Multi-request passing intersection control method for vehicles with priority right of way in network connection environment

Abstract

The invention relates to a multi-request passing intersection control method for vehicles with priority of road right in a network connection environment, and the method comprises the following steps: 1, collecting the operation information of all PRVs in an intersection range and vehicles in front of the PRVs, and dividing the priorities of the PRVs; step 2, judging a conflict relation between PRVs passing phases; step 3, determining a release strategy requested by PRVs with different priorities at the same time; and 4, determining a release strategy requested by the PRVs with the same priority at the same time. The problem of inaccurate prediction of the arrival time of the vehicle is solved through the network connection technology, and the reliability of priority traffic control is improved; requests between PRVs with the same priority are responded on the basis of lanes, delay of priority vehicles can be reduced, waiting time of social vehicles caused by signal interference can be effectively shortened, overall traffic mobility is improved, and the method is suitable for whole-network-connected road traffic environments including manual driving vehicles and automatic driving vehicles and has very wide application prospects.

Description

Technical Field

[0001] The present invention belongs to the field of traffic engineering and provides an intersection control method for multi-request passage of vehicles with priority right of way in a networked environment. Background Art

[0002] Priority Right-of-way Vehicle (PRV) refers to a vehicle that performs a specific task or responds to relevant national policies and has a higher right to use road space and time resources than other vehicles within a certain period of time. It includes emergency vehicles such as rescue, disaster prevention, medical, military, and police, and public transportation such as BRT and tram. In traditional traffic environments, vehicle multi-priority traffic request control mostly adopts bus priority strategies, such as extending green lights, turning off red lights early, and inserting dedicated phases. However, there are the following problems: (1) It is difficult to predict the time when vehicles arrive at intersections, and the reliability of providing priority service cannot be guaranteed; (2) The effect of the first-come, first-served strategy is worse than not providing priority; (3) The conflict caused by releasing PRVs of the same priority at different phases will increase the burden on the intersection.

[0003] Research shows that traffic signal priority for connected vehicles can significantly improve the fluidity and safety of the traffic system. In view of this, the present invention intends to: (1) solve the problem of inaccurate prediction of vehicle arrival time through connected technology (V2X) and improve the reliability of priority control; (2) respond to requests between PRVs with the same priority based on lanes, which can not only reduce PRV delays, but also effectively reduce the waiting time of social vehicles caused by signal interference, improve the overall traffic fluidity, and reduce the burden on intersections. Summary of the invention

[0004] In order to solve the above problems, the present invention proposes a method for controlling multiple intersections with priority right-of-way vehicles in a networked environment.

[0005] The present invention relates to a method for controlling a multi-request intersection for vehicles with priority right of way in a networked environment, comprising the following steps:

[0006] Step 1: Collect the operation information of all PRVs and the vehicles ahead of them within the intersection, and prioritize the PRVs;

[0007] Step 2: Determine the conflict relationship between the PRVs passing phases;

[0008] Step 3: Determine the release strategy for simultaneous requests from PRVs of different priorities;

[0009] Step 4: Determine the release strategy for simultaneous requests from PRVs with the same priority level.

[0010] Furthermore, in step 1, V2X technology is used to collect the operation information of all PRVs and the vehicles in front of them within the intersection, including position, speed, acceleration, PRV type, etc. All PRVs are prioritized according to PRV type and real-time dynamic information. Priority is evaluated based on factors such as vehicle type, request time, relative position, etc., and a priority score S is determined. i The model is as follows:

[0011] S i =w1T i +w2R i +w3P i

[0012] Where w1, w2, and w3 are the weight coefficients of vehicle type, request time, and relative position, respectively; T i is the basic priority of the vehicle type; R i is the relative score of the vehicle request time, which is assigned in ascending order of time; P i It is the score of the relative position of the vehicle. The closer the distance to the intersection, the higher the score.

[0013] Furthermore, in step 2, there may be conflicts between the traffic phases requested by multiple PRVs, and judging these conflicting relationships is crucial to determining the traffic strategy for intersection signal control. Figure 2 Taking the intersection shown in the figure as an example, Table 1 shows the conflict relationship between the PRV traffic phases.

[0014] Table 1 Conflict relationship of PRV traffic phase

[0015]

[0016] You can use 0-1 variables To represent the conflict between phases, the phase order is constrained as follows:

[0017]

[0018] μ(j,ph j )+μ(ph j ,j)=1

[0019] Where, j is the passing phase; ph j is the phase that may conflict with phase j; PH j is the conflicting phase set of phase j. Phase ph j does not conflict with phase j; otherwise, the two conflict. j )=1 means the next phase after phase j ends is ph j ; Otherwise, the next phase after phase j ends is not ph j .

[0020] Furthermore, in step three, the release strategies for PRVs with different priorities requesting passage at the same time are divided into two cases: one is same-phase release, that is, multiple PRVs with different priorities are released at the same time in the same signal phase, using strategies such as early red light breaking, green light extension, and insertion of dedicated phases; the other is different-phase release, that is, releasing vehicles in different signal phases in turn according to their priorities to ensure that high-priority vehicles can have priority passage in their designated phases, thereby optimizing overall traffic flow and safety.

[0021] For different phase release strategies, further analysis is required. (1) Determine whether there are PRVs that can pass first in the current phase. If so, give priority to these PRVs. (2) If there are no PRVs that can pass first in the current phase, classify the PRVs passing phases. (3) Based on the priority scores obtained in step 1, take the highest score in each type of PRV passing phase, and then adjust the phase sequence from high to low.

[0022] S phi =max(S1,S2,L,S i )

[0023] phase PRVs = sort(S ph1 ,S ph2 ,L,S phi )

[0024] In the formula, S phi Score the highest PRV priority in each PRV pass phase; phase PRVs The phase sequence is sorted from high to low according to the score.

[0025] Furthermore, in step 4, similarly, the release strategy for PRVs with the same priority requesting passage at the same time is also divided into two cases: one is same-phase release, that is, multiple PRVs with the same priority are released at the same time in the same signal phase, using strategies such as early red light off, green light extension, and insertion of dedicated phases; the other is different-phase release, that is, multiple PRVs with the same priority are released in different signal phases. The specific strategies are as follows:

[0026] (1) If there are PRVs that can pass first in the current phase, these PRVs will be given priority.

[0027] (2) If there is no PRV priority in the current phase, the PRV passing phases are classified according to Table 1. When there is no conflict between all PRV passing phases, the phases are combined and sorted based on the lane group, such as Figure 2As shown in the figure; when all PRV traffic phases conflict with each other, a conflict area is established based on the lanes, and a priority traffic strategy for unsignalized intersections is adopted; when all PRV traffic phases have both conflicting parts and non-conflicting parts, the lane group with the largest number of PRVs and non-conflicting traffic phases is given priority, and then all remaining conflicting PRVs are released.

[0028] Assume that the travel phases of PRVs are m, n, and m≠n. Release the m and n lane groups at the same time; if n∈PH m , based on the lane where the PRVs are located, a conflict area is established inside the intersection, and the PRVs and the vehicles in front of them are induced or manipulated to pass through the conflict area in sequence, as follows: Figure 3 shown.

[0029] If the conflicting PRV forms a convoy with the vehicle in front at time t0, and the cross When driving through the intersection, the time interval for the conflicting PRV convoy to arrive at the kth conflict zone is:

[0030] t s,k =[x prv,k (t0)-q(d v +d s )] / v cross

[0031] t e,k =[x prv,k (t0)+β·l+d s +d PRV ] / v cross +t s,k

[0032] I prv,k =[t s,k ,t e,k ]

[0033] Where β is the number of lanes in the lane group where the conflicting PRV is located; l is the lane width (m); x prv,k (t0) is the distance (s) between the conflicting PRV and the upper boundary of the kth conflict zone at time t0; q is the number of vehicles in front of the conflicting PRV; d v d s d PRV is the length of ordinary vehicle, safety distance, and PRV length (m); v cross is the speed limit at the intersection (m / s); I prv,k is the time interval (s) that the conflicting PRV passes through the kth conflicting area; t s,k ,t e,k It is the time when the conflict PRV reaches the upper and lower boundaries of the conflict area.

[0034] For staggered traffic, the time when the leading vehicle in each lane of the conflicting lane group closer to the conflicting PRV arrives at the upper boundary of the conflicting area should be later than t e,k , the longest convoy in the conflict lane group far from the PRV should leave the lower boundary of the conflict zone earlier than t s,k , the time when the vehicles in the conflicting lane group far from the PRV and not in the queue arrive at the upper boundary of the conflict area should be later than t e,k ,Right now:

[0035] t u +x0 / v0>t e,k

[0036] x z =max(x1,x2,L,x α )

[0037] t u +(x z +β·l+d z +d s ) / v z <t s,k

[0038] t u +(x z+1 -d s ) / v z+1 >t e,k

[0039] In the formula, t u is the green light opening time of lane group u (s); x0 is the distance between the head vehicle of each lane in the conflicting lane group closer to the conflicting PRV and the upper boundary of the conflicting area (m); v0 is the speed of the convoy in the conflicting lane group closer to the conflicting PRV (m / s); α is the distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the lower boundary of the conflict zone; x z is the maximum distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the upper boundary of the conflicting area; d z is the maximum queue length (m) in the conflicting lane group far from the PRV; v z is the speed of the convoy in the conflicting lane group far from the PRV (m / s); x z+1 v is the distance (m) from the upper boundary of the conflict zone to the vehicle behind the longest queue in the conflict lane group far from the PRV; z+1 It is the speed (m / s) of the vehicle behind the longest queue in the conflicting lane group far from the PRV.

[0040] Manipulate CAVs or induce CHVs to travel at the corresponding speed, and calculate v0, v z 、v z+1The maximum / minimum value of

[0041] Beneficial Effects

[0042] The present invention provides a method for controlling multiple requests for priority right-of-way vehicles at intersections in a networked environment. The method solves the problem of inaccurate prediction of vehicle arrival time through networked technology (V2X) and improves the reliability of priority traffic control. At the same time, based on lane responses to requests between PRVs with the same priority level, it can not only reduce the delay of priority vehicles, but also effectively reduce the waiting time of social vehicles due to signal interference, and improve the overall traffic efficiency of the intersection by more than 8%. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Flow chart for implementing the present invention

[0044] Figure 2 Schematic diagram of the PRV multi-request combined phase traffic intersection of the present invention

[0045] Figure 3 Schematic diagram of the PRV multiple request conflict area interspersed through the intersection of the present invention DETAILED DESCRIPTION

[0046] The following combination Figure 1 , Figure 2 , Figure 3 The embodiments of the present invention will be described in detail.

[0047] The present invention provides a method for controlling multiple intersections with priority right-of-way vehicles under a networked environment, and the process is summarized as follows:

[0048] First, the operation information of all PRVs and the vehicles in front of them within the intersection is collected, including position, speed, acceleration, type of PRV, etc., and the priority of PRVs is divided based on the priority scoring S model.

[0049] Then, the conflict relationship between the PRVs passing phases is determined.

[0050] Secondly, determine the release strategy for simultaneous requests from PRVs of different priorities.

[0051] Finally, the release strategy for simultaneous requests from PRVs with the same priority level is determined.

[0052] The above-mentioned method for controlling multiple intersections with priority right-of-way vehicles in a networked environment, and the optimization process are shown in Figure 1 , the optimization steps are as follows:

[0053] Step 1: Collect the operation information of all PRVs and the vehicles in front of them within the intersection, and prioritize the PRVs

[0054] V2X technology is used to collect the operation information of all PRVs and the vehicles in front of them within the intersection, including location, speed, acceleration, PRV type, etc. All PRVs are prioritized according to PRV type and real-time dynamic information. Priority is evaluated based on factors such as vehicle type, request time, relative position, etc., and a priority score S is determined. i The model is as follows:

[0055] S i =w1T i +w2R i +w3P i

[0056] Where w1, w2, and w3 are the weight coefficients of vehicle type, request time, and relative position, respectively; T i is the basic priority of the vehicle type; R i is the relative score of the vehicle request time, which is assigned in ascending order of time; P i It is the score of the relative position of the vehicle. The closer the distance to the intersection, the higher the score.

[0057] Assume that there are four vehicles with priority right of way requesting to pass within the intersection, and the dynamic information of these vehicles obtained through V2X is as follows:

[0058] PRV 1: The ambulance on duty is 50 meters away from the intersection, the speed is 40 km / h, and the request time is 10:05:15.

[0059] PRV 2: Fire truck on duty, 100 meters away from the intersection, speed 60km / h, request time 10:05:10.

[0060] PRV 3: The police car on duty is 30 meters away from the intersection, the speed is 30 km / h, and the request time is 10:05:18.

[0061] PRV 4: Other emergency vehicle, 70 meters from the intersection, speed 50 km / h, request time is 10:05:12.

[0062] The priority results evaluated based on factors such as vehicle type, request time, relative position, etc. are shown in Table 1:

[0063] Table 1 Priority evaluation results

[0064]

[0065] If the weight coefficients w1 = 0.5, w2 = 0.3, w3 = 0.2, according to formula (1) and the above table, S1 = 3.5, S2 = 2.9, S3 = 2.4, S4 = 1.2.

[0066] Step 2: Determine the conflict relationship between the PRVs passing phases

[0067] There may be conflicts between the traffic phases requested by multiple PRVs, and judging these conflict relationships is crucial to determining the traffic strategy for intersection signal control. Figure 2 Taking the intersection shown in the figure as an example, Table 2 shows the conflict relationship between the PRV traffic phases.

[0068] Table 2 Conflict relationship of PRV traffic phase

[0069]

[0070] You can use 0-1 variables To represent the conflict between phases, the phase order is constrained as follows:

[0071]

[0072] μ(j,ph j )+μ(ph j ,j)=1

[0073] Where, j is the passing phase; ph j is the phase that may conflict with phase j; PH j is the conflicting phase set of phase j. Phase ph j does not conflict with phase j; otherwise, the two conflict. j )=1 means the next phase after phase j ends is ph j ; Otherwise, the next phase after phase j ends is not ph j .

[0074] Assume that the phases of the previous four PRVs requesting passage are as follows, and according to the passage phase conflict information provided in Table 2, determine the conflict relationship between the phases:

[0075] PRV 1: Requesting the passing phase ph1 (going straight from east to west), the conflicting phase set is ph3, ph6, ph7, ph8;

[0076] PRV 2: Requesting the passing phase ph3 (going straight from south to north), the conflicting phase set is ph1, ph2, ph5, ph8;

[0077] PRV 3: Requesting the passing phase ph5 (going straight from west to east), the conflicting phase set is ph2, ph3, ph4, ph7;

[0078] PRV 4: Requesting the passing phase ph5 (straight from west to east), the conflicting phase set is ph2, ph3, ph4, ph7.

[0079] Step 3: Determine the release strategy for simultaneous requests from PRVs of different priorities

[0080] There are two types of release strategies for PRVs with different priorities requesting passage at the same time: one is same-phase release, that is, multiple PRVs with different priorities are released at the same time in the same signal phase, using strategies such as early red light breaking, green light extension, and insertion of special phases; the other is different-phase release, that is, releasing vehicles in different signal phases in sequence according to their priorities, to ensure that high-priority vehicles can have priority passage in their designated phases, thereby optimizing overall traffic flow and safety.

[0081] For different phase release strategies, further analysis is required. (1) Determine whether there are PRVs that can pass first in the current phase. If so, give priority to these PRVs. (2) If there are no PRVs that can pass first in the current phase, classify the PRVs passing phases. (3) Based on the priority scores obtained in step 1, take the highest score in each type of PRV passing phase, and then adjust the phase sequence from high to low.

[0082] S phi =max(S1,S2,L,S i )

[0083] phase PRVs = sort(S ph1 ,S ph2 ,L,S phi )

[0084] In the formula, S phi Score the highest PRV priority in each PRV pass phase; phase PRVs The phase sequence is sorted from high to low according to the score.

[0085] Assume that the current phase is ph2 or ph6, and use the priority score and traffic phase data in steps 1 and 2.

[0086] First, determine whether there is PRV priority passage in the current phase: there is no PRV priority request in the current phase.

[0087] Next, the passing phases of other PRVs are classified: phase ph1 is PRV 1 (score S1 = 3.5), phase ph3 is PRV 2 (score S2 = 2.9), phase ph5 is PRV 3 (score S3 = 2.4) and PRV 4 (score S4 = 1.2)

[0088] Then, the highest priority vehicle in each PRV category is selected based on the priority score: the highest priority score in ph1 is PRV 1 (3.5 points); the highest priority score in ph3 is PRV 2 (2.9 points); and the highest priority score in ph5 is PRV 3 (2.4 points).

[0089] Finally, determine the release order and adjust the phases in sequence: based on the priority score of 3.5>2.9>2.4, adjust the phase sequence from high to low, that is, release ph1 and ph5 after the current ph2 and ph6 are completed, and then release ph3 and ph7 to ensure that high-priority vehicles pass first.

[0090] Step 4: Determine the release strategy for simultaneous requests from PRVs with the same priority level

[0091] Similarly, the release strategy for PRVs with the same priority requesting passage at the same time is also divided into two cases: one is the same phase release, that is, multiple PRVs with the same priority are released at the same time in the same signal phase, using strategies such as early red light off, green light extension and insertion of special phases; the other is different phase release, that is, multiple PRVs with the same priority are released in different signal phases. The specific strategies are as follows:

[0092] (1) If there are PRVs that can pass first in the current phase, these PRVs will be given priority.

[0093] (2) If there is no PRV priority in the current phase, the PRV passing phases are classified according to Table 2. When there is no conflict between all PRV passing phases, the phases are combined and sorted based on the lane group, such as Figure 2 As shown in the figure; when all PRV traffic phases conflict with each other, a conflict area is established based on the lanes, and a priority traffic strategy for unsignalized intersections is adopted; when all PRV traffic phases have both conflicting parts and non-conflicting parts, the lane group with the largest number of PRVs and non-conflicting traffic phases is given priority, and then all remaining conflicting PRVs are released.

[0094] Assume that the travel phases of PRVs are m, n, and m≠n. Release the m and n lane groups at the same time; if n∈PH m , based on the lane where the PRVs are located, a conflict area is established inside the intersection, and the PRVs and the vehicles in front of them are induced or manipulated to pass through the conflict area in sequence, as follows: Figure 3 shown.

[0095] If the conflicting PRV forms a convoy with the vehicle in front at time t0, and the cross When driving through the intersection, the time interval for the conflicting PRV convoy to arrive at the kth conflict zone is:

[0096] t s,k =[xprv,k (t0)-q(d v +d s )] / v cross

[0097] t e,k =[x prv,k (t0)+β·l+d s +d PRV ] / v cross +t s,k

[0098] I prv,k =[t s,k ,t e,k ]

[0099] Where β is the number of lanes in the lane group where the conflicting PRV is located; l is the lane width (m); x prv,k (t0) is the distance (s) between the conflicting PRV and the upper boundary of the kth conflict zone at time t0; q is the number of vehicles in front of the conflicting PRV; d v ,d s ,d PRV is the length of ordinary vehicle, safety distance, and PRV length (m); v cross is the speed limit at the intersection (m / s); I prv,k is the time interval (s) that the conflicting PRV passes through the kth conflicting area; t s,k ,t e,k It is the time when the conflict PRV reaches the upper and lower boundaries of the conflict area.

[0100] For staggered traffic, the time when the leading vehicle in each lane of the conflicting lane group closer to the conflicting PRV arrives at the upper boundary of the conflicting area should be later than t e,k , the longest convoy in the conflict lane group far from the PRV should leave the lower boundary of the conflict zone earlier than t s,k , the time when the vehicles in the conflicting lane group far from the PRV and not in the queue arrive at the upper boundary of the conflict area should be later than t e,k ,Right now:

[0101] t u +x0 / v0>t e,k

[0102] x z =max(x1,x2,L,x α )

[0103] t u +(x z +β·l+d z +d s ) / v z <t s,k

[0104] t u +(x z+1 -d s ) / v z+1 >t e,k

[0105] In the formula, t u is the green light opening time of lane group u (s); x0 is the distance between the head vehicle of each lane in the conflicting lane group closer to the conflicting PRV and the upper boundary of the conflicting area (m); v0 is the speed of the convoy in the conflicting lane group closer to the conflicting PRV (m / s); α is the distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the lower boundary of the conflict zone; x z is the maximum distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the upper boundary of the conflicting area; d z is the maximum queue length (m) in the conflicting lane group far from the PRV; v z is the speed of the convoy in the conflicting lane group far from the PRV (m / s); x z+1 v is the distance (m) from the upper boundary of the conflict zone to the vehicle behind the longest queue in the conflict lane group far from the PRV; z+1 It is the speed (m / s) of the vehicle behind the longest queue in the conflicting lane group far from the PRV.

[0106] Manipulate CAVs or induce CHVs to travel at the corresponding speed, and calculate v0, v z 、v z+1 The maximum / minimum value of

[0107] Assume that the four PRVs in steps 1 and 2 have the same priority, and the current release phases are ph2 and ph6. The values ​​of other parameters are shown in Table 3. Based on the traffic data of these four PRVs, it can be seen that no PRV requests priority passage in the current phase. In addition, PRV 1, PRV 3, and PRV 4 belong to the same priority passage phase, while the passage phase of PRV 2 conflicts with the other PRVs.

[0108] Table 3 Parameter values ​​in the model

[0109]

[0110] Therefore, the second strategy in (2) is met: when all PRV traffic phases conflict with each other, a non-signalized intersection priority strategy is adopted based on the lane-based conflict area.

[0111] If the conflicting PRV 2 forms a convoy with the vehicle in front at t0 = 0s, and the cross= 11.11 m / s when driving through the intersection, the time interval for reaching the first and second conflict zones is: t s,1 =3.87s, t e,1 =9.82s, t s,2 =5.67s, t e,2 =12.47s. Therefore, the time interval of the first conflict zone is: I prv,1 =[t s,1 ,t e,1 ]=[3.81s,9.82s], the time interval of the second conflict zone is: I prv,2 =[t s,2 ,t e,2 ]=[5.67s,12.47s].

[0112] Calculate x z =29m, v0 <x0 / (t e,1 -t u )=4.48m / s、v z >(x z +β·l+d z +d s ) / (t s,2 -t u )=14.85m / s、v z+1 <(x z+1 -d s ) / (t e,2 -t u )=4.1m / s, and manipulate CAVs or induce CHVs to travel at this restricted speed.

[0113] The above contents of the present invention are only preferred implementation cases of the present invention and are not intended to limit the implementation scheme of the present invention. Ordinary technicians in the field can easily make corresponding changes or modifications based on the main concept and spirit of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope required by the claims.

Claims

1. A method for controlling multiple intersections with priority right-of-way vehicles in a networked environment, characterized in that: The steps include: Step 1: Collect the operation information of all PRVs and the vehicles ahead of them within the intersection, and prioritize the PRVs; Step 2: Determine the conflict relationship between the PRVs passing phases; Step 3: Determine the release strategy for simultaneous requests from PRVs of different priorities; Step 4: Determine the release strategy for simultaneous requests from PRVs with the same priority level.

2. According to claim 1, a method for controlling multiple intersections with priority right-of-way vehicles in a networked environment, characterized in that: In step 1, V2X technology is used to collect the operating information of all PRVs and the vehicles in front of them within the intersection, including position, speed, acceleration, PRV type, etc. All PRVs are prioritized based on PRV type and real-time dynamic information. Priority is evaluated based on factors such as vehicle type, request time, relative location, etc., and a priority score S is determined. i The model is as follows: S i =w1T i +w2R i +w3P i Where w1, w2, and w3 are the weight coefficients of vehicle type, request time, and relative position, respectively; T i is the basic priority of the vehicle type; R i is the relative score of the vehicle request time, which is assigned in ascending order of time; P i It is the score of the relative position of the vehicle. The closer the distance to the intersection, the higher the score.

3. The method for controlling multiple intersections with priority right-of-way vehicles in a networked environment according to claim 1, characterized in that: In step 2, there may be conflicts between the traffic phases requested by multiple PRVs. Judging these conflict relationships is crucial to determining the traffic strategy for intersection signal control. Taking the intersection shown in Figure 2 as an example, Table 1 shows the conflict relationships between the traffic phases of PRVs. Table 1 Conflict relationship of PRV traffic phase You can use 0-1 variables To represent the conflict between phases, the phase order is constrained as follows: μ(j,ph j )+μ(ph j ,j)=1 Where, j is the passing phase; ph j is the phase that may conflict with phase j; PH j is the conflicting phase set of phase j. Phase ph j does not conflict with phase j; otherwise, the two conflict. j )=1 means the next phase after phase j ends is ph j ; Otherwise, the next phase after phase j ends is not ph j .

4. The method for controlling multiple intersections with priority right-of-way vehicles in a networked environment according to claim 1, characterized in that: In step three, the release strategies for PRVs with different priorities requesting passage at the same time are divided into two cases: one is same-phase release, that is, multiple PRVs with different priorities are released at the same time in the same signal phase, using strategies such as early red light breaking, green light extension, and insertion of special phases; the other is different-phase release, that is, releasing vehicles in different signal phases in sequence according to their priorities, to ensure that high-priority vehicles can have priority passage in their designated phases, thereby optimizing overall traffic flow and safety. For different phase release strategies, further analysis is required. (1) Determine whether there are PRVs that can pass first in the current phase. If so, give priority to these PRVs. (2) If there are no PRVs that can pass first in the current phase, classify the PRVs passing phases. (3) Based on the priority scores obtained in step 1, take the highest score in each type of PRV passing phase, and then adjust the phase sequence from high to low. S phi =max(S1,S2,L,S i ) phase PRVs =sort(S ph1 ,S ph2 ,L,S phi ) In the formula, S phi Score the highest PRV priority in each PRV pass phase; phase PRVs The phase sequence is sorted from high to low according to the score.

5. The method for controlling multiple intersections with priority right-of-way vehicles in a networked environment according to claim 1, characterized in that: In step 4, similarly, the release strategies for PRVs with the same priority requesting passage at the same time are also divided into two cases: one is same-phase release, that is, multiple PRVs with the same priority are released at the same time in the same signal phase, using strategies such as early red light off, green light extension, and insertion of dedicated phases; the other is different-phase release, that is, multiple PRVs with the same priority are released in different signal phases. The specific strategies are as follows: (1) If there are PRVs that can pass first in the current phase, these PRVs will be given priority. (2) If there is no PRV priority in the current phase, the PRV phases are classified according to Table 1. When there is no conflict between all PRV phases, the phases are combined and sorted based on the lane group, as shown in Figure 2; when all PRV phases conflict with each other, a conflict area is established based on the lane, and a priority strategy for unsignalized intersections is adopted; when all PRV phases have both conflicting and non-conflicting parts, the lane group with the largest number of PRVs with non-conflicting phases is given priority, and then all remaining conflicting PRVs are released. Assume that the travel phases of PRVs are m, n, and m≠n. Release the m and n lane groups at the same time; if n∈PH m , a conflict area is established inside the intersection based on the lane where the PRVs are located, and the PRVs and the vehicles in front of them are induced or manipulated to pass through the conflict area in sequence, as shown in Figure 3. If the conflicting PRV forms a convoy with the vehicle in front at time t0, and the cross When driving through the intersection, the time interval for the conflicting PRV convoy to arrive at the kth conflict zone is: t s,k =[x prv,k (t0)-q(d v +d s )] / v cross t e,k =[x prv,k (t0)+β·l+d s +d PRV ] / v cross +t s,k I prv,k =[t s,k ,t e,k ] Where β is the number of lanes in the lane group where the conflicting PRV is located; l is the lane width (m); x prv,k (t0) is the distance (s) between the conflicting PRV and the upper boundary of the kth conflict zone at time t0; q is the number of vehicles in front of the conflicting PRV; d v d s d PRV is the length of ordinary vehicle, safety distance, and PRV length (m); v cross is the speed limit at the intersection (m / s); I prv,k is the time interval (s) that the conflicting PRV passes through the kth conflicting area; t s,k ,t e,k It is the time when the conflict PRV reaches the upper and lower boundaries of the conflict area. For staggered traffic, the time when the leading vehicle in each lane of the conflicting lane group closer to the conflicting PRV arrives at the upper boundary of the conflicting area should be later than t e,k , the longest convoy in the conflict lane group far from the PRV should leave the lower boundary of the conflict zone earlier than t s,k , the time when the vehicles in the conflicting lane group far from the PRV and not in the queue arrive at the upper boundary of the conflict area should be later than t e,k ,Right now: t u +x0 / v0>t e,k x z =max(x1,x2,L,x α ) t u +(x z +β·l+d z +d s ) / v z <t s,k t u +(x z+1 -d s ) / v z+1 >t e,k In the formula, t u is the green light opening time of lane group u (s); x0 is the distance between the head vehicle of each lane in the conflicting lane group closer to the conflicting PRV and the upper boundary of the conflicting area (m); v0 is the speed of the convoy in the conflicting lane group closer to the conflicting PRV (m / s); α is the distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the lower boundary of the conflict zone; x z is the maximum distance (m) between the last vehicle in each convoy of the conflicting lane group far from the PRV and the upper boundary of the conflicting area; d z is the maximum queue length (m) in the conflicting lane group far from the PRV; v z is the speed of the convoy in the conflicting lane group far from the PRV (m / s); x z+1 v is the distance (m) from the upper boundary of the conflict zone to the vehicle behind the longest queue in the conflict lane group far from the PRV; z+1 It is the speed (m / s) of the vehicle behind the longest queue in the conflicting lane group far from the PRV. Manipulate CAVs or induce CHVs to travel at the corresponding speed, and calculate v0, v z 、v z+1 The maximum / minimum value of

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