Calculation method of accessible lanes for buses and carpooling based on utility choice

Abstract

The present invention belongs to the field of road vehicle control and relates to the judgment or calculation of driving parameters of a road vehicle driving control system. Specifically, it relates to a method for calculating the drivable interval of a bus and a carpool shared lane based on utility selection. The method establishes a utility selection function based on carpool vehicles and constructs a probability selection model of carpool vehicles and a calculation model for the length of the drivable interval. When calculating the length of the drivable interval, the differences in traffic demand in different time periods are considered. The method can scientifically and reasonably dynamically adjust the length of the drivable interval of the bus and carpool shared lane to adapt to different traffic flow states, avoid local congestion caused by unreasonable interval settings, ensure the rationality of resource allocation of the bus and carpool shared lanes, and optimize the utilization efficiency of the shared lanes.

Description

Technical Field

[0001] The present invention belongs to the field of road vehicle control and relates to the judgment or calculation of driving parameters of a road vehicle driving control system, and specifically, to a method for calculating accessible sections of a bus and carpool shared lane based on utility selection. Background Art

[0002] With the continuous development of public transportation, some bus lanes have experienced the problem of wasting road resources, aggravating urban road congestion. Considering both the needs of bus priority and improving the efficiency of carpooling, many cities have introduced bus-carpooling shared lanes, allowing carpooling vehicles to share lanes with buses under certain conditions, thereby improving road transport efficiency.

[0003] In order to make shared lanes play their due value, it is necessary to provide appropriate drivable intervals for vehicles entering shared lanes. This is often based on static data and fails to take into account the fluctuations in traffic flow and changes in lane changing demand during peak and non-peak hours. This may cause the drivable interval to be too long or too short during certain periods. A longer drivable interval may cause more vehicles to try to change lanes in the area, especially during peak hours, which will increase congestion on local roads. A too short drivable interval may not be sufficient for vehicles to complete safe lane change operations, resulting in an increased lane change failure rate.

[0004] Therefore, it is particularly important to scientifically and reasonably determine the length of the entry interval of the shared lane. By reasonably controlling the length of the entry interval for shared vehicles to enter the shared lane, we can not only achieve the optimal allocation of shared lane resources, but also ensure the traffic efficiency of road vehicles. Summary of the invention

[0005] In view of the above technical problems and defects, and considering the impact of the accessible interval on the overall traffic efficiency, the present invention provides a method for calculating the accessible interval of buses and carpooling shared lanes based on utility selection. The method establishes a utility selection function for carpooling vehicles by combining key parameters such as vehicle speed and road density, and constructs a calculation model for the length of the accessible interval. The current accessible interval of buses and carpooling shared lanes is scientifically and dynamically displayed according to the detected traffic data to adapt to traffic needs at different time periods, so as to effectively resolve the conflict between bus priority right of way and efficient entry of carpooling vehicles.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A method for calculating accessible sections of a bus and carpool shared lane based on utility selection, the method comprising the following steps:

[0008] Step S1. Count the number of vehicles in the conventional lanes and the bus and carpooling shared lanes, and monitor the traffic flow status, wherein the traffic flow status includes road density and vehicle speed;

[0009] Step S2. Establish a utility selection function that describes the utility value obtained by a carpool vehicle entering a bus and carpool shared lane:

[0010] ;

[0011] Where: is the utility value obtained by the carpool vehicle entering the bus and carpool shared lane, which is related to the variable speed and density The function of is the weight coefficient of density change, ranging from 0 to 1. is the road density of conventional lanes, is the road density of bus and carpool shared lanes, is the weight coefficient of speed change, , The value range is 0 to 1; is the average speed of vehicles in the bus and carpool shared lanes, is the average speed of vehicles on the regular lane, is a random term for the utility value obtained by entering the bus and carpooling shared lane, ranging from 20 to 30;

[0012] Step S3: Establishing a lane-changing probability model for carpool vehicles based on utility value:

[0013] ;

[0014] Where: is the lane-changing probability of the carpool vehicle, that is, the probability of the carpool vehicle entering the shared lane between the bus and the carpool, is the maximum utility value obtained by entering the bus and carpooling shared lane, is the minimum utility value obtained by entering the bus and carpooling shared lane, To calculate the number of shared vehicles on regular lane sections, To count the number of all vehicles on the regular road section, is a distribution variable about utility value, and the utility value is subject to the parameter and The lognormal distribution of and represent the mean and standard deviation respectively, The value range is 3 to 3.5. The value range is 0.1-0.2;

[0015] Step S4. Determine the following distance of the carpooling vehicle based on the identified carpooling vehicle. If the following distance meets the condition , is the following distance between the carpooling vehicle and the vehicle in front, is the critical gap, the value range is 4-5m, is the following distance between the shared vehicle and the following vehicle; it is considered that the lane change condition is met and the lane change can be performed, and step S5 is executed:

[0016] Step S5. Calculate the length of the accessible interval according to the number of shared vehicles at the starting position of the accessible interval. The calculation formula for the length of the accessible interval is:

[0017] ;

[0018] ;

[0019] ;

[0020] Where: is the driver’s reaction time, with a value of 1; is the lane changing time of the shared vehicle, and the lane changing time is 5 after statistical analysis; The length of the lane that buses and rideshares can enter. is the number of consecutive carpooling vehicles, is the minimum safe distance for carpooling vehicles changing lanes, The braking deceleration of the shared vehicle, with a value of 6-8; The length of the carpool vehicle that is changing lanes; is the number of carpooling vehicles that choose to change lanes.

[0021] As a preferred embodiment of the present invention, in step S1, a detection module is used to obtain the number of vehicles on the lane and the traffic flow status. The detection module includes a radar sensor and a video monitoring system. The radar sensor is used to detect the road density and the driving speed of each vehicle in the conventional lane and the bus and carpooling shared lane; the video monitoring system is used to identify the carpooling vehicles in the conventional lane and count the number of all vehicles and carpooling vehicles in the conventional lane.

[0022] As a preferred embodiment of the present invention, after the length of the drivable section is determined by calculation in step S5, the control module is used to control the identification lights of different areas of the dynamic ground indication device to light up, and the length of the drivable section adapted to the current traffic flow state is displayed by lighting up the identification lights of different areas.

[0023] As a preferred embodiment of the present invention, The value is 0.05. The value is 0.95. The value is 20. The value is 3.34. The value is 0.18. The value is 4.5m.

[0024] As a preferred embodiment of the present invention, the dynamic ground indication device is installed upstream of the intersection.

[0025] Advantages and beneficial effects of the present invention:

[0026] (1) The present invention proposes a method for calculating the accessible interval of a bus and carpool shared lane based on utility selection. The method establishes a utility selection function based on carpool vehicles, and at the same time constructs a probability selection model for carpool vehicles and a calculation model for the accessible interval length. Taking into account the differences in traffic demand at different time periods, the method can scientifically and reasonably dynamically adjust the accessible interval length of the bus and carpool shared lane to adapt to different traffic flow conditions. It solves the problem that it is difficult to balance the priority passage of buses and the efficient entry of carpool vehicles after setting up bus and carpool shared lanes, avoids local congestion caused by unreasonable interval settings, ensures the rationality of resource allocation of bus and carpool shared lanes, and optimizes the utilization efficiency of shared lanes.

[0027] (2) The present invention calculates the length of the accessible section of the bus-carpool shared lane according to the current traffic flow status, and dynamically adjusts the length of the accessible section under different traffic flow states: during peak hours, when the vehicle speed is slow, the length of the accessible section is shortened according to the calculation results to avoid local road congestion; during non-peak hours, the length of the accessible section should be extended accordingly to ensure that carpool vehicles can enter the bus-carpool shared lane and ensure overall traffic efficiency.

[0028] (3) The method provided by the present invention combines real-time traffic data to calculate the probability of shared vehicles entering and the interval length. Through flexible interval length management, interference and conflict between vehicles can be reduced, thereby improving road traffic efficiency and promoting the sustainable development of the urban transportation system.

[0029] (4) The utility value can quantify the travel benefits of carpooling vehicles under specific traffic conditions and effectively distinguish the travel needs of carpooling vehicles under different traffic flow conditions. By establishing a utility selection function, the present invention can convert macro traffic flow data into a quantifiable decision-making basis, and can more scientifically evaluate and adjust the length of the accessible interval, so that the setting of the accessible interval can adapt to changes in the traffic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more apparent and easy to understand. In the accompanying drawings:

[0031] Figure 1A flow chart of a method for calculating accessible sections of a bus and carpool shared lane based on utility selection according to the present invention;

[0032] Figure 2 This is a schematic diagram of the dynamic adjustment of the accessible area according to the present invention;

[0033] Figure 3 A schematic diagram of the change in the length of the accessible section under different road densities of conventional lanes and road densities of bus and carpool lanes according to the present invention;

[0034] Figure 4 It is a schematic diagram of the change of the length of the accessible section under different average vehicle speeds of conventional lanes and average vehicle speeds of bus and carpool lanes according to the present invention. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the technical solution and advantages of the present invention, the present application is described in detail below in conjunction with the accompanying drawings, but it is not intended to limit the protection scope of the present invention.

[0036] Figure 1 A flow chart of a method for calculating the accessible interval of a bus and carpool shared lane based on utility selection provided by the present invention, Figure 2 The schematic diagram of the dynamic adjustment of the accessible range of the present invention is as follows: Figure 1 , Figure 2 As shown, the method for calculating the accessible interval of a bus and a carpool shared lane based on utility selection provided in this embodiment includes the following steps:

[0037] Step S1. Count the number of vehicles in the conventional lanes and the bus and carpooling shared lanes, and monitor the traffic flow status, wherein the traffic flow status includes road density and vehicle speed;

[0038] Step S2. Establish a utility selection function that describes the utility value obtained by a carpool vehicle entering a bus and carpool shared lane:

[0039] ;

[0040] Where: is the utility value obtained by the carpool vehicle entering the bus and carpool shared lane, which is related to the variable speed and density The function of is the weight coefficient of density change, ranging from 0 to 1, and in this embodiment, the value is 0.05; is the road density of conventional lanes, is the road density of bus and carpool shared lanes, is the weight coefficient of speed change, , The value range is 0 to 1, and in this embodiment, the value is 0.95; is the average speed of vehicles in the bus and carpool shared lanes, is the average speed of vehicles on the regular lane, is a random item of the utility value obtained by entering the bus and carpooling shared lane, with a value range of 20 to 30, and a value of 20 in this embodiment;

[0041] Step S3: Establishing a lane-changing probability model for carpool vehicles based on utility value:

[0042] ;

[0043] Where: is the lane-changing probability of the carpool vehicle, that is, the probability of the carpool vehicle entering the shared lane between the bus and the carpool, is the maximum utility value obtained by entering the bus and carpooling shared lane, is the minimum utility value obtained by entering the bus and carpooling shared lane, To calculate the number of shared vehicles on regular lane sections, To count the number of all vehicles on the regular road section, is a distribution variable about utility value, and the utility value is subject to the parameter and The log-normal distribution of and represent the mean and standard deviation respectively, The value range is 3 to 3.5. In this embodiment, the value is 3.34. The value range is 0.1-0.2, and the value in this embodiment is 0.18;

[0044] Step S4. Determine the following distance of the carpooling vehicle based on the identified carpooling vehicle. If the following distance meets the condition , is the following distance between the carpooling vehicle and the vehicle in front, is the critical gap, with a value range of 4-5m. In this embodiment, the value is 4.5m. is the following distance between the shared vehicle and the following vehicle; it is considered that the lane change condition is met and the lane change can be performed, and step S5 is executed:

[0045] Step S5. Calculate the length of the accessible interval according to the number of shared vehicles at the starting position of the accessible interval. The calculation formula for the length of the accessible interval is:

[0046] ;

[0047] ;

[0048] ;

[0049] Where: is the driver’s reaction time, usually taking the value of 1; is the lane changing time of the shared vehicle, and the lane changing time is 5 after statistical analysis; The length of the lane that buses and rideshares can enter. is the number of consecutive carpooling vehicles, is the minimum safe distance for carpooling vehicles changing lanes, The braking deceleration of the shared vehicle, with a value of 6-8; The length of the carpool vehicle that is changing lanes; is the number of carpooling vehicles that choose to change lanes.

[0050] In this embodiment, in step S1, a detection module is used to obtain the number of vehicles on the lane and the traffic flow status. The detection module includes a radar sensor and a video monitoring system. The radar sensor is used to detect the road density (lane density) of the conventional lane and the bus and carpooling shared lane and the driving speed of each vehicle; the video monitoring system is used to identify the carpooling vehicles in the conventional lane and count the number of all vehicles and carpooling vehicles in the conventional lane.

[0051] In this embodiment, after the step S5 calculates and determines the length of the drivable interval, the control module can be used to control the identification lights of different areas of the dynamic ground indication device to light up, and determine the length of the drivable interval that is suitable for the current traffic flow state; by lighting up the identification lights of different areas, the length of the current drivable interval is displayed, so as to control the carpooling vehicles to enter the bus and carpooling shared lanes within the specified interval; wherein, the dynamic ground indication device is installed upstream of the intersection.

[0052] The road density is related to the average speed of vehicles on the road. The greater the road density, the slower the vehicle speed. In this embodiment, the length of the accessible section is calculated under different road densities of conventional lanes and road densities of bus and carpool lanes. When the ratio of the number of carpool vehicles in the conventional lane section obtained by statistics to the number of all vehicles in the conventional lane section obtained by statistics is 0.15, that is, , =7, the length and position of the accessible interval under different road densities of conventional lanes and bus and carpool lanes are recorded as [start, end], such as Figure 3As shown, the length of the drivable interval changes with the change of road density, and at the same shared lane road density level, the length of the drivable interval decreases with the increase of the road density of the conventional lane; for example, when the road density of the bus and shared carpool lanes is 15, the road density of the conventional lane is [30,60], and the length of the drivable interval is rounded to [0,52] to meet the lane changing needs of the carpooling vehicle. The road density of the conventional lane is [60,100], and the length of the drivable interval is rounded to [0,49] to meet the lane changing needs of the carpooling vehicle. The road density of the conventional lane is [100,120], and the length of the drivable interval is rounded to [0,36] to meet the lane changing needs of the carpooling vehicle. In addition, this embodiment also calculates the length of the drivable interval under different average vehicle speeds of conventional lanes and average vehicle speeds of buses and carpooling lanes. The results are shown in FIG. Figure 4 As shown in the figure, under the same average vehicle speed of the shared lane, the length of the accessible section increases with the increase of the average vehicle speed of the conventional lane.

[0053] In summary, it can be seen that during peak hours, when the speed of vehicles in conventional lanes is slower and the road density is higher, the length of the accessible section can be shortened according to the calculation results to avoid congestion on local roads. During non-peak hours, when the speed of vehicles in conventional lanes is faster and the road density is lower, the length of the accessible section should be extended accordingly to ensure that carpool vehicles can enter the bus-carpool shared lane.

[0054] The present invention also provides an electronic device, comprising: one or more processors and a memory; wherein the memory is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned method for calculating the accessible interval of a bus and carpool shared lane based on utility selection.

[0055] The present invention also provides a computer-readable medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for calculating the accessible interval of a bus and a carpooling shared lane based on utility selection is implemented as described above.

[0056] Those skilled in the art will appreciate that all or part of the functions of the various methods / modules in the above embodiments may be implemented by hardware or by computer programs. When all or part of the functions in the above embodiments are implemented by computer programs, the program may be stored in a computer-readable storage medium, which may include: a read-only memory, a random access memory, a disk, an optical disk, a hard disk, etc. The program is executed by a computer to implement the above functions. For example, the program is stored in the memory of the device, and when the program in the memory is executed by the processor, all or part of the above functions can be implemented.

[0057] In addition, when all or part of the functions in the above-mentioned embodiments are implemented by means of a computer program, the program can also be stored in a storage medium such as a server, another computer, a disk, an optical disk, a flash drive or a mobile hard disk, and saved to the memory of a local device by downloading or copying, or the system of the local device is updated. When the program in the memory is executed by the processor, all or part of the functions in the above-mentioned embodiments can be implemented.

[0058] The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art of the present invention, according to the idea of ​​the present invention, some simple deductions, deformations or substitutions can be made. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for calculating the accessible interval of a bus and carpool shared lane based on utility selection, characterized in that: The method comprises the following steps: Step S1. Count the number of vehicles in the conventional lanes and the bus and carpooling shared lanes, and monitor the traffic flow status, wherein the traffic flow status includes road density and vehicle speed; Step S2. Establish a utility selection function that describes the utility value obtained by a carpool vehicle entering a bus and carpool shared lane: ； Where: is the utility value obtained by the carpool vehicle entering the bus and carpool shared lane, which is related to the variable speed and density The function of is the weight coefficient of density change, ranging from 0 to 1. is the road density of conventional lanes, is the road density of bus and carpool shared lanes, is the weight coefficient of speed change, , The value range is 0 to 1; is the average speed of vehicles in the bus and carpool shared lanes, is the average speed of vehicles on the regular lane, is a random term for the utility value obtained by entering the bus and carpooling shared lane, ranging from 20 to 30; Step S3: Establishing a lane-changing probability model for carpool vehicles based on utility value: ； Where: is the lane-changing probability of the carpool vehicle, that is, the probability of the carpool vehicle entering the shared lane between the bus and the carpool, is the maximum utility value obtained by entering the bus and carpooling shared lane, is the minimum utility value obtained by entering the bus and carpooling shared lane, To calculate the number of shared vehicles on regular lane sections, To count the number of all vehicles on the regular road section, is a distribution variable about utility value, and the utility value is subject to the parameter and The log-normal distribution of and represent the mean and standard deviation respectively, The value range is 3 to 3.

5. The value range is 0.1-0.2; Step S4. Determine the following distance of the shared vehicle based on the identified shared vehicle. If the following distance meets the condition , is the following distance between the carpooling vehicle and the vehicle in front, is the critical gap, the value range is 4-5m, is the following distance between the shared vehicle and the following vehicle; it is considered that the lane change condition is met, the lane change is performed and step S5 is executed; Step S5. Calculate the length of the accessible interval according to the number of shared vehicles at the starting position of the accessible interval. The calculation formula for the length of the accessible interval is: ； ； ； Where: is the driver’s reaction time, with a value of 1; is the lane changing time of the shared vehicle. After statistical analysis, the lane changing time is taken as 5; The length of the lane that buses and rideshares can enter. is the number of consecutive carpooling vehicles, is the minimum safe distance for carpooling vehicles changing lanes, The braking deceleration of the shared vehicle, with a value of 6-8; The length of the carpool vehicle that is changing lanes; is the number of carpooling vehicles that choose to change lanes.

2. The method for calculating the accessible interval of a bus and carpooling shared lane based on utility selection according to claim 1 is characterized in that: In step S1, a detection module is used to obtain the number of vehicles on the lane and the traffic flow status. The detection module includes a radar sensor and a video monitoring system. The radar sensor is used to detect the road density and the driving speed of each vehicle in the conventional lane and the bus and carpooling shared lane; the video monitoring system is used to identify the carpooling vehicles in the conventional lane and count the number of all vehicles and carpooling vehicles in the conventional lane.

3. The method for calculating the accessible interval of a bus and carpooling shared lane based on utility selection according to claim 1 is characterized in that: After the length of the accessible section is determined by calculation in step S5, the control module is used to control the identification lights of different areas of the dynamic ground indication device to light up, and the length of the accessible section adapted to the current traffic flow state is displayed by lighting up the identification lights of different areas.

4. The method for calculating the accessible interval of a bus and carpooling shared lane based on utility selection according to claim 1 is characterized in that: Said The value is 0.

05. The value is 0.

95. The value is 20. The value is 3.

34. The value is 0.

18. The value is 4.5m.

5. The method for calculating the accessible interval of a bus and carpooling shared lane based on utility selection according to claim 3 is characterized in that: The dynamic ground indication device is installed upstream of the intersection.

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