Gradient-speed-reduction-based vehicle speed guide control method for highway reconstruction and expansion traffic-keeping area

Abstract

The invention discloses a gradient-speed-reduction-based vehicle speed guide control method for a highway reconstruction and expansion traffic keeping area, and relates to the technical field of intelligent traffic safety, and the method comprises the steps: obtaining a road traffic keeping scheme of a reconstruction and expansion traffic keeping section, setting a detector and an intelligent road side device RSU, and vehicle information of passing vehicles is acquired in real time and is connected to the high-speed server base station. And according to the vehicle running speed, the rear-end collision threshold value of the rear vehicle and the braking distance, the speed preset value and the section length of gradient speed reduction are determined. According to the vehicle speed guiding method, voice broadcasting and vehicle speed guiding are carried out on a driver with vehicle-mounted equipment, mobile equipment communication prompting is carried out on a driver without the vehicle-mounted equipment, the driver is guided to reduce the speed through multi-level gradient, traffic accidents caused by temporary braking behaviors at a ramp exit of a traffic keeping road section can be effectively avoided, and the driving safety is improved. And safe passing of the reconstruction and extension road section is ensured.

Description

Technical Field

[0001] The invention relates to the field of intelligent traffic safety technology, in particular to a vehicle speed guidance control method in a highway reconstruction and expansion maintenance zone based on gradient speed reduction. Background Art

[0002] During the reconstruction and expansion of expressways, in order to ensure the normal traffic of expressways and meet traffic needs, traffic organization generally adopts the measure of "opening to traffic while constructing". That is, when half of the road is closed for construction, the original road or the newly built half of the road is fully utilized to ensure normal traffic.

[0003] However, during the reconstruction and expansion construction period, the central median is often used for temporary opening or trumpet-shaped ramps to meet the needs of vehicles entering and exiting, and the road alignment and exit positions have changed significantly. Temporary changes in road alignment and entrance and exit settings lead to serious cognitive errors in drivers in the road maintenance section, which cannot stimulate drivers to respond to corresponding driving behaviors in a timely manner. Therefore, drivers often take some inappropriate driving measures or driving judgments in the road maintenance section due to changes in the driving environment, such as emergency braking, emergency lane changes, and missed ramp exits, which have a serious adverse impact on the safe operation of traffic flow in the road maintenance section. At this time, if certain speed guidance measures can be taken for drivers who need to enter and exit the ramp in the road maintenance section where the road maintenance changes, such as temporary ramp entrances and exits, this phenomenon will be improved.

[0004] However, due to the differences in construction and policies of highway reconstruction and expansion projects across the country, there are no unified safety guidance measures for the sections that need to be cleared. Generally, guidance is provided through traditional traffic signs or guardrails, which have a very limited effect on guiding drivers, making it difficult to ensure traffic safety in the sections that need to be cleared. Summary of the invention

[0005] To solve the above problems, this application provides a speed guidance control method for highway reconstruction and expansion maintenance areas based on gradient deceleration, which guides the speed of drivers who need to exit the maintenance section through the ramp in a layered manner, transmits gradient deceleration information and road information to the driver, and guides the vehicle to pass through the highway exit or other key sections safely and efficiently. In order to solve the problem that weak safety guidance in the maintenance section of the highway reconstruction and expansion project may aggravate the traffic safety and congestion of the section.

[0006] A further purpose is to establish a speed guidance control method for highway reconstruction and expansion maintenance areas based on gradient speed reduction, which can provide drivers with speed reminders and safety guidance in a layered and step-by-step manner with the help of roadside equipment, avoiding the single fixed visual reminder of traditional traffic signs, intervening in the driver's driving behavior from multiple angles, and guiding vehicles to pass through the maintenance section safely and smoothly.

[0007] In the present application, a method for guiding and controlling vehicle speed in a highway reconstruction and expansion maintenance zone based on gradient speed reduction is provided, comprising the following steps:

[0008] S1. Obtain the road alignment of the road maintenance section, the road maintenance plan, and the location of the temporary ramp entrance and exit, determine the gradient speed reduction range upstream of the exit ramp, set up detectors and intelligent roadside equipment RSU in front of the gradient speed reduction range upstream of the exit ramp, and obtain vehicle information in real time, including basic vehicle information and vehicle running speed;

[0009] S2. Obtain the real-time parameters of the detector, obtain the vehicle running speed information according to the real-time parameters, and calculate the first-level gradient speed reduction limit value in combination with the first-level gradient speed reduction TTC threshold constraint. According to the speed reduction decreasing law and the first-level gradient speed reduction limit value, calculate the second-level gradient speed reduction limit value and the third-level gradient speed reduction limit value, and the speed reduction decreasing law is 10 km / h lower every 100 m;

[0010] S3, dividing the road section into a preliminary speed reduction zone, a lane change zone and a stable speed reduction zone according to the first-level gradient speed reduction speed limit value, the second-level gradient speed reduction speed limit value and the third-level gradient speed reduction speed limit value, and determining the length of the lane change zone and the length of the stable speed reduction zone in combination with the driver's reaction time and the braking distance of the driving vehicle to obtain the road section line shape;

[0011] S4, dynamically displaying the first-level gradient speed limit value, the second-level gradient speed limit value and the road section line shape on the road infrastructure to obtain a speed reduction strategy, wherein the road infrastructure includes a dynamic gradient speed reduction indication sign system and a speed limit capture device, and the road infrastructure is communicatively connected with the vehicle-mounted device;

[0012] S5, using the road alignment of the guaranteed passage section as an input terminal of the vehicle-mounted device, and informing the driver of the road alignment of the guaranteed passage section and the gradient speed reduction information through the vehicle-mounted device and performing voice broadcasting;

[0013] S6. Define vehicles that are not equipped with on-board navigation equipment as non-communication vehicles. When the non-communication vehicle enters the highway toll station, the communication information between the vehicle and the driver is obtained. When the non-communication vehicle enters the gradient speed reduction section, the highway base station server sends a gradient speed reduction prompt sound, SMS pop-up notification, and vibration to the driver according to the speed reduction strategy, and guides the driver to pass through the step-by-step gradient speed reduction section according to the prompt of the vehicle speed guidance device.

[0014] Preferably, the road maintenance plan for S1 includes at least half-closed outer lane-inner lane passage, and half-closed lane-using the opposite inner lane for passage.

[0015] Preferably, the TTC threshold in S2 refers to the safe estimated time before the two vehicles collide at the current relative speed and distance;

[0016] The expression for calculating TTC is:

[0017]

[0018] Among them, D fb is the distance between the two vehicles, V f is the speed of the vehicle ahead, V b is the speed of the rear vehicle, which is greater than the speed of the front vehicle.

[0019] Preferably, the speed reduction distance of 10 km / h in the speed reduction law in S3 is greater than or equal to 100 m;

[0020] The first-level gradient speed reduction limit value, the second-level gradient speed reduction limit value and the third-level gradient speed reduction limit value are used as thresholds according to the average value of the vehicle speed data detected by the RSU and the risk of rear-end collision of the rear vehicle during the deceleration process of the front vehicle;

[0021] The expression for calculating the gradient speed reduction limit value V1 is:

[0022]

[0023] Among them, V i is the speed limit of the i-level gradient speed reduction, S is the distance the front vehicle decelerates, t is the deceleration duration, TTC * is the TTC threshold, which is generally taken as 3s, and a is the comfortable deceleration, which is taken as 1m / s 2 .

[0024] Preferably, the expressions for the interval length d1 of the lane change area and the interval length d2 of the stable speed reduction area in S3 are:

[0025]

[0026] Among them, t0 is the driver's braking reaction time, which is 2.5s, t1 is the time to maintain a stable speed or change lanes after deceleration, which is 5s, and b is the longitudinal slope of the road, which is positive for uphill and negative for downhill. The longitudinal friction coefficient of the road ranges from 0.29 to 0.44, and g is the acceleration of gravity, which is 9.8 m / s 2 The three supporting frames for the three-level gradient speed reduction are located at d1+d2, d2, and 0m upstream of the ramp exit respectively.

[0027] Preferably, the dynamic gradient speed reduction indicator sign system in S4 is equipped with an LED screen and is arranged on a gradient speed reduction support frame, on which the ramp exit indicator sign, the speed limit capture device and the LED-based dynamic gradient speed reduction indicator sign are respectively fixed.

[0028] Preferably, the voice broadcast in S5 is a voice prompt sentence and a direction guidance sentence uploaded to the vehicle-mounted device server after obtaining the road line shape of the guaranteed passage section, so as to guide the driver to pass through the guaranteed passage section by voice.

[0029] Preferably, the communication information in S6 is uploaded to a high-speed server after being obtained.

[0030] Preferably, the vehicle speed guidance equipment in S6 includes an LED-based dynamic gradient speed reduction indication sign system, a speed limit capture device, a traditional ramp exit sign and a guardrail guidance measure.

[0031] In summary, the vehicle speed guidance and control method for the highway reconstruction and expansion maintenance zone based on gradient speed reduction of the present invention, compared with the traditional vehicle speed guidance and control technology, the method transmits the driver the exit information of the ramp ahead of the maintenance section and the gradient speed reduction data inside the section through multiple methods such as communication between vehicle-mounted equipment and mobile equipment, which can effectively slow down the speed of the vehicle, enable the driver to better control the vehicle, reduce the possibility of accidents caused by entering the ramp too quickly, and can better gradually guide the vehicle into the ramp, avoiding the situation where the vehicle needs to brake suddenly or change lanes frequently after entering the ramp too quickly, thereby improving the overall traffic fluency, enhancing the driving comfort and sense of security, and can help to smoothly regulate the traffic flow.

[0032] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of the steps of a vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to the present invention;

[0034] Figure 2 It is a schematic diagram of the layout of various modules of a system of a vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to the present invention;

[0035] Figure 3 It is a structural schematic diagram of a support frame portion of a gradient deceleration guiding device of a vehicle speed guiding control method for a highway reconstruction and expansion maintenance zone based on gradient deceleration according to the present invention.

[0036] Reference numerals

[0037] 1. Ramp exit sign; 2. Speed ​​limit capture device; 3. LED-based dynamic gradient speed reduction sign; 4. Construction section; 5. Lane change area; 6. Stable speed reduction area; 7. Initial speed reduction area; 8. Detector; 9. Intelligent roadside equipment RSU. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described below by means of the accompanying drawings and embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present application.

[0039] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0040] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0041] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0043] like Figure 1 , Figure 2 and Figure 3 As shown, the present invention provides a vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction, which is specifically as follows: S1, obtaining the road line shape of the reconstruction and expansion maintenance section, the road maintenance plan and the temporary ramp entrance and exit positions, such as Figure 2 As shown, the gradient speed reduction range upstream of the exit ramp is determined, and a detector and intelligent roadside equipment RSU are set 100m before the gradient speed reduction range upstream of the exit ramp to obtain vehicle information in real time and transmit the obtained vehicle information to the highway server. The vehicle information includes basic vehicle information and vehicle running speed;

[0044] Furthermore, the road maintenance plan for S1 at least includes half-closed outer lane-inner lane passage, and half-closed lane-using the opposite inner lane for passage.

[0045] S2. Obtain the real-time parameters of the detector. Obtain the vehicle running speed information according to the real-time parameters and calculate the first-level gradient speed reduction speed limit value in combination with the first-level gradient speed reduction TTC threshold constraint. According to the speed reduction decreasing law and the first-level gradient speed reduction speed limit value, calculate the second-level gradient speed reduction speed limit value and the third-level gradient speed reduction speed limit value, and ensure the smoothness of the gradient speed reduction. The speed reduction decreasing law is 100m lower than 10km / h layer by layer, ensuring that the speed after the last layer of decrease to the ramp exit is not higher than the ramp speed limit of 40km / h. Table 1 shows the specific speed limit values ​​of this implementation example.

[0046] Table 1

[0047] Gradient speed limit parameters Speed ​​limit (km / h) <![CDATA[First - stage gradient speed limit value V1]]> 60 <![CDATA[Second-level gradient speed limit value V2]]> 50 <![CDATA[Third-level gradient speed limit value V3]]> 40

[0048] Furthermore, the TTC threshold in S2 refers to the safe estimated time before the two vehicles collide at the current relative speed and distance;

[0049] The expression for calculating TTC is:

[0050]

[0051] Among them, D fb is the distance between the two vehicles, V f is the speed of the vehicle ahead, V b is the speed of the rear vehicle, which is greater than the speed of the front vehicle.

[0052] S3, dividing the road section into a preliminary speed reduction zone, a lane change zone and a stable speed reduction zone according to the first-level gradient speed reduction speed limit value, the second-level gradient speed reduction speed limit value and the third-level gradient speed reduction speed limit value, and determining the length of the lane change zone and the length of the stable speed reduction zone in combination with the driver's reaction time and the braking distance of the driving vehicle to obtain the road section line shape;

[0053] Furthermore, in the speed reduction law in S3, the distance for reducing the speed by 10 km / h is greater than or equal to 100 m;

[0054] The first-level gradient speed reduction limit value, the second-level gradient speed reduction limit value and the third-level gradient speed reduction limit value are used as thresholds according to the average value of the vehicle speed data detected by the RSU and the risk of rear-end collision of the rear vehicle during the deceleration process of the front vehicle;

[0055] The expression for calculating the gradient speed reduction limit value V1 is:

[0056]

[0057] Among them, V i is the speed limit of the i-level gradient speed reduction, S is the distance the front vehicle decelerates, t is the deceleration duration, TTC * is the TTC threshold, which is generally taken as 3s, and a is the comfortable deceleration, which is taken as 1m / s 2 .

[0058] In this implementation example, it is assumed that the average speed of passing vehicles is 100 km / h and the initial distance between the front and rear vehicles is 100 m.

[0059] Furthermore, the expressions for the interval length d1 of the lane change area and the interval length d2 of the stable speed reduction area in S3 are:

[0060]

[0061] Among them, t0 is the driver's braking reaction time, which is 2.5s, t1 is the time to maintain a stable speed or change lanes after deceleration, which is 5s, and b is the longitudinal slope of the road, which is positive for uphill and negative for downhill. The longitudinal friction coefficient of the road ranges from 0.29 to 0.44, and g is the acceleration of gravity, which is 9.8 m / s 2 The three support frames of the three-level gradient deceleration are located at d1+d2, d2, and 0m upstream of the ramp exit. In the middle section of the gradient deceleration, it is necessary to ensure that the driver has enough driving distance to decelerate in this section, otherwise excessive braking force will be detrimental to driving safety. In this implementation example, Take the value as 0.4, and substitute V2 and V3 into the above formula. Table 2 shows the lengths of the lane change area and the stable speed reduction area in this embodiment.

[0062] Table 2

[0063] Gradient speed limit interval parameters Speed ​​limit section length (m) Lane changing area 140 Stable speed reduction zone 115

[0064] S4, dynamically displaying the first-level gradient speed limit value, the second-level gradient speed limit value and the road section line shape on the road infrastructure to obtain a speed reduction strategy, wherein the road infrastructure includes a dynamic gradient speed reduction indication sign system and a speed limit capture device, and the road infrastructure is communicatively connected with the vehicle-mounted device;

[0065] Furthermore, the dynamic gradient speed reduction indicator system in S4 is equipped with an LED screen and is arranged on a gradient speed reduction support frame, on which a ramp exit indicator sign, a speed limit capture device and a dynamic gradient speed reduction indicator sign based on LED are respectively fixed. The structural diagram of the support frame is shown in FIG. Figure 3 The LED-based dynamic gradient speed reduction signs include "The gradient speed limit of the road ahead is 60km / h, and the speed limit length is 140m", "The gradient speed limit of the road ahead is 50km / h, and the speed limit length is 115m", and "The gradient speed limit of the road ahead is 40km / h, and the distance to the ramp is 100m".

[0066] S5. For vehicles that rely on on-board equipment including on-board display screens (such as central control screens or instrument panel display screens) for navigation, the on-board equipment is connected to the road infrastructure for communication, and the obtained road alignment data of the road-protected section is used as the input of the on-board equipment. The on-board equipment is used to inform the driver of the road alignment and gradient speed reduction information of the road-protected section and to make a voice announcement;

[0067] Furthermore, the voice announcement in S5 is a voice prompt and direction guidance statement uploaded to the vehicle-mounted device server after obtaining the road line shape of the road section, and guides the driver to pass through the road section and drive out of the road section safely with the help of voice. The voice prompt includes:

[0068] "There is a gradient speed reduction section ahead for the highway expansion and reconstruction. Please reduce your speed for the first time and enter the road maintenance section. Please do not change lanes."

[0069] "There is a gradient speed reduction section ahead for the highway expansion and reconstruction. Please reduce your speed for the second time to change lanes and pay attention to vehicles coming from behind."

[0070] "There is a gradient speed reduction section ahead for the highway expansion and reconstruction. Please reduce your speed for the third time and prepare to exit the expansion and reconstruction section. Pay attention to the ramp exit."

[0071] S6. Vehicles that are not equipped with on-board equipment are defined as non-communication vehicles. The intelligent roadside equipment RSU will upload the detected vehicle information to the highway base station server if it is a non-communication vehicle, and obtain the communication information between the vehicle and the driver when the non-communication vehicle enters the highway toll station. When the non-communication vehicle enters the gradient speed reduction section, the highway base station server will send a gradient speed reduction prompt sound, SMS pop-up notification and vibration to the driver according to the speed reduction strategy, and guide the driver to pass through the step-by-step gradient speed reduction section according to the prompt of the vehicle speed guidance device, and safely exit the guaranteed passage section.

[0072] Furthermore, the communication information in S6 is uploaded to the high-speed server after being obtained.

[0073] Furthermore, the vehicle speed guidance equipment in the S6 includes an LED-based dynamic gradient speed reduction indication sign system, a speed limit capture device, traditional ramp exit signs and guardrail guidance measures.

[0074] Through the linear data and gradient speed reduction information of the road-keeping section sent by the on-board equipment and mobile communication equipment, and through the display screen, voice broadcast, pop-up information and other prompts, the driving speed is reasonably allocated under the guidance of the three-level gradient speed reduction, which is convenient for the driver to slow down and change lanes in advance, ensuring that the driver can safely and smoothly exit the road-keeping section, and effectively avoid the sudden change of traffic flow caused by the driver's temporary reaction to change lanes and emergency braking when approaching the ramp exit, affecting the traffic efficiency and smoothness of the road-keeping section, causing unstable traffic flow and even accidents.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction, characterized in that: The following steps are involved: S1. Obtain the road alignment of the road maintenance section, the road maintenance plan, and the location of the temporary ramp entrance and exit, determine the gradient speed reduction range upstream of the exit ramp, set up detectors and intelligent roadside equipment RSU in front of the gradient speed reduction range upstream of the exit ramp, and obtain vehicle information in real time, including basic vehicle information and vehicle running speed; S2. Obtain the real-time parameters of the detector, obtain the vehicle running speed information according to the real-time parameters, and calculate the first-level gradient speed reduction limit value in combination with the first-level gradient speed reduction TTC threshold constraint. According to the speed reduction decreasing law and the first-level gradient speed reduction limit value, calculate the second-level gradient speed reduction limit value and the third-level gradient speed reduction limit value, and the speed reduction decreasing law is 10 km / h lower every 100 m; S3, dividing the road section into a preliminary speed reduction zone, a lane change zone and a stable speed reduction zone according to the first-level gradient speed reduction speed limit value, the second-level gradient speed reduction speed limit value and the third-level gradient speed reduction speed limit value, and determining the length of the lane change zone and the length of the stable speed reduction zone in combination with the driver's reaction time and the braking distance of the driving vehicle to obtain the road section line shape; S4, dynamically displaying the first-level gradient speed limit value, the second-level gradient speed limit value and the road section line shape on the road infrastructure to obtain a speed reduction strategy, wherein the road infrastructure includes a dynamic gradient speed reduction indication sign system and a speed limit capture device, and the road infrastructure is communicatively connected with the vehicle-mounted device; S5, using the road alignment of the road section to be maintained as an input terminal of the vehicle-mounted device, and informing the driver of the road alignment and gradient speed reduction information of the road section to be maintained through the vehicle-mounted device and performing voice broadcasting; S6. Define vehicles that are not equipped with on-board navigation equipment as non-communication vehicles. When the non-communication vehicle enters the highway toll station, the communication information between the vehicle and the driver is obtained. When the non-communication vehicle enters the gradient speed reduction section, the highway base station server sends a gradient speed reduction prompt sound, SMS pop-up notification, and vibration to the driver according to the speed reduction strategy, and guides the driver to pass through the step-by-step gradient speed reduction section according to the prompt of the vehicle speed guidance device.

2. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The road maintenance plan for S1 includes at least half-closed outer lane - use of inner lane, and half-closed lane - use of opposite inner lane for passage.

3. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The TTC threshold in S2 refers to the safe estimated time before the two vehicles collide at the current relative speed and distance; The expression for calculating TTC is: Among them, D fb is the distance between the two vehicles, V f is the speed of the vehicle ahead, V b is the speed of the rear vehicle, which is greater than the speed of the front vehicle.

4. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: In S3, the speed reduction law is such that the distance for reducing the speed by 10 km / h is greater than or equal to 100 m; The first-level gradient speed reduction limit value, the second-level gradient speed reduction limit value and the third-level gradient speed reduction limit value are used as thresholds according to the average value of the vehicle speed data detected by the RSU and the risk of rear-end collision of the rear vehicle during the deceleration process of the front vehicle; The expression for calculating the gradient speed reduction limit value V1 is: Among them, V i is the speed limit of the i-level gradient speed reduction, S is the distance the front vehicle decelerates, t is the deceleration duration, TTC * is the TTC threshold, which is generally taken as 3s, and a is the comfortable deceleration, which is taken as 1m / s 2 .

5. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The expressions for the interval length d1 of the lane change area and the interval length d2 of the stable speed reduction area in S3 are: Among them, t0 is the driver's braking reaction time, which is 2.5s, t1 is the time to maintain a stable speed or change lanes after deceleration, which is 5s, and b is the longitudinal slope of the road, which is positive for uphill and negative for downhill. The longitudinal friction coefficient of the road ranges from 0.29 to 0.44, and g is the acceleration of gravity, which is 9.8 m / s 2 The three supporting frames for the three-level gradient speed reduction are located at d1+d2, d2, and 0m upstream of the ramp exit respectively.

6. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The dynamic gradient speed reduction indicator sign system in S4 is equipped with an LED screen and is arranged on a gradient speed reduction support frame, on which a ramp exit indicator sign, a speed limit capture device and an LED-based dynamic gradient speed reduction indicator sign are respectively fixed.

7. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The voice broadcast in S5 is the voice prompt and direction guidance statements uploaded to the vehicle-mounted device server after obtaining the road line shape of the guaranteed passage section, and guides the driver through the guaranteed passage section with the help of voice.

8. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The communication information in S6 is uploaded to the high-speed server after being obtained.

9. The vehicle speed guidance control method for a highway reconstruction and expansion maintenance zone based on gradient speed reduction according to claim 1 is characterized in that: The speed guidance equipment in the S6 includes an LED-based dynamic gradient speed reduction indicator system, a speed limit capture device, traditional ramp exit signs and guardrail guidance measures.

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