehicle; Step 6.2, if Proceed to step 6.3; otherwise, the target vehicle continues to travel in lane 3. Assign to Return to step 6.1; For the time interval when a car can be inserted, For update interval; Step 6.3: Calculate the time it takes for the vehicle to turn around and return to lane 1 using equation (6). ; (6) In equation (6), The U-turn radius for the target vehicle to turn into lane 1. The target vehicle's U-turn speed. The inner radius of the target vehicle turning around into lane 1. The outer radius of the target vehicle turning around to the first lane. The minimum outer radius for the target vehicle to make a U-turn into lane 1. The wheelbase of the target vehicle. n The front track width of the target vehicle. m This refers to the front overhang dimensions; Step 6.4, Obtain t Two vehicles adjacent to the target vehicle in two opposing lanes at any time Headway ,in, This refers to the first vehicle in lane 1 that has not passed the front of the target vehicle; like If yes, proceed to step 7; otherwise, proceed to step 8. Step 7: Construct a short-term channel. t The target vehicle crosses lane 2 within a short-term lane and makes a U-turn to enter lane 1; Step 7.1: Calculate the width of the short-time channel using equation (7). Duration is , length is Among them, width The center point is the center point of the front of the target vehicle when making a U-turn; (7) Step 7.2: Calculate the number of road bollards to be lowered using formula (8). Thus, under the control of roadside intelligent transportation equipment, t Automatically lowered with the front of the target vehicle as the center. Each bollard provides space for the target vehicle to turn around; (8) Step 7.3: Within the short-term channel provided by the descending bollards, the target vehicle crosses lane 2 and makes a U-turn into lane 1; simultaneously, vehicles approaching from the opposite lanes outside the short-term channel receive the U-turn signal from the target vehicle and, within a specified time... The central authorities coordinate to give way, maintaining a short-term vehicle-free lane; proceed to step 9; Step 8: Construct a short-term channel. t The target vehicle must make a U-turn within the short-term lane to enter lane 2, and then change lanes to lane 1; Step 8.1: Calculate the duration of the short-time channel using equations (9) to (11). ,long ,Width Among them, width The center point is the center point of the front of the target vehicle when making a U-turn; (9) (10) (11) In equation (9), The U-turn radius for the target vehicle to turn into lane 2. The inner radius of the target vehicle turning into the second lane. The outer radius of the target vehicle turning around to the second lane. The minimum outer radius for the target vehicle to make a U-turn into the second lane; Step 8.2: Calculate the number of road bollards to be lowered using formula (12). Thus, under the control of roadside intelligent transportation equipment, t Automatically lowered with the front of the target vehicle as the center. Each bollard provides space for the target vehicle to turn around; (12) Step 8.3: Within the short-term lane provided by the descending bollard, the target vehicle makes a U-turn and enters the second lane. Simultaneously, vehicles approaching in the second lane outside the short-term lane receive the target vehicle's U-turn signal and, within a specified time... The central authorities coordinated to give way in order to keep the lanes clear of vehicles for a short period of time; Step 8.4 t The target vehicle coordinates with the vehicle in lane 1, and after changing lanes to lane 1, proceed to step 9; Step 9 t The control operation ends when the target vehicle turns right into its destination in lane 1.

2. An electronic device, comprising a memory and a processor, characterized in that, The memory is used to store a program that supports the processor in executing the dynamic short-time channel control method of claim 1, and the processor is configured to execute the program stored in the memory.

3. A computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by the processor to perform the steps of the dynamic short-time channel control method of claim 1.

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