Intelligent evacuation traffic method and lane system based on vehicle-road cooperation

Abstract

The invention belongs to the technical field of intelligent traffic, and discloses an intelligent evacuation traffic method based on vehicle-road cooperation and a lane system. According to the invention, a traffic lane is divided into a waiting area, a buffer area and a detection area, and a roadside sensing module counts the number of vehicles in each historical lane, the average speed of the vehicles, the passing time and the average occupied distance; the vehicle-road cooperation platform calculates the length of each area and the number of vehicles capable of being accommodated in the area length of the waiting area, analyzes a marking adjustment strategy of a traffic lane by comparing the number of vehicles in each lane with the number of vehicles capable of being accommodated in the area length of the waiting area, and sends an adjustment instruction to the execution module; and the execution module adjusts the marking of the traffic lane. According to the invention, the marked lines of the traffic lanes are dynamically adjusted in real time according to the number of vehicles in different lanes, so that rapid passing of the vehicles is ensured, the intersection passing efficiency is optimized, the traffic pressure is relieved, and limited road resources are fully utilized.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation technology, and specifically relates to an intelligent traffic evacuation method and lane system based on vehicle-road collaboration. Background Art

[0002] In the transportation network of modern cities, traffic congestion has become a major challenge for daily travel. Especially at busy urban intersections, changes in traffic flow show significant time period characteristics. However, if the lanes are renovated as a whole, there will be problems such as high costs and long construction periods, which will seriously affect the travel of surrounding residents. At the same time, traffic congestion generally occurs during rush hour, while the rest of the time can meet traffic flow needs. Therefore, if the lanes are renovated as a whole, there will be a problem of waste of resources.

[0003] Traffic congestion has two characteristics: (1) fixed location: fixed traffic congestion areas appear in major traffic arteries, commercial areas, accident-prone areas, sections with a large number of traffic lights, and motor vehicle roads where pedestrians usually travel; (2) temporal regularity: traffic congestion mainly occurs during rush hour and holidays, and the peak time of vehicle flow on the same section of road is different.

[0004] For example, at a certain traffic intersection, during the morning rush hour, the traffic volume in the left-turn lane leading to the main office area surges, causing congestion in the left-turn lane, while the traffic volume in the through lane and the right-turn lane remains at a normal level; in the evening, the traffic volume in the right-turn lane leading to the dining and entertainment area surges, while the left-turn lane and the through lane remain at a normal level. This phenomenon of significant differences in traffic volume in different directions at the same intersection during different time periods not only affects the commuting efficiency of citizens, but also increases the overall pressure on urban traffic. Traditional fixed-time traffic signal control is difficult to adapt to this dynamically changing traffic demand, making traffic congestion problems particularly prominent in some time periods and directions.

[0005] Patent document CN106192796A discloses a solution to urban traffic congestion caused by tidal phenomena. According to the number of lanes on the urban road and the number of tidal lanes required, a row of liftable isolation piles are evenly spaced on one or more isolation lines of an urban road with at least two lanes. The isolation piles are lifted and lowered by micro motors through reduction gears. When the isolation piles are lowered, they are flush with the road surface. When they are raised, they protrude from the road surface and form an isolation belt perpendicular to the road surface. The lifting and lowering of the isolation piles is used to control the direction of the lanes and adjust the number of lanes in both directions of the road. However, this technology only adjusts the direction of the lanes for oncoming vehicles, and does not consider how to dynamically adjust the lanes according to the number of vehicles without changing the direction of the lanes for oncoming vehicles. Summary of the invention

[0006] The present invention aims to address the problems of the prior art and provide an intelligent traffic evacuation method and lane system based on vehicle-road collaboration, which can dynamically and in real time adjust the lane markings according to the number of vehicles in different lanes, ensure that vehicles in different lanes can pass quickly, optimize intersection traffic efficiency, alleviate traffic pressure, and make full use of limited road resources.

[0007] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0008] An intelligent traffic evacuation method based on vehicle-road collaboration includes the following steps:

[0009] S1. Divide the lane into a waiting area, a buffer area and a detection area, count the average speed and travel time of vehicles in the lane, and calculate the length of the waiting area, buffer area and detection area;

[0010] S2. Count the average distance occupied by historical vehicles, and calculate the number of vehicles that can be accommodated within the length of the waiting area according to the length of the waiting area and the average distance occupied by vehicles;

[0011] S3, counting the number of historical straight-going vehicles, left-turning vehicles, and right-turning vehicles in the detection area;

[0012] S4. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area, and adjust the lane markings;

[0013] S5. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light.

[0014] Preferably, in step S1, calculating the area lengths of the waiting area, the buffer area and the detection area specifically includes:

[0015] The average speed of vehicles in the lanes during the Q historical time period is calculated. The average speed set of vehicles in the lanes during the Q historical time period is {V1, V2, ..., V Q}, calculate the average speed:

[0016]

[0017] Among them, V 平 Indicates the average speed of vehicles on the lane;

[0018] Assume that the green light time of the lane is T 通 , the red light waiting time of the lane is T 等 , vehicles in the waiting area are in T 通 If all lanes can pass through the green light within the time, the length N of the waiting area is:

[0019] N=V 平 T 通 ;

[0020] The vehicles in the detection zone change lanes in the buffer zone and enter the waiting zone. The time for vehicles in the detection zone to change lanes in the buffer zone is set to T. 缓冲区 ,but:

[0021] T 缓冲区 =T 等 +C(T 等 +T 通 ), C ≥ 0;

[0022] Where C is a constant greater than or equal to 0,

[0023] The length M of the buffer area is:

[0024] M=V 平 T 缓冲区 =V 平 [T 等 +C(T 等 +T 通 )], C ≥ 0;

[0025] The time it takes for a vehicle to pass through the detection zone is equal to the green light time of the lane. Assume that the time it takes for a vehicle to pass through the detection zone is T 检测区 , then T 检测区 =T 通 ;

[0026] Then, the length P of the detection area is:

[0027] P=V 平 T 检测区 =V 平 T 通 =N.

[0029] Preferably, the average speed of vehicles in the lane can be obtained by calculating the median, and the difference in the average speed of vehicles in the lane can be obtained by calculating the standard deviation.

[0030] Preferably, in step S2, calculating the number of vehicles that can be accommodated within the area length of the waiting area specifically includes:

[0031] Assuming that the average distance occupied by vehicles is k, the number of vehicles O that a single lane can accommodate within the length of the waiting area is:

[0032]

[0033] Assume that the number of lanes is w, and the lane set is {W1,W2,...,W w}, the number of vehicles R that can be accommodated within the length of the waiting area is:

[0034] R=Ow.

[0036] Preferably, in step S4, the lane markings include straight-ahead markings, left-turn markings, right-turn markings, mixed left-turn and straight-ahead markings, and mixed right-turn and straight-ahead markings;

[0037] Straight-ahead markings are used to indicate vehicles going straight, left-turn markings are used to indicate vehicles turning left, right-turn markings are used to indicate vehicles turning right, mixed left-turn and straight-ahead markings are used to indicate vehicles turning left or going straight, and mixed right-turn and straight-ahead markings are used to indicate vehicles turning right or going straight.

[0038] Preferably, in step S4, the lane marking adjustment strategy specifically includes:

[0039] Assume that the number of left-turning vehicles in the detection area is O 左 , the number of straight vehicles is O 直 , the number of right-turning vehicles is O 右 ;

[0040] when When all vehicles in the inspection area reach the waiting area, they can be accommodated in the waiting area;

[0041] The number of left-turn markings on the lane is:

[0042]

[0043] The number of right-turn markings on the lane is:

[0044]

[0045] The number of lane markings for straight lines is:

[0046] w 直 =ww 左 -w 右 ;

[0047] in, represents rounding up, w represents the number of lanes, w 左 Indicates the number of left turn markings, w 右 Indicates the number of right turn markings, w 直 Indicates the number of straight lines.

[0048] Preferably, in step S4, the lane marking adjustment strategy specifically includes:

[0049] when And O 左 +O 右 +O直 ≤R, all vehicles in the inspection area can be accommodated in the waiting area after reaching it;

[0050] At this time, if

[0051] Then the number of left-turn markings on the lane is:

[0052] The number of right-turn markings on the lane is:

[0053] Adjust one of the straight lines to a mixed left turn and straight line, and use w 左混 Indicates that the number of lane markings that are straight-ahead is:

[0054] w 直 =ww 左 -w 右 -w 左混 ;

[0055] like

[0056] Then the number of left-turn markings on the lane is:

[0057] The number of right-turn markings on the lane is:

[0058] Adjust one of the straight lines to a mixed left turn and straight line, and use w 左混 Indicates that a straight-ahead line is adjusted to a mixed right-turn and straight-ahead line, with w 右混 Indicates that the number of lane markings that are straight-ahead is:

[0059] w 直 =ww 左 -w 右 -w 左混 -w 右混 ;

[0060] like

[0061] Then the number of left-turn markings on the lane is:

[0062] The number of right-turn markings on the lane is:

[0063] Adjust one of the left turn markings to a mixed left turn and straight going marking, using w 左混 ' indicates that a right turn line is adjusted to a mixed right turn and straight line, with w 右混 'express,

[0064] The number of lane markings for straight lines is:

[0065]

[0066] in, Indicates rounding down.

[0067] Preferably, in step S5,

[0068] Compare the number of straight-going vehicles, left-turning vehicles, right-turning vehicles and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light;

[0069] when When the green light is on, all vehicles in the inspection area can be accommodated in the waiting area, and all vehicles in the inspection area can pass the green light within the green light time.

[0070] when And O 左 +O 右 +O 直 ≤R, after the adjustment strategy of step S4, all vehicles in the detection area can pass the green light within the green light passing time after reaching the waiting area;

[0071] when And O 左 +O 右 +O 直 >R, the number of all vehicles in the detection area exceeds the number of vehicles that can be accommodated within the length of the waiting area, and the excess vehicles wait in the buffer zone for the next green light to pass.

[0072] The present invention also provides a system for intelligent traffic evacuation using the intelligent traffic evacuation method based on vehicle-road collaboration as described above, including a roadside sensing module, a vehicle-road collaboration platform, and an execution module;

[0073] The roadside perception module is used to count the average speed and travel time of vehicles in the lane, the average distance occupied by vehicles, the number of straight vehicles, left-turn vehicles, and right-turn vehicles in the detection area, and transmit the statistical information to the vehicle-road collaboration platform;

[0074] The vehicle-road collaboration platform is used to calculate the length of the waiting area, buffer area and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of straight vehicles, left-turn vehicles, right-turn vehicles and the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light time adjustment instructions to the execution module, and send lane marking adjustment and green light time adjustment information to the vehicle;

[0075] The execution module is used to receive instructions from the vehicle-road collaborative platform and adjust the lane markings and green light passing time.

[0076] Compared with the prior art, the beneficial effects of the present invention are:

[0077] (1) The present invention sets a waiting area, a buffer area and a detection area, and dynamically and in real time adjusts the lane markings according to the number of vehicles in different lanes, thereby ensuring that vehicles in different lanes can pass quickly, optimizing the traffic efficiency at the intersection, easing traffic pressure and reducing traffic congestion problems;

[0078] (2) The present invention makes full use of limited road resources and relieves traffic congestion by dynamically adjusting the lane marking lights.

[0079] (3) The present invention sets a buffer zone so that vehicles in different lanes have sufficient time to change lanes when receiving lane marking adjustment information, thereby avoiding vehicle violations and traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] Figure 1 This is a flow chart of an intelligent traffic evacuation method based on vehicle-road collaboration according to an embodiment of the present invention;

[0081] Figure 2 A schematic diagram of a waiting area, a buffer area, and a detection area according to an embodiment of the present invention;

[0082] Figure 3 is a schematic diagram of a lane number w in an embodiment of the present invention;

[0083] Figure 4 A schematic diagram of a waiting area capable of accommodating vehicles in a detection area according to an embodiment of the present invention;

[0084] Figure 5 This is a schematic diagram showing that the waiting area can accommodate vehicles in the detection area after adjusting the markings according to the first strategy of an embodiment of the present invention;

[0085] Figure 6 This is a schematic diagram showing that the waiting area can accommodate vehicles in the detection area after adjusting the markings according to the second strategy of an embodiment of the present invention;

[0086] Figure 7 This is a schematic diagram of a third strategy in an embodiment of the present invention, in which the waiting area can accommodate vehicles in the detection area after adjusting the markings;

[0087] Figure 8 This is a schematic diagram of an embodiment of the present invention in which the waiting area cannot accommodate vehicles in the detection area. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0089] Example 1

[0090] Combination Figure 1 As shown, an embodiment of the present invention provides an intelligent traffic evacuation method based on vehicle-road collaboration, comprising the following steps:

[0091] S1. Divide the lane into a waiting area, a buffer area and a detection area, count the average speed and travel time of vehicles in the lane, and calculate the length of the waiting area, buffer area and detection area;

[0092] like Figure 2 As shown, the driving lane in the driving direction is divided into a waiting area, a buffer area and a detection area. Figure 2 Only three areas are shown in this video, which does not mean Figure 2 What is shown is the length of the three areas and the number of lanes in the carriageway.

[0093] The waiting area refers to the area where vehicles queue up and wait in an orderly manner when the red light of the traffic signal light is on, indicating that vehicles on the corresponding lane are prohibited from passing. When the green light of the traffic signal light is on, vehicles in this area can pass smoothly and orderly;

[0094] The buffer zone refers to the area where the vehicle changes lanes after receiving the information of the lane adjustment.

[0095] The detection area refers to the area where the number of vehicles in each lane, the speed of each vehicle, and the driving direction of each vehicle are monitored and identified;

[0096] S2. Count the average distance occupied by historical vehicles, and calculate the number of vehicles that can be accommodated within the length of the waiting area according to the length of the waiting area and the average distance occupied by vehicles;

[0097] S3, counting the number of historical straight-going vehicles, left-turning vehicles, and right-turning vehicles in the detection area;

[0098] S4. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area, and adjust the lane markings;

[0099] S5. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light.

[0100] By setting up waiting areas, buffer zones and detection zones, the lane markings are adjusted dynamically and in real time according to the number of vehicles in different lanes, ensuring that vehicles in different lanes can pass quickly, optimizing traffic efficiency at intersections, easing traffic pressure, and reducing traffic congestion. This allows limited road resources to be fully utilized and traffic congestion to be relieved. By setting up buffer zones, vehicles in different lanes have sufficient time to change lanes when they receive lane marking adjustment information, thus avoiding vehicle violations and traffic accidents.

[0101] Example 2

[0102] Different from the first embodiment, in the present embodiment, in step S1, the lengths of the waiting area, the buffer area and the detection area are calculated, which specifically includes:

[0103] The average speed of vehicles in the lanes during the Q historical time period is calculated. The average speed set of vehicles in the lanes during the Q historical time period is {V1, V2, ..., V Q}, calculate the average speed:

[0104]

[0105] Among them, V 平 Indicates the average speed of vehicles on the lane;

[0106] You can also calculate the median to get the average speed of vehicles in the lane, calculate the standard deviation to get the difference in the average speed of vehicles in the lane, and analyze the overall distribution and dispersion of the average speed of vehicles through the difference in the average speed to get an ideal value.

[0107] Assume that the green light time of the lane is T 通 , the red light waiting time of the lane is T 等 , vehicles in the waiting area are in T 通 If all lanes can pass through the green light within the time, the length of the waiting area is:

[0108] N=V 平 T 通 ;

[0109] The vehicles in the detection zone change lanes in the buffer zone and enter the waiting zone. The time for vehicles in the detection zone to change lanes in the buffer zone is set to T 缓冲区 ,but:

[0110] T 缓冲区 =T 等 +C(T等 +T 通 ), C ≥ 0

[0111] Where C is a constant greater than or equal to 0,

[0112] The length of the buffer area is:

[0113] M=V 平 T 缓冲区 =V 平 [T 等 +C(T 等 +T 通 )], C ≥ 0;

[0114] The time it takes for a vehicle to pass through the detection zone is equal to the green light time of the lane. Assume that the time it takes for a vehicle to pass through the detection zone is T 检测区 , then T 检测区 =T 通 ;

[0115] Then, the length of the detection area is:

[0116] P=V 平 T 检测区 =V 平 T 通 =N.

[0118] In step S2, the number of vehicles that can be accommodated within the length of the waiting area is calculated, specifically including:

[0119] like Figure 3 As shown in Figure 1, assuming that the average distance occupied by vehicles is k, the number of vehicles that a single lane can accommodate within the length of the waiting area is O:

[0120]

[0121] like Figure 3 As shown, assuming that the number of lanes is w, the lane set of the lane is {W1, W2, ..., W w}, the number of vehicles R that can be accommodated within the length of the waiting area is:

[0122] R=Ow.

[0124] In step S4, the lane markings include straight-ahead markings, left-turn markings, right-turn markings, mixed left-turn and straight-ahead markings, and mixed right-turn and straight-ahead markings;

[0125] The straight-ahead marking is used to indicate that the vehicle is going straight, and is represented by an upward arrow in the attached figure; the left-turn marking is used to indicate that the vehicle is turning left, and is represented by a left-pointing arrow in the attached figure; the right-turn marking is used to indicate that the vehicle is turning right, and is represented by a right-pointing arrow in the attached figure; the mixed left-turn and straight-ahead marking is used to indicate that the vehicle is turning left or going straight, and is represented by a combination of an upward arrow and a left-pointing arrow in the attached figure; the mixed right-turn and straight-ahead marking is used to indicate that the vehicle is turning right or going straight, and is represented by a combination of an upward arrow and a right-pointing arrow in the attached figure.

[0126] In step S4, the lane marking adjustment strategy specifically includes:

[0127] Assume that the number of left-turning vehicles in the detection area is O 左 , the number of straight vehicles is O 直 , the number of right-turning vehicles is O 右 ;

[0128] when When all vehicles in the inspection area reach the waiting area, they can be accommodated in the waiting area;

[0129] The number of left-turn markings on the lane is:

[0130]

[0131] The number of right-turn markings on the lane is:

[0132]

[0133] The number of lane markings for straight lines is:

[0134] w 直 =ww 左 -w 右 ;

[0135] in, represents rounding up, w represents the number of lanes, w 左 Indicates the number of left turn markings, w 右 Indicates the number of right turn markings, w 直 Indicates the number of straight lines;

[0136] Specifically, Figure 4 As shown, if there are 6 lanes, in this case, w 直 =ww 左 -w 右 =2.

[0137] In step S4, the lane marking adjustment strategy specifically includes:

[0138] when And O 左 +O 右 +O 直 ≤R, all vehicles in the inspection area can be accommodated in the waiting area after reaching it;

[0139] At this time, if

[0140] Then the number of left-turn markings on the lane is:

[0141]

[0142] The number of right-turn markings on the lane is:

[0143]

[0144] Adjust one of the straight lines to a mixed left turn and straight line, and use w 左混 Indicates that the mixed left-turn and straight-ahead markings are located to the right of the last left-turn marking.

[0145] The number of lane markings for straight lines is:

[0146] w 直 =ww 左 -w 右 -w 左混 ;

[0147] At this time, the instruction and O 直 A straight-moving vehicle enters a mixed left-turn and straight-moving lane.

[0148] Specifically, Figure 5 As shown, in this case, w 直 =ww 左 -w 右 -w 左混 =6-3-2-1=0.

[0149] like

[0150] Then the number of left-turn markings on the lane is:

[0151]

[0152] The number of right-turn markings on the lane is:

[0153]

[0154] Adjust one of the straight lines to a mixed left turn and straight line, and use w左混 Indicates that a straight-ahead line is adjusted to a mixed right-turn and straight-ahead line, with w 右混 It means that the mixed left-turn and straight-ahead markings are located to the right of the last left-turn marking, and the mixed right-turn and straight-ahead markings are located to the left of the last right-turn marking.

[0155] The number of lane markings for straight lines is:

[0156] w 直 =ww 左 -w 右 -w 左混 -w 右混 ;

[0157] At this time, the instruction A straight-moving vehicle enters a mixed left-turn and straight-moving lane, indicating A straight-moving vehicle enters a mixed right-turn and straight-moving lane.

[0158] Specifically, Figure 6 As shown, in this case, w 直 =ww 左 -w 右 -w 左混 -w 右混 =6-2-2-1-1=0.

[0159] like

[0160] Then the number of left-turn markings on the lane is:

[0161]

[0162] The number of right-turn markings on the lane is:

[0163]

[0164] Adjust one of the left turn markings to a mixed left turn and straight going marking, using w 左混 ' indicates that a right turn line is adjusted to a mixed right turn and straight line, with w 右混 ' means that the mixed left-turn and straight-ahead markings are located to the right of the last left-turn marking, and the mixed right-turn and straight-ahead markings are located to the left of the last right-turn marking.

[0165] The number of lane markings for straight lines is:

[0166]

[0167] At this time, the instruction A straight-moving vehicle enters a mixed left-turn and straight-moving lane, indicating A straight-moving vehicle enters a mixed right-turn and straight-moving lane, indicating Vehicles going straight should proceed to the lane marked with straight lines.

[0168] Specifically, Figure 7 As shown, in this case,

[0169] in, Indicates rounding down.

[0170] In step S5,

[0171] Compare the number of straight-moving vehicles, left-turning vehicles, right-turning vehicles and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light

[0172] when When the green light is on, all vehicles in the inspection area can be accommodated in the waiting area, and all vehicles in the inspection area can pass the green light within the green light time.

[0173] when And O 左 +O 右 +O 直 ≤R, after the adjustment strategy of step S4, all vehicles in the detection area can pass the green light within the green light passing time after reaching the waiting area;

[0174] when And O 左 +O 右 +O 直 >R, the number of all vehicles in the detection area exceeds the number of vehicles that can be accommodated within the length of the waiting area. Specifically, the excess is O 左 +O 右 +O 直 -R, the excess part waits in the buffer zone for the next green light to pass, such as Figure 8 As shown, the number of all vehicles in the detection area exceeds the number of vehicles that can be accommodated within the length of the waiting area, and the excess part waits in the buffer zone for the next green light to pass.

[0175] Example 3

[0176] An embodiment of the present invention further provides a system for intelligent traffic evacuation using the aforementioned intelligent traffic evacuation method based on vehicle-road collaboration, characterized in that it includes a roadside perception module, a vehicle-road collaboration platform, and an execution module;

[0177] The roadside perception module is used to count the average speed and travel time of vehicles in the lane, the average distance occupied by vehicles, the number of straight vehicles, left-turning vehicles, and right-turning vehicles in the detection area, and transmit the statistical information to the vehicle-road collaboration platform;

[0178] The vehicle-road collaboration platform is used to calculate the length of the waiting area, buffer area and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of straight vehicles, left-turn vehicles, right-turn vehicles and the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light time adjustment instructions to the execution module, and send lane marking adjustment and green light time adjustment information to the vehicle;

[0179] The execution module is used to receive instructions from the vehicle-road collaboration platform and adjust the lane markings and green light time.

[0180] Specifically, the roadside perception module includes sensors (such as radar, camera, RFID, infrared sensor, etc.) set up along the road, which are used to capture and identify vehicle information on the road in real time, such as distance, speed, position, etc. The roadside perception module can use existing vehicle detection technology to obtain the number of lanes, the average speed of vehicles, the travel time and the average distance occupied by vehicles in the detection area, buffer area and waiting area, and locate the location and area of ​​the vehicle, and obtain the target driving direction of each vehicle at the traffic intersection through the navigation terminal carried by the vehicle or the person in the vehicle;

[0181] The vehicle-road collaboration platform can use existing AI roadside perception edge computing terminals, V2X vehicle-road collaboration communication terminals, etc. The vehicle-road collaboration platform can use wireless communication technology to exchange information with vehicles, collect data such as the vehicle's destination and driving plan route, and combine the information of roadside perception equipment to achieve intelligent collaboration between vehicles and road infrastructure. The data received by the human-vehicle-road collaboration platform is processed and analyzed in real time through the data processing and analysis center to provide decision support for traffic management and optimization. The vehicle-road collaboration platform can calculate the marking adjustment strategy and traffic signal adjustment strategy, analyze the overall lane planning plan, and send it to the execution module and the navigation terminal carried by each vehicle or the occupants.

[0182] Similarly, it is also possible to achieve coordinated control between multiple intersections based on the vehicle-road collaborative platform to ensure that vehicles can pass smoothly between different intersections. This can be achieved by setting green wave bands, coordinating phase differences, etc., to reduce the waiting time of vehicles between intersections. In sections with severe tidal phenomena, tidal lanes can also be set up, that is, lanes can be dynamically adjusted according to changes in traffic flow.

[0183] The above description is only an embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the application scope of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent evacuation traffic method based on vehicle-road collaboration, characterized in that: The following steps are involved: S1. Divide the lane into a waiting area, a buffer area and a detection area, count the average speed and travel time of vehicles in the lane, and calculate the length of the waiting area, buffer area and detection area; S2. Count the average distance occupied by historical vehicles, and calculate the number of vehicles that can be accommodated within the length of the waiting area according to the length of the waiting area and the average distance occupied by vehicles; S3, counting the number of historical straight-going vehicles, left-turning vehicles, and right-turning vehicles in the detection area; S4. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area, and adjust the lane markings; S5. Compare the number of straight-going vehicles, the number of left-turning vehicles, the number of right-turning vehicles, and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light.

2. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 1 is characterized in that: In step S1, the lengths of the waiting area, the buffer area, and the detection area are calculated, specifically including: The average speed of vehicles in the lanes during the Q historical time period is calculated. The average speed set of vehicles in the lanes during the Q historical time period is {V1, V2, ..., V Q }, calculate the average speed: Among them, V 平 Indicates the average speed of vehicles on the lane; Assume that the green light time of the lane is T 通 , the red light waiting time of the lane is T 等 , vehicles in the waiting area are in T 通 If all lanes can pass through the green light within the time, the length N of the waiting area is: N=V 平 T 通 ; The vehicles in the detection zone change lanes in the buffer zone and enter the waiting zone. The time for vehicles in the detection zone to change lanes in the buffer zone is set to T. 缓冲区 ,but: T 缓冲区 =T 等 +C(T 等 +T 通 ),C≥0; Where C is a constant greater than or equal to 0, The area length M of the buffer is: M=V 平 T 缓冲区 =V 平 [T 等 +C(T 等 +T 通 )],C≥0; The time it takes for a vehicle to pass through the detection zone is equal to the green light time of the lane. Assume that the time it takes for a vehicle to pass through the detection zone is T 检测区 , then T 检测区 =T 通 ; Then, the length P of the detection area is: P=V 平 T 检测区 =V 平 T 通 =N。 3. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 2 is characterized in that: The average speed of vehicles in the lane can also be obtained by calculating the median, and the difference in the average speed of vehicles in the lane can be obtained by calculating the standard deviation.

4. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 2 is characterized in that: In step S2, the number of vehicles that can be accommodated within the length of the waiting area is calculated, specifically including: Assuming that the average distance occupied by vehicles is k, the number of vehicles O that a single lane can accommodate within the length of the waiting area is: Assume that the number of lanes is w, and the lane set is {W1,W2,...,W w }, the number of vehicles R that can be accommodated within the length of the waiting area is: R=Ow.

5. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 4 is characterized in that: In step S4, the lane markings include straight-ahead markings, left-turn markings, right-turn markings, mixed left-turn and straight-ahead markings, and mixed right-turn and straight-ahead markings; Straight-ahead markings are used to indicate vehicles going straight, left-turn markings are used to indicate vehicles turning left, right-turn markings are used to indicate vehicles turning right, mixed left-turn and straight-ahead markings are used to indicate vehicles turning left or going straight, and mixed right-turn and straight-ahead markings are used to indicate vehicles turning right or going straight.

6. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 5 is characterized in that: In step S4, the lane marking adjustment strategy specifically includes: Assume that the number of left-turning vehicles in the detection area is O 左 , the number of straight vehicles is O 直 , the number of right-turning vehicles is O 右 ; when When all vehicles in the inspection area reach the waiting area, they can be accommodated in the waiting area; The number of left-turn markings on the lane is: The number of right-turn markings on the lane is: The number of lane markings for straight lines is: In 直 =ww 左 -In 右 ; in, represents rounding up, w represents the number of lanes, w 左 Indicates the number of left turn markings, w 右 Indicates the number of right turn markings, w 直 Indicates the number of straight lines.

7. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 6 is characterized in that: In step S4, the lane marking adjustment strategy specifically includes: when And O 左 +O 右 +O 直 ≤R, all vehicles in the inspection area can be accommodated in the waiting area after reaching it; At this time, if Then the number of left-turn markings on the lane is: The number of right-turn markings on the lane is: Adjust one of the straight lines to a mixed left turn and straight line, and use w 左混 Indicates that the number of lane markings that are straight-ahead is: In 直 =ww 左 -In 右 -In 左混 ; like Then the number of left-turn markings on the lane is: The number of right-turn markings on the lane is: Adjust one of the straight lines to a mixed left turn and straight line, and use w 左混 Indicates that a straight-ahead line is adjusted to a mixed right-turn and straight-ahead line, with w 右混 Indicates that the number of lane markings that are straight-ahead is: In 直 =ww 左 -In 右 -In 左混 -In 右混 ; like Then the number of left-turn markings on the lane is: The number of right-turn markings on the lane is: Adjust one of the left turn markings to a mixed left turn and straight going marking, using w 左混 ' indicates that a right turn line is adjusted to a mixed right turn and straight line, with w 右混 'express, The number of lane markings for straight lines is: in, Indicates rounding down.

8. The intelligent evacuation traffic method based on vehicle-road collaboration according to claim 7 is characterized in that: In step S5, Compare the number of straight-going vehicles, left-turning vehicles, right-turning vehicles and the number of vehicles that can be accommodated within the length of the waiting area to determine whether all vehicles in the waiting area can pass the green light; when When the green light is on, all vehicles in the inspection area can be accommodated in the waiting area, and all vehicles in the inspection area can pass the green light within the green light time. when And O 左 +O 右 +O 直 ≤R, after the adjustment strategy of step S4, all vehicles in the detection area can pass the green light within the green light passing time after reaching the waiting area; when And O 左 +O 右 +O 直 >R, the number of all vehicles in the detection area exceeds the number of vehicles that can be accommodated within the length of the waiting area, and the excess vehicles wait in the buffer zone for the next green light to pass.

9. An intelligent evacuation traffic system based on vehicle-road collaboration, characterized in that: Using the intelligent traffic evacuation method based on vehicle-road collaboration as described in any one of claims 1 to 8 to perform intelligent traffic evacuation, including a roadside sensing module, a vehicle-road collaboration platform, and an execution module; The roadside perception module is used to count the average speed and travel time of vehicles in the lane, the average distance occupied by vehicles, the number of straight vehicles, left-turn vehicles, and right-turn vehicles in the detection area, and transmit the statistical information to the vehicle-road collaboration platform; The vehicle-road collaboration platform is used to calculate the length of the waiting area, buffer area and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of straight vehicles, left-turn vehicles, right-turn vehicles and the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light time adjustment instructions to the execution module, and send lane marking adjustment and green light time adjustment information to the vehicle; The execution module is used to receive instructions from the vehicle-road collaborative platform and adjust the lane markings and green light passing time.

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