Site selection method for vehicle-road cooperative intersection in urban road network

Abstract

The invention discloses a site selection method for a vehicle-road cooperation intersection in an urban road network. The site selection method comprises the following steps: 1, calculating traffic capacity of roads under different network connection vehicle proportions; 2, calculating the passing time of the road under different network connection vehicle proportions; 3, traffic flow distribution is carried out in combination with travel behaviors of a network-connected automatic driving vehicle and a human-driven vehicle in a city; 4, restraining the construction number of the vehicle-road cooperative intersections according to the investment cost; 5, calculating to obtain the passing efficiency of different vehicle-road cooperative intersections under the preset condition; 6, calculating to obtain the betweenness centrality of the road network under the preset condition of different vehicle-road cooperative intersections; and 7, obtaining an optimal vehicle-road cooperation intersection site selection scheme through iterative calculation. According to the urban road network vehicle-road cooperation intersection site selection method provided by the invention, the optimal node for constructing the vehicle-road cooperation intersection can be selected from the complex urban road network, and the urban traffic planning can be effectively met.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle-road collaboration, and specifically is a method for selecting a site for a vehicle-road collaboration intersection in an urban road network. Background Art

[0002] With the rapid development of intelligent transportation systems, vehicle-road collaboration through information interaction between roadside equipment and vehicles has gradually become one of the key technologies to improve urban traffic efficiency and safety. The perception data of roadside facilities can provide real-time traffic information and intersection status to connected vehicles, enabling the driving system to understand the surrounding environment more comprehensively and intuitively. The construction and improvement of roadside facilities are of great significance to promoting the development of vehicle-road collaboration technology and realizing vehicle-road collaboration control at urban intersections.

[0003] However, due to the limitation of human and material resources, the roadside facilities at intersections that meet the requirements of vehicle-road collaboration in urban road networks cannot be built in one go, and need to be built step by step in accordance with the rules. It is particularly important to select the priority vehicle-road collaboration intersections to be built according to the conditions. At present, there are relatively few studies on the site selection of vehicle-road collaboration intersections, especially in terms of comprehensively considering multiple factors such as traffic flow, network structure and resource constraints to determine the priority of intersection site selection. There is a lack of systematic technology and methods. Summary of the invention

[0004] The present invention overcomes the deficiencies and shortcomings of the existing methods and proposes a method for selecting a site for vehicle-road cooperative intersections in an urban road network, aiming to select several intersections that will most significantly improve the overall traffic efficiency of the city at the same cost, thereby providing a systematic decision-making basis for the site selection of vehicle-road cooperative intersections, making full use of limited equipment resources, maximizing the advantages of vehicle-road cooperative technology, and thereby improving the operating efficiency of urban traffic.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

[0006] The method for selecting a site for a vehicle-road cooperative intersection in an urban road network of the present invention is characterized in that it comprises the following steps:

[0007] Step 1: Allocate human-driven vehicles and connected autonomous vehicles in the urban road network;

[0008] Step 1.1: Construct a random traffic flow equilibrium distribution model for human-driven vehicles through equations (7) to (11) and solve it to obtain the current traffic flow distribution result for human-driven vehicles:

[0009] (7)

[0010] (8)

[0011] (9)

[0012] (10)

[0013] (11)

[0014] In formula (7) to formula (11), for a certain road The flow of vehicles driven by people, For the road The travel time of A is the road set. is the integration variable, is the flow of vehicles on path r with starting and ending points w, is the flow of vehicles driven by people with the starting and ending points being w, For if road Belongs to the path r with starting and ending points w, then let is 1, otherwise, let is 0, R represents the set of paths with starting and ending points w, W represents the set of starting and ending points, Indicates logit loading model parameters;

[0015] Step 1.2: Construct and solve the traffic flow equilibrium distribution model of the networked autonomous driving vehicle through equations (12) to (16) to obtain the current traffic flow distribution result of the networked autonomous driving vehicle:

[0016] (12)

[0017] (13)

[0018] (14)

[0019] (15)

[0020] (16)

[0021] In formula (12) to formula (16), For the road The traffic of connected autonomous vehicles, is the traffic volume of connected autonomous driving vehicles on path r with starting and ending points w, is the traffic volume of connected autonomous vehicles on all paths with starting and ending points w;

[0022] Step 2: Randomly generate an initial VIRTUAL intersection location plan that satisfies the cost constraints shown in equations (17) and (18):

[0023] (17)

[0024] (18)

[0025] In formula (17) and formula (18), Whether to build a vehicle-road cooperative intersection at intersection i, is the cost of building a vehicle-road cooperative intersection at intersection i, B is the total cost, and I represents the set of intersections;

[0026] Calculate the road through equation (19)-(21) The current number of intersections with vehicle-road cooperation at both ends :

[0027] (19)

[0028] (20)

[0029] (twenty one)

[0030] In formula (19) to formula (21), For the road Is it connected to intersection i? If so, =1, otherwise, =0;

[0031] Step 3: Calculate the current travel time of the entire urban road network after the construction of the vehicle-road cooperative intersection through formula (23): :

[0032] (twenty three)

[0033] In formula (23), For roads in the urban road network Current travel time;

[0034] Step 4: Calculate the importance of each intersection in the urban road network connection, and then calculate the sum of the weighted betweenness centrality of the construction of vehicle-road cooperative intersections through formula (30): :

[0035] (30)

[0036] In formula (30), is the betweenness centrality of the weighted intersection i;

[0037] Step 5: Taking the minimization of equations (23) and (30) as the objective function and equations (17)-(21) as constraints, the vehicle-road cooperative intersection location selection model is constructed and solved to obtain the current vehicle-road cooperative intersection location selection plan for intersection i. , judge whether it is consistent with the last obtained VIR intersection location selection plan of intersection i. If they are the same, it indicates the current VIR intersection location selection plan of intersection i. is the best site selection scheme and is deployed at intersection i, exit the loop, otherwise, go to step 3 and execute sequentially. If the current vehicle-road cooperative intersection site selection scheme of intersection i is For the first solution result, the initial vehicle-road cooperative intersection site selection plan is used as the previous vehicle-road cooperative intersection site selection plan.

[0038] The method for selecting a location of a vehicle-road cooperative intersection in an urban road network described in the present invention is also characterized in that in step 3, the road in the urban road network is calculated by formula (22) Current travel time :

[0039] (twenty two)

[0040] In formula (22), is the parameter; The travel time for ordinary roads; The travel time of the road section covered by the vehicle-road cooperative intersection; Road travel time when building a vehicle-road cooperative intersection for the intersection at one end of the road; The road travel time when vehicle-road cooperative intersections are built at both ends of the road.

[0041] Furthermore, in step 3, the travel time of ordinary roads is calculated by formula (3): :

[0042] (3)

[0043] In formula (3), is the free flow time of the road, The traffic volume of human-driven vehicles, The traffic volume of connected autonomous vehicles, and are 2 road impedance parameters;

[0044] The travel time of the road section covered by the vehicle-road cooperative intersection is calculated by formula (4): :

[0045] (4)

[0046] The road travel time when the intersection at one end of the road is constructed as a vehicle-road cooperative intersection is calculated by formula (5): :

[0047] (5)

[0048] In formula (5), L is the length of the road, H is the length of the road section covered by the vehicle-road cooperative intersection, is the free flow speed on the road; The capacity of ordinary roads; The traffic capacity of the road with cooperative vehicle and road;

[0049] The road travel time when both intersections at both ends of the road are built as vehicle-road cooperative intersections is calculated by formula (6): :

[0050] (6).

[0051] Furthermore, when the ratio of connected autonomous vehicles to human-driven vehicles on the urban road network is p, the capacity of ordinary roads is calculated by formula (1): :

[0052] (1)

[0053] In formula (1), The time distance between the connected autonomous vehicle and the connected autonomous vehicle. It is the headway time between the connected autonomous driving vehicle and the human-driven vehicle. The headway time for a human-driven vehicle following a vehicle;

[0054] The capacity of the vehicle-road cooperative road is calculated by formula (2): :

[0055] (2)

[0056] In formula (2), It is the headway time of the connected autonomous driving vehicle following the vehicle.

[0057] Furthermore, in step 4 It is calculated by step process:

[0058] Step 4.1: Calculate the betweenness centrality of intersection i using formula (24): :

[0059] (twenty four)

[0060] In formula (24), is the number of shortest paths from the starting point u to the end point v through the intersection i, is the number of shortest paths from starting point u to end point v, U represents the set of starting points, and V represents the set of end points;

[0061] Step 4.2: Use equation (25) to calculate the betweenness centrality of the intersection Normalize and get the normalized betweenness centrality of intersection i :

[0062] (25)

[0063] In formula (25), N is the number of intersections in I;

[0064] Step 4.3: Based on the traffic flow distribution results of human-driven vehicles and connected autonomous vehicles, the betweenness centrality of the normalized intersection i is calculated using equations (26) to (29): Weighted and inverted, the betweenness centrality of the weighted intersection i is obtained :

[0065] (26)

[0066] (27)

[0067] (28)

[0068] (29)

[0069] In formula (26) to formula (29), is the weighted value of intersection i, is the current traffic flow at intersection i, is the minimum traffic flow at the intersection, is the maximum traffic flow at the intersection.

[0070] An electronic device of the present invention includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the address selection method, and the processor is configured to execute the program stored in the memory.

[0071] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the site selection method when the computer program is executed by a processor.

[0072] Compared with the existing methods, the beneficial technical effects of the present invention are embodied in:

[0073] 1. Based on the improvement of the driving behavior of connected autonomous vehicles by vehicle-road cooperative intersections, the present invention calculates the capacity and travel time of different road sections, thereby achieving the effect of improving traffic efficiency through the construction of vehicle-road cooperative intersections under different traffic flows, thereby overcoming the problem of unclear evaluation of the effect of improving road traffic efficiency in the prior art, and clearly demonstrates the effect of improving road traffic efficiency after the construction of vehicle-road cooperative facilities.

[0074] 2. Compared with the existing methods, the site selection method for vehicle-road cooperative intersections in urban road networks proposed in the present invention not only takes into account the improvement of traffic efficiency caused by the construction of vehicle-road cooperative intersections, but also incorporates the importance of intersections in the interconnection of roads into the site selection basis. It can be applied to the site selection of vehicle-road cooperative intersections in complex urban road networks.

[0075] 3. The present invention solves the problem of lack of flexible response in the existing technology at different stages of development of connected autonomous driving technology. By dynamically evaluating the changes in the proportion of connected autonomous driving vehicles and available resources, the optimal vehicle-road cooperative intersection site selection plan in the urban road network environment is achieved, thereby improving the adaptability of road network planning and resource utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] Figure 1 A schematic diagram of a single vehicle-road cooperative intersection scenario of the present invention;

[0077] Figure 2 A flow chart of the vehicle-road cooperative intersection site selection method of the present invention;

[0078] Figure 3 This is a schematic diagram of the site selection plan for the vehicle-road cooperative intersection of the present invention. DETAILED DESCRIPTION

[0079] In this embodiment, in order to ensure that the construction of vehicle-road cooperation can effectively serve the needs of urban traffic planning, a method for selecting the site of vehicle-road cooperation intersections in urban road networks is proposed, which is applicable to the site selection of urban vehicle-road cooperation intersections with networked autonomous driving vehicles and human-driven vehicles in various urban network structures; the networked autonomous driving vehicle can adopt a higher level of autonomous driving strategy after receiving the real-time vehicle information and environmental information provided by the vehicle-road cooperation intersection; the construction of the vehicle-road cooperation intersection covers the entrance and exit of the intersection; in the mixed traffic flow scenario of networked autonomous driving vehicles and human-driven vehicles, such as Figure 1As shown in the figure, there are four following scenarios: (1) a connected autonomous vehicle follows a connected autonomous vehicle; (2) a connected autonomous vehicle follows a human-driven vehicle; (3) a human-driven vehicle follows a connected autonomous vehicle; and (4) a human-driven vehicle follows a human-driven vehicle. Through V2V technology, a connected autonomous vehicle will follow a connected autonomous vehicle with a smaller headway. When a connected autonomous vehicle follows a human-driven vehicle, it will adopt a conservative following behavior for safety reasons, so the headway will be larger. The following behavior of a human-driven vehicle will not be affected by the type of vehicle. When in a V2V intersection, a connected autonomous vehicle can obtain a global view by interacting with the roadside facilities of the V2V intersection, ensuring that the headway is shortened while ensuring safety. Figure 2 As shown, the method for selecting the site of the urban road network vehicle-road cooperative intersection includes the following steps:

[0080] Step 1: When the ratio of connected autonomous vehicles to human-driven vehicles on the urban road network is p, the capacity of ordinary roads is calculated using formula (1): :

[0081] (1)

[0082] In formula (1), The time distance between the connected autonomous vehicle and the connected autonomous vehicle. It is the headway time between the connected autonomous driving vehicle and the human-driven vehicle. The headway time for a human-driven vehicle following a vehicle.

[0083] The capacity of the vehicle-road cooperative road is calculated by formula (2): :

[0084] (2)

[0085] In formula (2), It is the headway time of the connected autonomous driving vehicle following the vehicle.

[0086] Step 2: Calculate the travel time of ordinary roads using formula (3) :

[0087] (3)

[0088] In formula (3), is the free flow time of the road, The traffic volume of human-driven vehicles, The traffic volume of connected autonomous vehicles, and are two road impedance parameters.

[0089] The travel time of the road section covered by the vehicle-road cooperative intersection is calculated by formula (4): :

[0090] (4)

[0091] The road travel time when the intersection at one end of the road is constructed as a vehicle-road cooperative intersection is calculated by formula (5): :

[0092] (5)

[0093] In formula (5), L is the length of the road, H is the length of the road section covered by the vehicle-road cooperative intersection, is the free flow speed on the road.

[0094] The road travel time when both intersections at both ends of the road are built as vehicle-road cooperative intersections is calculated by formula (6): :

[0095] (6)

[0096] Step 3: Allocate human-driven vehicles and connected autonomous vehicles in the urban road network.

[0097] Step 3.1: Construct a random traffic flow equilibrium allocation model for human-driven vehicles through equations (7) to (11) and solve it. Set the minimum error, and make a standard deviation between the allocation scheme of each traffic flow and the previous allocation scheme. If the standard deviation is less than the minimum error, stop the loop, otherwise, loop the solution process. Get the current traffic flow allocation result of human-driven vehicles:

[0098] (7)

[0099] (8)

[0100] (9)

[0101] (10)

[0102] (11)

[0103] In formula (7) to formula (11), for a certain road The flow of vehicles driven by people, For the road The travel time of A is the road set. is a temporary variable, is the flow of vehicles on path r with starting and ending points w, is the flow of vehicles driven by people with the starting and ending points being w, For if road Belongs to the path r with starting and ending points w, then let is 1, otherwise, let is 0, R represents the set of paths with starting and ending points w, W represents the set of starting and ending points, Indicates logit loading model parameters.

[0104] Step 3.2: Construct and solve the traffic flow equilibrium distribution model of the networked autonomous driving vehicle through equations (12) to (16), set the minimum error, and make a standard deviation between the distribution plan of each traffic flow and the previous distribution plan; if the standard deviation is less than the minimum error, stop the loop, otherwise loop the solution process; get the current traffic flow distribution result of the networked autonomous driving vehicle:

[0105] (12)

[0106] (13)

[0107] (14)

[0108] (15)

[0109] (16)

[0110] In formula (12) to formula (16), For the road The traffic of connected autonomous vehicles, is the traffic volume of connected autonomous driving vehicles on path r with starting and ending points w, is the traffic volume of connected autonomous driving vehicles on all paths with starting and ending points w.

[0111] Step 4: Site selection plan for vehicle-road cooperative intersection is a 01 variable, equal to 0 means not selected, equal to 1 means selected to build a vehicle-road cooperative intersection, and is constrained by formula (19): Randomly generate an initial vehicle-road cooperative intersection site selection plan that satisfies the cost constraints shown in formulas (17) and (18):

[0112] (17)

[0113] (18)

[0114] In formula (17) and formula (18), Whether to build a vehicle-road cooperative intersection at intersection i, is the cost of building a vehicle-road cooperative intersection at intersection i, B is the total cost, and I represents the set of intersections;

[0115] Calculate the road through equation (19)-(21) The current number of intersections with vehicle-road cooperation at both ends , =0 means there are no vehicle-road cooperative intersections at both ends of the road. =1 means there is a vehicle-road cooperative intersection at one end of the road. =2 means there are vehicle-road cooperative intersections at both ends of the road:

[0116] (19)

[0117] (20)

[0118] (twenty one)

[0119] In formula (19) to formula (21), For the road Is it connected to intersection i? If so, =1, otherwise, =0.

[0120] Step 5: Calculate the roads in the urban road network using formula (22) Current travel time ,when 0 represents a normal road. equal ; If it is equal to 1, it means that one end of the road is a vehicle-road cooperative intersection. equal ; Equal to 2 means that both ends of the road are vehicle-road cooperative intersections. equal :

[0121] (twenty two)

[0122] In formula (22), is the parameter;

[0123] The current travel time of the entire urban road network after the construction of the vehicle-road cooperative intersection is calculated by formula (23): :

[0124] (twenty three)

[0125] Step 6: Calculate the importance of each intersection in the urban road network connection.

[0126] Step 6.1: Calculate the betweenness centrality of intersection i using formula (24): :

[0127] (twenty four)

[0128] In formula (24), is the number of shortest paths from the starting point u to the end point v through the intersection i, is the number of shortest paths from starting point u to end point v, U represents the set of starting points, and V represents the set of end points;

[0129] Step 6.2: Use equation (25) to calculate the betweenness centrality of the intersection Normalize and get the normalized betweenness centrality of intersection i :

[0130] (25)

[0131] In formula (25), N is the number of intersections in I.

[0132] Step 6.3: Based on the traffic flow distribution results of human-driven vehicles and connected autonomous vehicles, the betweenness centrality of the normalized intersection i is calculated using equations (26) to (29): Weighted and inverted, the betweenness centrality of the weighted intersection i is obtained :

[0133] (26)

[0134] (27)

[0135] (28)

[0136] (29)

[0137] In formula (26) to formula (29), is the weighted value of intersection i, is the current traffic flow at intersection i, is the minimum traffic flow at the intersection, is the maximum traffic flow at the intersection.

[0138] Step 6.4: Calculate the sum of the weighted betweenness centrality of the vehicle-road cooperative intersection using formula (30): :

[0139] (30)

[0140] Step 7: Taking the minimization of equations (23) and (30) as the objective function and equations (17)-(21) as constraints, construct and solve the vehicle-road cooperative intersection location model to obtain the current vehicle-road cooperative intersection location plan for intersection i. , judge whether it is consistent with the last obtained VIR intersection location selection plan of intersection i. If they are the same, it indicates the current VIR intersection location selection plan of intersection i. is the best site selection solution and is arranged at intersection i, such as Figure 3 As shown, exit the loop, otherwise, go to step 3 and execute sequentially, where if the current vehicle-road cooperative intersection site selection plan of intersection i For the first solution result, the initial vehicle-road cooperative intersection site selection plan is used as the previous vehicle-road cooperative intersection site selection plan.

[0141] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0142] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

Claims

1. A method for selecting a location for a vehicle-road cooperative intersection in an urban road network, characterized in that: The following steps are involved: Step 1: Allocate human-driven vehicles and connected autonomous vehicles in the urban road network; Step 1.1: Construct a random traffic flow equilibrium distribution model for human-driven vehicles through equations (7) to (11) and solve it to obtain the current traffic flow distribution result for human-driven vehicles: (7) (8) (9) (10) (11) In formula (7) to formula (11), for a certain road The flow of vehicles driven by people, For the road The travel time of A is the road set. is the integration variable, is the flow of vehicles on path r with starting and ending points w, is the flow of vehicles driven by people with the starting and ending points being w, For if road Belongs to the path r with starting and ending points w, then let is 1, otherwise, let is 0, R represents the set of paths with starting and ending points w, W represents the set of starting and ending points, Indicates logit loading model parameters; Step 1.2: Construct and solve the traffic flow equilibrium distribution model of the networked autonomous driving vehicle through equations (12) to (16) to obtain the current traffic flow distribution result of the networked autonomous driving vehicle: (12) (13) (14) (15) (16) In formula (12) to formula (16), For the road The traffic of connected autonomous vehicles, is the traffic volume of connected autonomous driving vehicles on path r with starting and ending points w, is the traffic volume of connected autonomous vehicles on all paths with starting and ending points w; Step 2: Randomly generate an initial VIRTUAL intersection location plan that satisfies the cost constraints shown in equations (17) and (18): (17) (18) In formula (17) and formula (18), Whether to build a vehicle-road cooperative intersection at intersection i, is the cost of building a vehicle-road cooperative intersection at intersection i, B is the total cost, and I represents the set of intersections; Calculate the road through equation (19)-(21) The current number of intersections with vehicle-road cooperation at both ends : (19) (20) (21) In formula (19) to formula (21), For the road Is it connected to intersection i? If so, =1, otherwise, =0; Step 3: Calculate the current travel time of the entire urban road network after the construction of the vehicle-road cooperative intersection through formula (23): : (23) In formula (23), For roads in the urban road network Current travel time; Step 4: Calculate the importance of each intersection in the urban road network connection, and then calculate the sum of the weighted betweenness centrality of the construction of vehicle-road cooperative intersections through formula (30): : (30) In formula (30), is the betweenness centrality of the weighted intersection i; Step 5: Taking the minimization of equations (23) and (30) as the objective function and equations (17)-(21) as constraints, the vehicle-road cooperative intersection location selection model is constructed and solved to obtain the current vehicle-road cooperative intersection location selection plan for intersection i. , judge whether it is consistent with the last obtained VIR intersection location selection plan of intersection i. If they are the same, it indicates the current VIR intersection location selection plan of intersection i. is the best site selection scheme and is deployed at intersection i, exit the loop, otherwise, go to step 3 and execute sequentially. If the current vehicle-road cooperative intersection site selection scheme of intersection i is For the first solution result, the initial vehicle-road cooperative intersection site selection plan is used as the previous vehicle-road cooperative intersection site selection plan.

2. A method for selecting a location for a vehicle-road cooperative intersection in an urban road network according to claim 1, characterized in that: In step 3, the roads in the urban road network are calculated by formula (22). Current travel time : (22) In formula (22), is the parameter; The travel time for ordinary roads; The travel time of the road section covered by the vehicle-road cooperative intersection; Road travel time when building a vehicle-road cooperative intersection for the intersection at one end of the road; The road travel time when vehicle-road cooperative intersections are built at both ends of the road.

3. A method for selecting a location for a vehicle-road cooperative intersection in an urban road network according to claim 2, characterized in that: In step 3, the travel time of ordinary roads is calculated by formula (3): : (3) In formula (3), is the free flow time of the road, The traffic volume of human-driven vehicles, The traffic volume of connected autonomous vehicles, and are 2 road impedance parameters; The travel time of the road section covered by the vehicle-road cooperative intersection is calculated by formula (4): : (4) The road travel time when the intersection at one end of the road is constructed as a vehicle-road cooperative intersection is calculated by formula (5): : (5) In formula (5), L is the length of the road, H is the length of the road section covered by the vehicle-road cooperative intersection, is the free flow speed on the road; The capacity of ordinary roads; The traffic capacity of the road with cooperative vehicle and road; The road travel time when both intersections at both ends of the road are built as vehicle-road cooperative intersections is calculated by formula (6): : (6)。 4. The method for selecting a location for a vehicle-road cooperative intersection in an urban road network according to claim 3, characterized in that: When the ratio of connected autonomous vehicles to human-driven vehicles on the urban road network is p, the capacity of ordinary roads is calculated by formula (1): : (1) In formula (1), The time distance between the connected autonomous vehicle and the connected autonomous vehicle. It is the headway time between the connected autonomous driving vehicle and the human-driven vehicle. The headway time for a human-driven vehicle following a vehicle; The capacity of the vehicle-road cooperative road is calculated by formula (2): : (2) In formula (2), It is the headway time of the connected autonomous driving vehicle following the vehicle.

5. The method for selecting a location for a vehicle-road cooperative intersection in an urban road network according to claim 1, characterized in that: In step 4 It is calculated by step process: Step 4.1: Calculate the betweenness centrality of intersection i using formula (24): : (24) In formula (24), is the number of shortest paths from the starting point u to the end point v through the intersection i, is the number of shortest paths from starting point u to end point v, U represents the set of starting points, and V represents the set of end points; Step 4.2: Use equation (25) to calculate the betweenness centrality of the intersection Normalize and get the normalized betweenness centrality of intersection i : (25) In formula (25), N is the number of intersections in I; Step 4.3: Based on the traffic flow distribution results of human-driven vehicles and connected autonomous vehicles, the betweenness centrality of the normalized intersection i is calculated using equations (26) to (29): Weighted and inverted, the betweenness centrality of the weighted intersection i is obtained : (26) (27) (28) (29) In formula (26) to formula (29), is the weighted value of intersection i, is the current traffic flow at intersection i, is the minimum traffic flow at the intersection, is the maximum traffic flow at the intersection.

6. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the site selection method described in any one of claims 1 to 5, and the processor is configured to execute the program stored in the memory.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the site selection method according to any one of claims 1 to 5 are executed.

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