A vehicle-road cooperative intelligent traffic evacuation method and lane system

Abstract

This invention belongs to the field of intelligent transportation technology and discloses an intelligent traffic evacuation method and lane system based on vehicle-road cooperation. The invention divides the driving lane into waiting areas, buffer zones, and detection zones. A roadside sensing module statistically analyzes the historical number of vehicles in each lane, average vehicle speed, travel time, and average distance traveled. The vehicle-road cooperative platform calculates the length of each zone and the number of vehicles that can be accommodated within the waiting area. By comparing the number of vehicles in each lane with the number of vehicles that can be accommodated within the waiting area, the invention analyzes the lane marking adjustment strategy and sends adjustment instructions to the execution module, which then adjusts the lane markings. This invention dynamically adjusts lane markings in real time according to the number of vehicles in different lanes, ensuring rapid vehicle passage, optimizing intersection efficiency, alleviating traffic pressure, and making full use of limited road resources.

Description

Technical Field

[0001] This invention belongs to the field of intelligent transportation technology, specifically relating to an intelligent traffic evacuation method and lane system based on vehicle-road cooperation. Background Technology

[0002] In modern urban transportation networks, traffic congestion has become a major challenge for daily travel. Especially at busy urban intersections, traffic flow exhibits significant time-of-day variations. However, a complete overhaul of lanes faces challenges such as high costs, long construction periods, and severe disruption to the travel of nearby residents. Furthermore, traffic congestion typically occurs during rush hour, while traffic flow is adequate at other times; therefore, a complete lane overhaul would result in a waste of resources.

[0003] Traffic congestion has two characteristics: (1) Fixed location: fixed traffic congestion areas appear on major roads, commercial districts, accident-prone areas, roads with many traffic lights, and motor vehicle roads that pedestrians are accustomed to crossing; (2) Time regularity: traffic congestion mainly occurs during rush hour and holidays, and the peak time of traffic flow on the same road segment is different.

[0004] For example, at a certain intersection, during the morning rush hour, traffic flow in the left-turn lane leading to major office areas surges, causing congestion, while traffic flow in the straight and right-turn lanes remains at a normal level. In the evening, however, traffic flow in the right-turn lane leading to dining and entertainment areas surges, while traffic flow in the left-turn and straight lanes remains at a normal level. This significant difference in traffic flow in different directions at the same intersection at different times not only affects commuter efficiency but also exacerbates overall urban traffic pressure. Traditional fixed-time traffic signal control is ill-suited to adapt to this dynamic change in traffic demand, making traffic congestion particularly severe in certain times and directions.

[0005] Patent document CN106192796A discloses a solution to urban traffic congestion caused by tidal flow. Based on the number of lanes on an urban road and the required number of tidal flow lanes, a row of retractable bollards is evenly spaced along one or more median lines on an urban road with at least two lanes. The bollards are raised and lowered using a micro-motor via a reduction gear. When lowered, the bollards are flush with the road surface; when raised, they protrude from the road surface and are perpendicular to it, forming a median strip. The raising and lowering of the bollards controls the direction of traffic flow, adjusting the number of lanes in both directions. However, this technology only adjusts the direction of traffic flow in oncoming and off-road lanes and does not consider how to dynamically adjust lanes based on the number of vehicles without changing the direction of traffic flow. Summary of the Invention

[0006] This invention aims to address the problems of existing technologies by providing a vehicle-road cooperative intelligent traffic evacuation method and lane system that can dynamically adjust lane markings in real time according to the number of vehicles in different lanes, ensuring that vehicles in different lanes can pass quickly, optimizing intersection traffic efficiency, alleviating traffic pressure, and making full use of limited road resources.

[0007] To achieve the above technical objectives, the present invention adopts the following technical solution:

[0008] A vehicle-road cooperative intelligent traffic evacuation method includes the following steps:

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

[0010] S2. Calculate the average distance occupied by vehicles in history, and calculate the number of vehicles that can be accommodated within the length of the waiting area based on the length of the waiting area and the average distance occupied by vehicles.

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

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

[0013] S5. Compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right, 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 through the green light.

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

[0015] The average speed of vehicles in the driving lanes during the historical time period Q is statistically analyzed. The set of average vehicle speeds in the driving lanes during the historical time period Q is {V1, V2, ..., V...}. Q}, calculate the average velocity:

[0016]

[0017] Among them, V 平 This indicates the average speed of vehicles in the driving lane.

[0018] Assume the green light duration for the driving lane is T. 通 The red light waiting time for the driving lane is T. 等 Vehicles in the waiting area at T 通 If a green light allows all vehicles to pass through the traffic lanes within a given time, then the length N of the waiting area is:

[0019] N = V 平 T 通 ;

[0020] Vehicles in the inspection area change lanes in the buffer zone and enter the waiting area. The time for vehicles in the inspection area to change lanes in the buffer zone is set as 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 buffer region length M 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 inspection zone is equal to the green light time for the driving lane. Let's assume the time it takes for the vehicle to pass through the inspection zone is T. 检测区 Then T 检测区 =T 通 ;

[0026] Therefore, the length P of the detection region is:

[0027] P = V 平 T 检测区 =V 平 T 通 =N

[0028] 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.

[0029] Preferably, in step S2, calculating the number of vehicles that can be accommodated within the length of the waiting area specifically includes:

[0030] Assuming 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:

[0031]

[0032] Assume the number of driving lanes is w, and the set of driving lanes is {W1, W2, ..., W...} wThe number of vehicles R that the waiting area can accommodate within its length is:

[0033] R = Ow

[0034] 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.

[0035] Straight ahead markings indicate that vehicles should go straight; left turn markings indicate that vehicles should turn left; right turn markings indicate that vehicles should turn right; mixed left turn and straight ahead markings indicate that vehicles should either turn left or go straight; and mixed right turn and straight ahead markings indicate that vehicles should either turn right or go straight.

[0036] Preferably, in step S4, the lane marking adjustment strategy specifically includes:

[0037] Assume the number of left-turning vehicles in the detection zone is O. 左 The number of vehicles going straight is O 直 The number of vehicles turning right is O. 右 ;

[0038] when At that time, all vehicles in the testing area can be accommodated in the waiting area after they arrive at the waiting area;

[0039] The number of left-turn lane markings is:

[0040]

[0041] The number of right-turn lane markings is:

[0042]

[0043] The number of lane markings that are for straight-ahead traffic is:

[0044] w 直 =ww 左 -wright;

[0045] in, This indicates rounding up, where w represents the number of lanes in the driving lane. 左 w represents the number of left-turn markings. 右 Indicates the number of right-turn markings, w 直 Indicates the number of straight lane markings.

[0046] Preferably, in step S4, the lane marking adjustment strategy further includes:

[0047] when And O 左 +O 右 +O 直When R ≤ R, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area;

[0048] At this time, if

[0049] The number of left-turn lane markings is:

[0050] The number of right-turn lane markings is:

[0051] Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w... 左混 This indicates that the number of lane markings that are for straight-ahead traffic is:

[0052] w 直 =ww 左 -w 右 -w 左混 ;

[0053] like

[0054] The number of left-turn lane markings is:

[0055] The number of right-turn lane markings is:

[0056] Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w... 左混 This indicates that one straight-ahead lane has been changed to a mixed right-turn and straight-ahead lane, indicated by the letter "w". 右混 This indicates that the number of lane markings that are for straight-ahead traffic is:

[0057] w 直 =ww 左 -wright -w 左混 -w 右混 ;

[0058] like

[0059] The number of left-turn lane markings is:

[0060] The number of right-turn lane markings is:

[0061] Adjust one of the left-turn markings to a mixed left-turn and straight-ahead marking, using the w... 左混 ' indicates that one right-turn marking has been changed to a mixed right-turn and straight-ahead marking, indicated by the 'w' symbol. 右混 'express,

[0062] The number of lane markings that are for straight-ahead traffic is:

[0063]

[0064] in, This indicates rounding down to the nearest integer.

[0065] Preferably, in step S5,

[0066] By comparing the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right, and the number of vehicles that the waiting area can accommodate, it is determined whether all vehicles in the waiting area can pass through the green light.

[0067] when At that time, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area, and all vehicles in the inspection area can pass through the green light within the green light time.

[0068] when And O 左 +O 右 +O 直 When R ≤ R, after the adjustment strategy in step S4, all vehicles in the detection area can pass through the green light within the green light time after arriving in the waiting area.

[0069] when And O 左 +O 右 +O 直 When the number of vehicles in the detection zone exceeds the number of vehicles that the waiting area can accommodate, the excess vehicles will wait in the buffer zone for the next green light to pass.

[0070] The present invention also provides a system for intelligent traffic evacuation using the vehicle-road cooperative intelligent traffic evacuation method described above, including a roadside perception module, a vehicle-road cooperative platform, and an execution module;

[0071] The roadside perception module is used to collect statistics on the average speed and travel time of vehicles in the driving lane, the average distance occupied by vehicles, the number of vehicles going straight, turning left, and turning right in the detection area, and transmit the collected information to the vehicle-road cooperative platform.

[0072] The vehicle-road cooperative platform is used to calculate the length of the waiting area, buffer zone, and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right with the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light passage time adjustment instructions to the execution module, and send lane marking adjustment and green light passage time adjustment information to the vehicles.

[0073] The execution module is used to receive instructions from the vehicle-road cooperative platform and adjust the lane markings and green light time.

[0074] Compared with the prior art, the beneficial effects of the present invention are:

[0075] (1) By setting up waiting areas, buffer zones and detection areas, the present invention dynamically adjusts the lane markings in real time according to the number of vehicles in different lanes, ensuring that vehicles in different lanes can pass quickly, optimizing the traffic efficiency of intersections, alleviating traffic pressure and reducing traffic congestion.

[0076] (2) This invention makes full use of limited road resources and alleviates traffic congestion by dynamically adjusting the lane marking lights;

[0077] (3) By setting up a buffer zone, the present invention allows vehicles in different lanes sufficient time to change lanes when they receive lane marking adjustment information, thus avoiding vehicle violations and traffic accidents. Attached Figure Description

[0078] Figure 1 This is a flowchart of an intelligent traffic evacuation method based on vehicle-road cooperation according to an embodiment of the present invention;

[0079] Figure 2 This is a schematic diagram of the waiting area, buffer area, and detection area according to an embodiment of the present invention;

[0080] Figure 3 This is a schematic diagram illustrating the number of lanes w in an embodiment of the present invention;

[0081] Figure 4 This is a schematic diagram illustrating how the waiting area of ​​an embodiment of the present invention can accommodate vehicles in the detection area;

[0082] Figure 5 This is a schematic diagram illustrating how the waiting area can accommodate vehicles in the detection area after adjusting the lane markings according to the first strategy of this embodiment of the invention.

[0083] Figure 6 This is a schematic diagram illustrating how the waiting area can accommodate vehicles in the detection area after adjusting the lane markings according to the second strategy of this embodiment of the invention.

[0084] Figure 7 This is a schematic diagram illustrating how the waiting area can accommodate vehicles in the detection area after adjusting the lane markings according to the third strategy of this invention.

[0085] Figure 8 This is a schematic diagram illustrating that the waiting area in an embodiment of the present invention cannot accommodate vehicles from the detection area. Detailed Implementation

[0086] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0087] Example 1

[0088] Combination Figure 1 As shown, this embodiment of the invention provides an intelligent traffic evacuation method based on vehicle-road cooperation, including the following steps:

[0089] S1. Divide the driving lane into a waiting area, a buffer zone, and a detection zone. Calculate the average speed and travel time of historical vehicles in the driving lane, and calculate the length of the waiting area, buffer zone, and detection zone.

[0090] like Figure 2 As shown, the driving lanes in the direction of travel are divided into waiting areas, buffer zones, and detection zones. Figure 2 Only three areas were shown in the video, which does not mean that... Figure 2 What is shown is the length of the three areas and the number of lanes in the driving lane.

[0091] A waiting area refers to an area where vehicles queue in an orderly manner when the traffic light turns red, indicating that vehicles in the corresponding lane are prohibited from passing. When the traffic light turns green, vehicles in this area can pass through smoothly and orderly.

[0092] The buffer zone refers to the area in the driving lane where a vehicle can change lanes after receiving information about lane marking adjustments.

[0093] The detection zone refers to the area where the number of vehicles in each lane, the speed of each vehicle, and the direction of travel of each vehicle are monitored and identified.

[0094] S2. Calculate the average distance of vehicles occupying historically, and calculate the number of vehicles that can be accommodated within the length of the waiting area based on the length of the waiting area and the average distance of vehicles occupying.

[0095] S3. Statistical analysis of the historical number of vehicles going straight, turning left, and turning right in the detection area;

[0096] S4. Compare the number of vehicles going straight, turning left, turning right, and the number of vehicles that can be accommodated within the length of the waiting area, and adjust the lane markings accordingly.

[0097] S5. Compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right, 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 through the green light.

[0098] By setting up waiting areas, buffer zones, and detection zones, the lane markings are dynamically adjusted in real time according to the number of vehicles in different lanes. This ensures that vehicles in different lanes can pass quickly, optimizes intersection traffic efficiency, alleviates traffic pressure, and reduces traffic congestion. It also makes full use of limited road resources and disperses traffic congestion. 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.

[0099] Example 2

[0100] Unlike Example 1, in this example, step S1, calculating the lengths of the waiting area, buffer area, and detection area, specifically includes:

[0101] The average speed of vehicles in the driving lanes during the historical time period Q is statistically analyzed. The set of average vehicle speeds in the driving lanes during the historical time period Q is {V1, V2, ..., V...}. Q}, calculate the average velocity:

[0102]

[0103] Among them, V 平 This indicates the average speed of vehicles in the driving lane.

[0104] The average speed of vehicles in a lane can be obtained by calculating the median, and the difference in average speed can be obtained by calculating the standard deviation. By analyzing the difference in average speed, the overall distribution and dispersion of the average speed of vehicles can be analyzed, and an ideal value can be obtained.

[0105] Assume the green light duration for the driving lane is T. 通 The red light waiting time for the driving lane is T. 等 Vehicles in the waiting area at T 通 If a green light allows all vehicles to pass through the driving lanes within a given time, then the length of the waiting area is:

[0106] N = V 平 T 通 ;

[0107] Vehicles in the inspection area change lanes in the buffer zone and enter the waiting area. The time for vehicles in the inspection area to change lanes in the buffer zone is set as T. 缓冲区 ,but:

[0108] T 缓冲区 =T 等 +C(T等 +T 通 ), C≥0

[0109] Where C is a constant greater than or equal to 0.

[0110] The buffer region length is:

[0111] M = V 平 T 缓冲区 =V 平 [T 等 +C(T 等 +T 通 )], C≥0;

[0112] The time it takes for a vehicle to pass through the inspection zone is equal to the green light time for the driving lane. Let's assume the time it takes for the vehicle to pass through the inspection zone is T. 检测区 Then T 检测区 =T 通 ;

[0113] Therefore, the length of the detection area is:

[0114] P = V 平 T 检测区 =V 平 T 通 =N

[0115] In step S2, the number of vehicles that can be accommodated within the length of the waiting area is calculated, specifically including:

[0116] like Figure 3 As shown, assuming 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:

[0117]

[0118] like Figure 3 As shown, assume the number of driving lanes is w, and the set of driving lanes is {W1, W2, ..., W...}. w The number of vehicles R that the waiting area can accommodate within its length is:

[0119] R = Ow

[0120] 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.

[0121] A straight-ahead marking indicates that a vehicle is going straight, and is represented by an upward arrow in the attached diagram; a left-turn marking indicates that a vehicle is turning left, and is represented by a left-pointing arrow in the attached diagram; a right-turn marking indicates that a vehicle is turning right, and is represented by a right-pointing arrow in the attached diagram; a mixed left-turn and straight-ahead marking indicates that a 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 diagram; a mixed right-turn and straight-ahead marking indicates that a 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 diagram.

[0122] In step S4, the lane marking adjustment strategy specifically includes:

[0123] Assume the number of left-turning vehicles in the detection zone is O. 左 The number of vehicles going straight is O 直 The number of vehicles turning right is O. 右 ;

[0124] when At that time, all vehicles in the testing area can be accommodated in the waiting area after they arrive at the waiting area;

[0125] The number of left-turn lane markings is:

[0126]

[0127] The number of right-turn lane markings is:

[0128]

[0129] The number of lane markings that are for straight-ahead traffic is:

[0130] w 直 =ww 左 -w 右 ;

[0131] in, This indicates rounding up, where w represents the number of lanes in the driving lane. 左 w represents the number of left-turn markings. 右 Indicates the number of right-turn markings, w 直 Indicates the number of straight lane markings;

[0132] Specifically, such as Figure 4 As shown, if there are 6 lanes, in this case, w 直 =ww 左 -w 右 =2.

[0133] In step S4, the lane marking adjustment strategy specifically includes:

[0134] when And O 左 +O 右 +O 直 When R ≤ R, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area;

[0135] At this time, if

[0136] The number of left-turn lane markings is:

[0137]

[0138] The number of right-turn lane markings is:

[0139]

[0140] Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w... 左混 This indicates that the mixed left-turn and straight-ahead marking is located to the right of the last left-turn marking.

[0141] The number of lane markings that are for straight-ahead traffic is:

[0142] w 直 =ww 左 -w 右 -w 左混 ;

[0143] At this time, instructions and O 直 A vehicle going straight entered the mixed lane marking for left turns and straight traffic.

[0144] Specifically, such as Figure 5 As shown, in this case, w 直 =ww 左 -w 右 -w 左混 =6-3-2-1=0.

[0145] like

[0146] The number of left-turn lane markings is:

[0147]

[0148] The number of right-turn lane markings is:

[0149]

[0150] Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w...左混 This indicates that one straight-ahead lane has been changed to a mixed right-turn and straight-ahead lane, indicated by the letter "w". 右混 This indicates 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.

[0151] The number of lane markings that are for straight-ahead traffic is:

[0152] w 直 =ww 左 -w 右 -w 左混 -w 右混 ;

[0153] At this time, instructions A vehicle going straight enters a lane marked for both left turns and straight traffic, indicating... A vehicle going straight entered a lane marked for both right turns and straight traffic.

[0154] Specifically, such as 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.

[0155] like

[0156] The number of left-turn lane markings is:

[0157]

[0158] The number of right-turn lane markings is:

[0159]

[0160] Adjust one of the left-turn markings to a mixed left-turn and straight-ahead marking, using the w... 左混 ' indicates that one right-turn marking has been changed to a mixed right-turn and straight-ahead marking, indicated by the 'w' symbol. 右混 This indicates that the mixed left-turn and straight-ahead marking is located to the right of the last left-turn marking, and the mixed right-turn and straight-ahead marking is located to the left of the last right-turn marking.

[0161] The number of lane markings that are for straight-ahead traffic is:

[0162]

[0163] At this time, instructions A vehicle going straight enters a lane marked for both left turns and straight traffic, indicating... A vehicle going straight enters a lane marked for both right turns and straight traffic, indicating... A vehicle traveling straight should enter the lane marked for straight travel.

[0164] Specifically, such as Figure 7 As shown, in this case,

[0165] in, This indicates rounding down to the nearest integer.

[0166] In step S5,

[0167] By comparing the number of vehicles going straight, turning left, turning right, and the number of vehicles that the waiting area can accommodate, it is determined whether all vehicles in the waiting area can pass through the green light.

[0168] when At that time, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area, and all vehicles in the inspection area can pass through the green light within the green light time.

[0169] when And O 左 +O 右 +O 直 When R ≤ R, after the adjustment strategy in step S4, all vehicles in the detection area can pass through the green light within the green light time after arriving in the waiting area.

[0170] when And O 左 +O 右 +O 直 When the number of vehicles in the detection area exceeds the number of vehicles that the waiting area can accommodate, specifically, the excess is O. 左 +O 右 +O 直 -R, any excess will be buffered and allowed to pass during the next green light period, such as... Figure 8 As shown, if the number of vehicles in the detection zone exceeds the number of vehicles that the waiting area can accommodate, the excess vehicles will wait in the buffer zone for the next green light to pass.

[0171] Example 3

[0172] Embodiments of the present invention also provide a system for intelligent traffic evacuation using the vehicle-road cooperative intelligent traffic evacuation method as described above, characterized in that it includes a roadside perception module, a vehicle-road cooperative platform, and an execution module;

[0173] The roadside perception module is used to count the average speed and travel time of vehicles in the driving lane, the average distance occupied by vehicles, the number of straight-going vehicles, left-turning vehicles and right-turning vehicles in the detection area, and transmit the statistical information to the vehicle-road cooperative platform.

[0174] The vehicle-road cooperative platform is used to calculate the length of the waiting area, buffer zone, and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right with the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light passage time adjustment instructions to the execution module, and send lane marking adjustment and green light passage time adjustment information to the vehicles.

[0175] The execution module is used to receive instructions from the vehicle-road cooperative platform and adjust the lane markings and green light duration.

[0176] Specifically, the roadside perception module includes sensors (such as radar, cameras, RFID, infrared sensors, etc.) installed along the road to capture and identify vehicle information on the road in real time, such as distance, speed, and position. The roadside perception module can use existing vehicle detection technologies to obtain the number of lanes, average vehicle speed, travel time, and average distance occupied by vehicles in the detection area, buffer zone, and waiting area, and locate the location and area of ​​vehicles. It can also obtain the target driving direction of each vehicle at the traffic intersection through the onboard or in-vehicle navigation terminal carried by the passenger.

[0177] The vehicle-road cooperative platform can utilize existing AI roadside perception edge computing terminals and V2X vehicle-road cooperative communication terminals. It can exchange information with vehicles using wireless communication technology, collecting data such as vehicle destinations and planned routes. Combined with information from roadside perception devices, it enables intelligent collaboration between vehicles and road infrastructure. The data received by the vehicle-road cooperative platform is processed and analyzed in real time through a data processing and analysis center, providing decision support for traffic management and optimization. The platform can calculate lane marking adjustment strategies and traffic light adjustment strategies, analyze overall lane planning schemes, and send them to the execution module and navigation terminals carried by vehicles or their occupants.

[0178] Similarly, vehicle-road cooperative platforms can be used to coordinate and control multiple intersections, ensuring smooth traffic flow between different intersections. This can be achieved by setting green waves and coordinating phase differences, reducing waiting time between intersections. In areas with severe tidal flow phenomena, tidal lanes can be set up, dynamically adjusting lanes according to changes in traffic flow.

[0179] The above description is merely an embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the scope of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart traffic evacuation method based on vehicle-road cooperation, characterized in that, Includes the following steps: S1. Divide the driving lane into a waiting area, a buffer zone, and a detection zone. Calculate the average speed and travel time of historical vehicles in the driving lane, and calculate the length of the waiting area, buffer zone, and detection zone. In step S1, the lengths of the waiting area, buffer area, and detection area are calculated, specifically including: The average speed of vehicles in the driving lanes during the historical time period Q is statistically analyzed. The set of average vehicle speeds in the driving lanes during the historical time period Q is {V1, V2, ..., V...}. Q }, calculate the average velocity: Among them, V 平 This indicates the average speed of vehicles in the driving lane. Assume the green light duration for the driving lane is T. 通 The red light waiting time for the driving lane is T. 等 Vehicles in the waiting area at T 通 If a green light allows all vehicles to pass through the traffic lanes within a given time, then the length N of the waiting area is: N=V 平 T 通 ; Vehicles in the inspection area change lanes in the buffer zone and enter the waiting area. The time for vehicles in the inspection area to change lanes in the buffer zone is set as 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 buffer region length M 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 inspection zone is equal to the green light time for the driving lane. Let's assume the time it takes for the vehicle to pass through the inspection zone is T. 检测区 Then T 检测区 =T 通 ; Therefore, the length P of the detection region is: P=V 平 T 检测区 =V 平 T 通 =N; S2. Calculate the average distance of vehicles occupying historically, and calculate the number of vehicles that can be accommodated within the length of the waiting area based on the length of the waiting area and the average distance of vehicles occupying. S3. Statistical analysis of the historical number of vehicles going straight, turning left, and turning right in the detection area; S4. Compare the number of vehicles going straight, turning left, turning right, and the number of vehicles that can be accommodated within the length of the waiting area, and adjust the lane markings accordingly. S5. Compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right, 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 through the green light.

2. The intelligent traffic evacuation method based on vehicle-road cooperation according to claim 1, 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 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 the number of driving lanes is w, and the set of driving lanes is {W1, W2, ..., W...} w The number of vehicles R that the waiting area can accommodate within its length is: R = Ow.

3. The intelligent traffic evacuation method based on vehicle-road cooperation according to claim 2, 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 indicate that vehicles should go straight; left turn markings indicate that vehicles should turn left; right turn markings indicate that vehicles should turn right; mixed left turn and straight ahead markings indicate that vehicles should either turn left or go straight; and mixed right turn and straight ahead markings indicate that vehicles should either turn right or go straight.

4. The intelligent traffic evacuation method based on vehicle-road cooperation according to claim 3, characterized in that, In step S4, the lane marking adjustment strategy specifically includes: Assume the number of left-turning vehicles in the detection zone is O. 左 The number of vehicles going straight is O 直 The number of vehicles turning right is O. 右 ; when At that time, all vehicles in the testing area can be accommodated in the waiting area after they arrive at the waiting area; The number of left-turn lane markings is: The number of right-turn lane markings is: The number of lane markings that are for straight-ahead traffic is: In 直 =ww 左 -In 右 ; in, This indicates rounding up, where w represents the number of lanes in the driving lane. 左 w represents the number of left-turn markings. 右 Indicates the number of right-turn markings, w 直 Indicates the number of straight lane markings.

5. The intelligent traffic evacuation method based on vehicle-road cooperation according to claim 4, characterized in that, In step S4, the lane marking adjustment strategy specifically includes: when And O 左 +O 右 +O 直 When R ≤ R, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area; At this time, if The number of left-turn lane markings is: The number of right-turn lane markings is: Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w... 左混 This indicates that the number of lane markings that are for straight-ahead traffic is: In 直 =ww 左 -In 右 -In 左混 ; like The number of left-turn lane markings is: The number of right-turn lane markings is: Adjust one of the straight-ahead markings to a mixed left-turn and straight-ahead marking, using the w... 左混 This indicates that one straight-ahead lane has been changed to a mixed right-turn and straight-ahead lane, indicated by the letter "w". 右混 This indicates that the number of lane markings that are for straight-ahead traffic is: In 直 =ww 左 -In 右 -In 左混 -In 右混 ; like The number of left-turn lane markings is: The number of right-turn lane markings is: The number of lane markings that are for straight-ahead traffic is: in, This indicates rounding down to the nearest integer.

6. The intelligent traffic evacuation method based on vehicle-road cooperation according to claim 5, characterized in that, In step S5, By comparing the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right, and the number of vehicles that the waiting area can accommodate, it is determined whether all vehicles in the waiting area can pass through the green light. when At that time, all vehicles in the inspection area can be accommodated in the waiting area after they arrive at the waiting area, and all vehicles in the inspection area can pass through the green light within the green light time. when And O 左 +O 右 +O 直 When R ≤ R, after the adjustment strategy in step S4, all vehicles in the detection area can pass through the green light within the green light time after arriving in the waiting area. when And O 左 +O 右 +O 直 When the number of vehicles in the detection zone exceeds the number of vehicles that the waiting area can accommodate, the excess vehicles will wait in the buffer zone for the next green light to pass.

7. An intelligent evacuation traffic system based on vehicle-road cooperation, characterized in that, The intelligent traffic evacuation method based on vehicle-road cooperation as described in any one of claims 1-6 is used for intelligent traffic evacuation, including a roadside perception module, a vehicle-road cooperation platform, and an execution module. The roadside perception module is used to collect statistics on the average speed and travel time of vehicles in the driving lane, the average distance occupied by vehicles, the number of vehicles going straight, turning left, and turning right in the detection area, and transmit the collected information to the vehicle-road cooperative platform. The vehicle-road cooperative platform is used to calculate the length of the waiting area, buffer zone, and detection area, the number of vehicles that can be accommodated within the length of the waiting area, compare the number of vehicles going straight, the number of vehicles turning left, the number of vehicles turning right with the number of vehicles that can be accommodated within the length of the waiting area, send lane marking adjustment instructions and green light passage time adjustment instructions to the execution module, and send lane marking adjustment and green light passage time adjustment information to the vehicles. The execution module is used to receive instructions from the vehicle-road cooperative platform and adjust the lane markings and green light time.

Images