A lane design method and system based on the lane passing capacity of mixed traffic flow

Abstract

The present invention relates to the technical field of intelligent traffic management and planning, and discloses a lane design method and system based on the lane passing capacity of mixed traffic flow. The method includes constructing a basic data set of traffic characteristics of a target road scenario; classifying vehicles and their following states; calculating the occurrence frequencies of various following states; calculating the average headway of the mixed traffic flow lane; calculating the passing capacity of the mixed traffic flow lane based on the average headway of the mixed traffic flow lane, and deriving the passing capacities of other lanes; obtaining a lane design scheme according to the traffic demand and the number of lanes in the target road scenario; based on the obtained lane design scheme, constructing a simulation platform and a comprehensive evaluation method based on the entropy method according to vehicle following and lane-changing rules to determine the optimal lane design method. The present invention provides a reasonable layout scheme for the lane design of lanes with a high proportion of trucks in the intelligent networked environment, realizes refined lane management, reduces internal traffic conflicts, and improves the operation efficiency of expressways.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent traffic management and planning, and relates to a lane design method and system based on the lane passing capacity of mixed traffic flow. Background Art

[0002] With the rapid economic growth, the demand for highway freight transportation has increased rapidly. Highway reconstruction and expansion, multi-lane construction, and intelligent connected transportation applications have become common practices. However, unreasonable lane management design will waste a large amount of road resources and reduce the road supply. Therefore, under the background of intelligent connected transportation, the refined lane management of highways to improve the overall traffic efficiency of roads is one of the important research contents of current highways.

[0003] There are few existing technologies for the design method of multi-lanes in the scenario of mixed traffic flow, and there are even fewer studies on the design method of dedicated truck lanes. Most of them focus on the research of the design method of dedicated lanes for intelligent connected vehicles, and cannot provide high-efficiency technical support for the lane management strategy of the operation mode of mixed manual driving vehicles and intelligent connected vehicles in the intelligent connected environment. As a result, the traffic efficiency of highways is slow, traffic congestion cannot be alleviated in a timely and effective manner, and the overall operation efficiency of the road network is reduced. Summary of the Invention

[0004] The purpose of the present invention is to provide a lane design method and system based on the lane passing capacity of mixed traffic flow, which can improve the operation efficiency of the road network.

[0005] To solve the above technical problems, the present invention is implemented by the following technical solutions.

[0006] In the first aspect, the present invention proposes a lane design method based on the lane passing capacity of mixed traffic flow, including: collecting basic traffic feature data of the target road scene by a target road scene detector, where the basic traffic feature data includes the number of lanes, the proportion of trucks, the penetration rate of intelligent connected vehicles, and the traffic demand flow;

[0007] Classifying vehicles and their following states according to whether the vehicles are intelligent connected and the application scenarios;

[0008] Calculating the occurrence frequency of each following state according to the traffic composition of the target road scene;

[0009] Calculating the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequency of each following state;

[0010] Calculating the passing capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deducing the passing capacity of other lanes;

[0011] Obtain a lane design plan according to the traffic demand and the number of lanes in the target road scenario;

[0012] Based on the obtained lane design plan, construct a simulation platform and a comprehensive evaluation method based on the entropy value method according to the vehicle following and lane-changing rules, and determine the optimal lane design plan.

[0013] Combined with the first aspect, further, classify the vehicle and its following state according to whether the vehicle is intelligent and connected and the application scenario, including:

[0014] Classify the vehicle according to whether the vehicle is intelligent and connected and the application scenario, and divide the vehicle into intelligent and connected passenger cars 、intelligent and connected trucks 、human-driven passenger cars and human-driven trucks ;

[0015] Classify the following state of the vehicle according to the vehicle types of the leading vehicle and the following vehicle. The following state of the th following vehicle is expressed as:

[0016]

[0017] Among them, is a human-driven truck following any vehicle, is a human-driven passenger car following any vehicle, is an intelligent and connected truck following a human-driven vehicle, is an intelligent and connected passenger car following a human-driven vehicle, is an intelligent and connected truck following an intelligent and connected vehicle, is an intelligent and connected passenger car following an intelligent and connected vehicle.

[0018] Combined with the first aspect, further, calculate the occurrence frequency of various following states according to the traffic composition of the target road scenario, including:

[0019] Calculate the traffic composition ratio of different vehicle types, specifically:

[0020] The vehicle types include intelligent and connected passenger cars 、intelligent and connected trucks 、human-driven passenger cars and human-driven trucks ;

[0021] According to the truck ratio 、intelligent and connected vehicle penetration rate of the target road scenario that has been collected, calculate the proportion of intelligent and connected passenger cars in the traffic flow 、proportion of intelligent and connected trucks , proportion of manually driven passenger cars , proportion of manually driven trucks , and the expressions are as follows:

[0022] ;

[0023] ;

[0024] ;

[0025] ;

[0026] Calculate the occurrence frequencies of various following states, specifically:

[0027] According to the traffic composition of the target road scenario, calculate the occurrence frequency of a manually driven truck following any vehicle ; the occurrence frequency of a manually driven passenger car following any vehicle ; the occurrence frequency of a connected and automated truck following a manually driven vehicle ; the occurrence frequency of a connected and automated passenger car following a manually driven vehicle ; the occurrence frequency of a connected and automated truck following a connected and automated vehicle ; the occurrence frequency of a connected and automated passenger car following a connected and automated vehicle ; , and the expressions are as follows:

[0028] ;

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] .

[0034] Combined with the first aspect, further, calculating the average time headway of the mixed traffic flow lane according to the average time headway in different following states and the occurrence frequencies of various following states includes:

[0035] Calculate the average time headway of the mixed traffic flow lane according to the average time headway in different following states and the occurrence frequencies of various following states , and the expression is:

[0036] ;

[0037] Among them, is the average headway value in the th type of car-following state; is the occurrence frequency of the th type of car-following state, .

[0038] Combined with the first aspect, further, calculating the traffic capacity of the mixed traffic lane according to the average headway of the mixed traffic lane and deriving the traffic capacity of other lanes includes:

[0039] Calculating the traffic capacity of the mixed vehicle lane:

[0040] According to the theoretical calculation formula of lane traffic capacity, the mixed vehicle lane is a lane allowing intelligent connected buses , intelligent connected trucks , human-driven buses , and human-driven trucks to travel together. Calculate the traffic capacity of the mixed vehicle lane , and the expression is:

[0041] ;

[0042] Among them, is the average headway value in the th type of car-following state; is the occurrence frequency of the th type of car-following state; is the average headway of the mixed traffic lane;

[0043] Calculating the traffic capacity of the bus lane:

[0044] The bus lane is a lane only allowing , to travel together. According to the traffic capacity of the mixed vehicle lane and the truck proportion being 0, calculate the traffic capacity of the bus lane ;

[0045] Calculating the traffic capacity of the truck lane:

[0046] The bus lane is a lane only allowing , to travel together. According to the traffic capacity of the mixed vehicle lane and the truck proportion When it is 100%, calculate the traffic capacity of the truck lane ;

[0047] Calculate the traffic capacity of the dedicated lane for intelligent connected vehicles:

[0048] The dedicated lane for intelligent connected vehicles only allows 、 These two types of vehicles to drive together. According to the traffic capacity of the mixed vehicle lane , the penetration rate of intelligent connected vehicles When it is 100%, calculate the traffic capacity of the dedicated lane for intelligent connected vehicles ;

[0049] Calculate the traffic capacity of the dedicated lane for intelligent connected trucks:

[0050] The dedicated lane for intelligent connected trucks only allows Vehicles to drive. According to the traffic capacity of the mixed vehicle lane , the penetration rate of intelligent connected vehicles When it is 100% and the truck proportion When it is 100%, calculate the traffic capacity of the dedicated lane for intelligent connected trucks ;

[0051] Calculate the traffic capacity of the dedicated lane for manually driven trucks:

[0052] The dedicated lane for manually driven trucks only allows Vehicles to drive. According to the traffic capacity of the mixed vehicle lane , the penetration rate of intelligent connected vehicles When it is 0% and the truck proportion When it is 100%, calculate the traffic capacity of the dedicated lane for manually driven trucks .

[0053] Combined with the first aspect, further, the lane design scheme obtained according to the traffic demand and the number of lanes in the target road scenario includes:

[0054] Set the lane number constraint conditions, specifically:

[0055] According to the number of lanes in the target road scenario, the designed number of lanes needs to be consistent with the obtained lane number information. The expression is:

[0056] ;

[0057] Among them, Is the number of bus lanes; Is the number of mixed vehicle lanes; Is the number of truck lanes; is the number of dedicated lanes for intelligent connected trucks; is the number of dedicated lanes for intelligent connected vehicles, and ; is the number of dedicated lanes for manually driven trucks;

[0058] Set traffic demand flow constraints, specifically:

[0059] The supply of manually driven passenger cars provided according to the selected lane design scheme needs to meet the passenger car demand, and the demand flow constraint for manually driven passenger cars is determined. The expression is:

[0060] ;

[0061] Among them, represents the penetration rate of intelligent connected vehicles in the passenger car lane; represents the proportion of trucks in the mixed vehicle lane; represents the penetration rate of intelligent connected vehicles in the mixed vehicle lane;

[0062] The supply of manually driven trucks provided according to the selected lane design scheme needs to meet the truck demand, and the demand flow constraint for manually driven trucks is determined. The expression is:

[0063] ;

[0064] Among them, represents the penetration rate of intelligent connected vehicles in the truck lane;

[0065] The supply of intelligent connected passenger cars provided according to the selected lane design scheme needs to meet the demand for intelligent connected passenger cars, and the demand flow constraint for intelligent connected passenger cars is determined. The expression is:

[0066] ;

[0067] Among them, represents the proportion of trucks in the dedicated lane for intelligent connected vehicles;

[0068] The demand flow constraint for intelligent connected trucks to pass is expressed as:

[0069] ;

[0070] According to the above constraints, a combined design is carried out to obtain a lane design scheme.

[0071] Combined with the first aspect, further, based on the obtained lane design scheme, according to vehicle following and lane changing rules, a simulation platform and a comprehensive evaluation method based on the entropy value method are constructed to determine the optimal lane design scheme, including:

[0072] Based on traffic simulation software, select vehicle following rules and lane-changing rules that match the target road scenario according to vehicle types to build a simulation platform;

[0073] Select three dimensions of efficiency, safety, and greenness for comprehensive evaluation. Among them, the index for the efficiency dimension is the total number of lane changes, the index for the safety dimension is the variance of lane occupancy, and the index for the greenness dimension is the CO2 emissions;

[0074] According to the number of lane changes of the th vehicle collected by the simulation , calculate the total number of lane changes . The expression is:

[0075] ;

[0076] Among them, represents the total number of vehicles, represents the th vehicle, ;

[0077] According to the occupancy rate on each lane collected by the simulation, calculate the variance of lane occupancy . The expression is:

[0078] ;

[0079] Among them, is the average value of the variance of lane occupancy for one-way lanes; is the lane occupancy rate of the th lane, represents the th lane, ;

[0080] According to the CO2 emissions of the th vehicle collected by the simulation , calculate the CO2 emissions . The expression is:

[0081] ;

[0082] According to the principle that the larger the value of a positive index, the better the evaluation, and the smaller the value of a negative index, the better the evaluation. Among them, the total number of lane changes and the CO2 emissions are negative indices, and the variance of lane occupancy is a positive index; calculate the normalized values of the positive and negative indices . The expression is:

[0083] ;

[0084] Among them, is the value of the th index under the th scheme; , represents the variance of the lane occupancy rate of the positive index , represents the total number of lane changes of the negative index ,

[0085] Calculate the proportion of the th scheme in the th

[0086] index, and the expression is:

[0087] represents the total number of lane design schemes, represents the th scheme;

[0088] Calculate the entropy value of the th index, and the expression is:

[0089] ;

[0090] According to the inverse proportion of the entropy value and the information entropy redundancy, calculate the information entropy redundancy of the th

[0091] index, and the expression is:

[0092] According to the information entropy redundancy divided by the sum of the information entropy redundancies of all indexes as the index weight, calculate the weight of each index , and the expression is:

[0093] ;

[0094] According to the evaluation index dimension, calculate the comprehensive evaluation score of the th scheme, and the expression is as follows:

[0095] ;

[0096] Among them, is the index weight corresponding to the index correction coefficient, and the value is ;

[0097] According to the comprehensive evaluation scores of each scheme, sort them from largest to smallest, and select the scheme with the highest score as the best lane design scheme.

[0098] In a second aspect, the present invention proposes a lane design system based on the lane passing capacity of mixed traffic flows, including:

[0099] A data acquisition module configured to collect basic traffic feature data of the target road scene according to a target road scene detector, where the basic traffic feature data includes the number of lanes, the proportion of trucks, the penetration rate of intelligent connected vehicles, and the traffic demand flow;

[0100] A classification module configured to classify vehicles and their following states according to whether the vehicles are intelligent connected and the application scenarios;

[0101] A following state calculation module configured to calculate the occurrence frequencies of various following states according to the traffic composition of the target road scene;

[0102] A headway calculation module configured to calculate the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequencies of various following states;

[0103] A passing capacity calculation module configured to calculate the passing capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deduce the passing capacities of other lanes;

[0104] A preliminary scheme determination module configured to obtain a lane design scheme according to the traffic demand and the number of lanes in the target road scene;

[0105] An optimal scheme determination module configured to, based on the obtained lane design scheme, construct a simulation platform and a comprehensive evaluation method based on the entropy method according to vehicle following and lane-changing rules, and determine the best lane design scheme.

[0106] In a third aspect, the present invention proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned lane design method based on the lane passing capacity of mixed traffic flows are implemented.

[0107] In a fourth aspect, the present invention proposes a computer device, including:

[0108] A memory for storing a computer program;

[0109] A processor for executing the computer program to implement the steps of the above-mentioned lane design method based on the lane passing capacity of mixed traffic flows.

[0110] Fifth aspect, the present invention proposes a computer program product, including a computer program which, when executed by a processor, implements the steps of the above-mentioned lane design method based on the lane passing capacity of mixed traffic flow.

[0111] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0112] By using the lane passing capacity theory and relying on the reliability and high sharing level of data collection in the intelligent connected environment, the present invention provides a reliable and reasonable lane design scheme for lane management of lanes with a high proportion of trucks (the high proportion of trucks means that the proportion of trucks is greater than 25%) in the intelligent connected environment, provides technical support for formulating a reasonable and efficient lane management design scheme, and improves the overall operation efficiency of the road network. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] Figure 1 It is a schematic flow chart of the lane design method in Embodiment 1 of the present invention;

[0114] Figure 2 It is a schematic diagram of the target road scene in Embodiment 2 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0115] The technical solution of the present invention will be described in detail below with reference to the drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. Without conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0116] The term "and / or" is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the associated objects before and after.

[0117] Embodiment 1

[0118] As Figure 1 shown, the steps of the lane design method based on the lane passing capacity of mixed traffic flow in this embodiment are as follows:

[0119] Step 1, construct a basic data set of traffic characteristics of the target road scene.

[0120] Specifically, the above Step 1 includes:

[0121] Collect the basic data set of traffic characteristics of the target road scene, and the basic traffic characteristics data includes the number of lanes , the proportion of trucks , the penetration rate of intelligent connected vehicles and the traffic demand flow 。

[0122] Step 2: Classify the vehicle and its following state according to whether the vehicle is intelligent and connected and the application scenario.

[0123] Specifically, the above Step 2 includes the following sub-steps:

[0124] Step 201: Classify the vehicle

[0125] According to whether the vehicle is intelligent and connected and the application scenario, the vehicle type of any vehicle on the target road is one of the following types: intelligent connected bus , intelligent connected truck , manually driven bus , manually driven truck in a category.

[0126] Step 202: Classify the following state of the vehicle

[0127] Classify the following state of the vehicle according to the vehicle types of the leading vehicle and the following vehicle. The following state of the th following vehicle is expressed as:

[0128]

[0129] Among them, is a manually driven truck following any vehicle, is a manually driven bus following any vehicle, is an intelligent connected truck following a manually driven vehicle, is an intelligent connected bus following a manually driven vehicle, is an intelligent connected truck following an intelligent connected vehicle, is an intelligent connected bus following an intelligent connected vehicle.

[0130] Step 3: Calculate the occurrence frequency of each following state according to the traffic composition of the target road scenario.

[0131] Specifically, the above Step 3 includes the following sub-steps:

[0132] Step 301: Calculate the traffic composition ratio of different vehicle types

[0133] According to the truck ratio , intelligent connected vehicle penetration rate of the collected target road scenario, calculate the proportion of intelligent connected buses , intelligent connected trucks , manually driven buses , Proportion of manually driven trucks , and the expressions are respectively:

[0134]

[0135]

[0136]

[0137]

[0138] Step 302, calculate the occurrence frequency of various following states

[0139] According to the traffic composition of the target road scenario, calculate the occurrence frequency , the occurrence frequency , the occurrence frequency , the occurrence frequency , the occurrence frequency , the occurrence frequency , and the expressions are respectively:

[0140]

[0141]

[0142]

[0143]

[0144]

[0145]

[0146] Step 4, calculate the average time headway of the mixed traffic flow lane according to the average time headway under different following states and the occurrence frequency of various following states.

[0147] Specifically, the above-mentioned Step 4 includes:

[0148] Calculate the average time headway of the mixed traffic flow lane according to the average time headway under different following states and the occurrence frequency of various following states , and the expression is:

[0149]

[0150] Among them, is the Average headway value under class following state It is the empirical value according to different class following states. This empirical value is obtained as the average value of the time intervals between two consecutive vehicles in the same lane that conform to this class following state passing through a certain fixed section of the road, and can also be directly collected in Step 1; For the occurrence frequency of class following state; As can be seen from Step 202, there are 6 class following states, namely .

[0151] Step 5: Calculate the traffic capacity of the mixed traffic lane and deduce the traffic capacity of other lanes according to the average headway of the mixed traffic lane

[0152] Specifically, the above Step 5 includes the following sub-steps:

[0153] Step 501: Calculate the traffic capacity of the mixed vehicle lane

[0154] According to the theoretical calculation formula of lane traffic capacity, the mixed vehicle lane is the lane allowing , , , four types of vehicles to travel together, and calculate the traffic capacity of the mixed vehicle lane , and the expression is:

[0155]

[0156] Step 502: Calculate the traffic capacity of the passenger car lane

[0157] The passenger car lane is the lane only allowing , two types of vehicles to travel together. According to the traffic capacity of the mixed vehicle lane , when the truck proportion is 0, calculate the traffic capacity of the passenger car lane .

[0158] Step 503: Calculate the traffic capacity of the truck lane

[0159] The truck lane is the lane only allowing , two types of vehicles to travel together. According to the traffic capacity of the mixed vehicle lane , when the truck proportion is 100%, calculate the traffic capacity of the truck lane .

[0160] Step 504: Calculate the traffic capacity of the dedicated lane for intelligent connected vehicles

[0161] The dedicated lane for intelligent connected vehicles is a lane that only allows 、 two types of vehicles to drive together. According to the traffic capacity of the mixed vehicle lane and when the penetration rate of intelligent connected vehicles is 100%, calculate the traffic capacity of the dedicated lane for intelligent connected vehicles .

[0162] Step 505, calculate the traffic capacity of the dedicated lane for intelligent connected trucks

[0163] The dedicated lane for intelligent connected trucks is a lane that only allows trucks to drive. According to the traffic capacity of the mixed vehicle lane and when the penetration rate of intelligent connected vehicles is 100% and the truck proportion is 100%, calculate the traffic capacity of the dedicated lane for intelligent connected trucks .

[0164] Step 506, calculate the traffic capacity of the dedicated lane for manually driven trucks

[0165] The dedicated lane for manually driven trucks is a lane that only allows trucks to drive. According to the traffic capacity of the mixed vehicle lane and when the penetration rate of intelligent connected vehicles is 0% and the truck proportion is 100%, calculate the traffic capacity of the dedicated lane for manually driven trucks .

[0166] Step 6, determine the lane design plan according to the traffic demand and the number of lanes in the target road scenario.

[0167] Specifically, the above Step 6 includes the following sub-steps:

[0168] Step 601, set the lane number constraint condition

[0169] According to the number of lanes in the target road scenario, the designed number of lanes should be consistent with the obtained lane number information. The expression is:

[0170]

[0171] where is the number of passenger car lanes; is the number of mixed vehicle lanes; is the number of truck lanes; is the number of dedicated lanes for intelligent connected trucks; is the number of dedicated lanes for intelligent connected vehicles, and ; is the number of exclusive lanes for manually driven trucks.

[0172] Step 602, set traffic demand flow constraints

[0173] According to the supply of manually driven passenger cars provided by the selected lane design plan, it should meet the passenger car demand, and determine the demand flow constraint for manually driven passenger cars. The expression is:

[0174]

[0175] where represents the penetration rate of intelligent connected vehicles in the passenger car lane; represents the proportion of trucks in the mixed vehicle lane; represents the penetration rate of intelligent connected vehicles in the mixed vehicle lane; the proportion of trucks collected in Step 1 includes the proportion of trucks in the mixed vehicle lane and the proportion of trucks in the exclusive lane for intelligent connected vehicles ; the penetration rate of intelligent connected vehicles collected in Step 1 includes the penetration rate of intelligent connected vehicles in the passenger car lane , the penetration rate of intelligent connected vehicles in the mixed vehicle lane and the penetration rate of intelligent connected vehicles in the truck lane .

[0176] According to the supply of manually driven trucks provided by the selected lane design plan, it should meet the truck demand, and determine the demand flow constraint for manually driven trucks. The expression is:

[0177]

[0178] where represents the penetration rate of intelligent connected vehicles in the truck lane.

[0179] According to the supply of intelligent connected passenger cars provided by the selected lane design plan, it should meet the demand for intelligent connected passenger cars, and determine the demand flow constraint for intelligent connected passenger cars. The expression is:

[0180]

[0181] where represents the proportion of trucks in the exclusive lane for intelligent connected vehicles.

[0182] The demand flow constraint for intelligent connected trucks, the expression is:

[0183] ;

[0184] Step 603, determine the lane design plan

[0185] Conduct combined design based on the lane management plan that meets the above constraints to obtain the lane design plan.

[0186] By determining the following specific value, the determined lane design plan is obtained.

[0187] It should be noted that: for the specific lanes of each lane, it is usually default that the passenger car lane, the mixed vehicle lane, the freight car lane, the dedicated lane for manually driven freight cars, the intelligent connected freight car lane, and the dedicated lane for intelligent connected vehicles are arranged from the inside to the outside unidirectionally. Among them, only one of the two lanes, namely the intelligent connected freight car lane and the dedicated lane for intelligent connected vehicles, is selected under the same management plan.

[0188] Step 7, construct a simulation platform and a comprehensive evaluation method based on the entropy value method according to the existing vehicle following and lane changing rules, and determine the optimal lane design method.

[0189] Specifically, the above Step 7 includes the following sub-steps:

[0190] Step 701, construct a simulation platform

[0191] Based on traffic simulation software, select the vehicle following rules and lane changing rules set in the traffic simulation software that conform to the target road scenario according to the vehicle type to build a simulation platform.

[0192] Step 702, construct a comprehensive evaluation method based on the entropy value method

[0193] Select three dimensions of efficiency, safety, and green for comprehensive evaluation. Among them, the index of the efficiency dimension is the total number of lane changes, the index of the safety dimension is the variance of lane occupancy, and the index of the green dimension is the CO2 emission.

[0194] According to the vehicle lane change times of the th vehicle directly obtained from the simulation results , calculate the total number of lane changes , and the expression is:

[0195]

[0196] Among them, represents the total number of vehicles, represents the th vehicle, .

[0197] According to the occupancy rate on each lane directly obtained from the simulation results, calculate the variance of lane occupancy , and the expression is:

[0198]

[0199] Among them, is the average value of the variance of the lane occupancy of one-way lane; is the lane occupancy of the th lane, represents the th lane, .

[0200] The CO2 emissions of the rd vehicle directly obtained from the simulation results , calculate the CO2 emissions , and the expression is:

[0201]

[0202] According to the fact that the larger the value of the positive index, the better the evaluation, and the smaller the value of the negative index, the better the evaluation. Among them, the total number of lane changes and the CO2 emissions are negative indicators, and the lane occupancy variance is a positive indicator; calculate the normalized values of the positive and negative indicators , and the expression is:

[0203] ;

[0204] Among them, is the value of the th index under the th scheme, , among which, represents the positive indicator lane occupancy variance , represents the negative indicator total number of lane changes , represents the negative indicator CO2 emissions .

[0205] Calculate the proportion th index of the th scheme in this index , and the expression is:

[0206]

[0207] represents the total number of lane design schemes, represents the th scheme, .

[0208] Calculate the Entropy value of an index , the expression is:

[0209]

[0210] According to the inverse proportion between the entropy value and the information entropy redundancy, calculate the information entropy redundancy of the f-th index , the expression is:

[0211]

[0212] According to the information entropy redundancy divided by the sum of the information entropy redundancies of all indexes as the index weight, calculate the weight of each index , the expression is:

[0213]

[0214] According to the evaluation index dimension, calculate the comprehensive evaluation score of the th scheme , the expression is as follows:

[0215]

[0216] Among them, is the index weight corresponding index correction coefficient, usually taking the value of .

[0217] Step 703, determine the best lane design scheme

[0218] According to the comprehensive evaluation scores of each scheme, sort them from large to small in turn, and select the scheme with the highest score as the best lane design scheme.

[0219] Embodiment 2

[0220] This embodiment further illustrates the lane design method based on the lane passing capacity of mixed traffic flow of the present invention through more specific data

[0221] Figure 2 is a schematic diagram of the target road scenario of this embodiment. According to the lane design method based on the lane passing capacity of mixed traffic flow of the present invention, calculate the lane layout scheme with a high proportion of trucks. The specific steps are as follows:

[0222] S1: Construct a basic data set of traffic characteristics of the target road scenario:

[0223] According to the traffic characteristic basic data set collected by the target road scenario detector, the traffic characteristic basic data includes the number of lanes is 4, the proportion of trucks is 32.6%, the penetration rate of intelligent networked vehicles is 60%, and the traffic demand flow is 5000 pcu / h. The truck proportion and the penetration rate of intelligent connected vehicles in a single lane are consistent with the basic traffic characteristic data of the target road scenario.

[0224] In a specific implementation manner of this embodiment, a target road scenario detector is used to collect the truck proportion and the penetration rate of intelligent connected vehicles of the target road scenario. According to the actual road facility conditions, there are two collection methods:

[0225] Method 1: Use the target road scenario detector to collect the total number of vehicles, the number of intelligent connected passenger vehicles, the number of intelligent connected trucks, the number of manually driven passenger vehicles, and the number of manually driven trucks in all lanes of a certain section of the road per unit time, and calculate the truck proportion and the penetration rate of intelligent connected vehicles .

[0226] Among them, the total number of vehicles = the number of intelligent connected passenger vehicles + the number of intelligent connected trucks + the number of manually driven passenger vehicles + the number of manually driven trucks;

[0227] The truck proportion = (the number of intelligent connected trucks + the number of manually driven trucks) / the total number of vehicles;

[0228] The penetration rate of intelligent connected vehicles = (the number of intelligent connected passenger vehicles + the number of intelligent connected trucks) / the total number of vehicles;

[0229] = (the number of intelligent connected trucks + the number of manually driven trucks in the mixed vehicle lane) / the total number of vehicles in the mixed vehicle lane;

[0230] = the number of intelligent connected trucks in the intelligent connected vehicle dedicated lane / the total number of vehicles in the intelligent connected vehicle dedicated lane;

[0231] = the number of intelligent connected passenger vehicles in the passenger vehicle lane / the total number of vehicles in the passenger vehicle lane;

[0232] = (the number of intelligent connected passenger vehicles + the number of intelligent connected trucks in the mixed vehicle lane) / the total number of vehicles in the mixed vehicle lane;

[0233] = the number of intelligent connected trucks in the truck lane / the total number of vehicles in the truck lane.

[0234] Method 2: Use the target road scene detector to collect the total number of vehicles, the number of intelligent connected passenger vehicles, the number of intelligent connected freight vehicles, the number of manually driven passenger vehicles, and the number of manually driven freight vehicles per unit time at a certain cross-section of each lane with a consistent road cross-section within a week. Since there are lane-changing situations when vehicles are driving on the road section, the lane cross-section data collected cannot be directly calculated as the value of the traffic characteristic basic data for that lane. Considering the freight vehicle ratio in the traffic characteristic basic data and the intelligent connected vehicle penetration rate will be used for the calculation of the traffic capacity. Therefore, to ensure that the traffic capacity of the designed scheme meets the requirements, select the maximum values of the total number of vehicles, the number of intelligent connected passenger vehicles, the number of intelligent connected freight vehicles, the number of manually driven passenger vehicles, and the number of manually driven freight vehicles collected, and calculate the freight vehicle ratio and the intelligent connected vehicle penetration rate .

[0235] It should be noted that in this embodiment, the collection method 1 is adopted, and when collecting, it just coincides with the value of , , and coincide with the value of

[0236] S2: Classify the vehicle and its following state according to whether the vehicle is intelligent connected and the application scenario:

[0237] S21: Classify the vehicle according to whether the vehicle is intelligent connected and the application scenario. The vehicle type of any vehicle on the target road is one of intelligent connected passenger vehicle , intelligent connected freight vehicle , manually driven passenger vehicle , and manually driven freight vehicle .

[0238] S22: Classify the following state of the vehicle according to the vehicle types of the leading vehicle and the following vehicle. The following state of the th following vehicle is expressed as:

[0239]

[0240] Among them, is a manually driven freight vehicle following any vehicle, is a manually driven passenger vehicle following any vehicle, is an intelligent connected freight vehicle following a manually driven vehicle, It is an intelligent connected bus following a human-driven vehicle, It is an intelligent connected truck following an intelligent connected vehicle, It is an intelligent connected bus following an intelligent connected vehicle.

[0241] S3: Calculate the occurrence frequencies of various following states according to the traffic composition of the target road scenario:

[0242] S31: According to the basic traffic characteristic data, calculate the proportion of intelligent connected buses, the proportion of intelligent connected trucks, the proportion of human-driven buses, and the proportion of human-driven trucks The calculation results are as follows:

[0243]

[0244]

[0245]

[0246]

[0247] S32: According to the basic traffic characteristic data, the occurrence frequency 、 the occurrence frequency 、 the occurrence frequency 、 the occurrence frequency 、 the occurrence frequency 、 the occurrence frequency The calculation results are as follows:

[0248]

[0249]

[0250]

[0251]

[0252]

[0253]

[0254] S4: According to the headway values of intelligent connected vehicles and ordinary vehicles in traffic applications, the headway of is 2.4 s, The time headway of the vehicle head is 1.8 s, The time headway of the vehicle head is 2.0 s, The time headway of the vehicle head is 0.9 s, The time headway of the vehicle head is 1.1 s, The time headway of the vehicle head is 0.5 s.

[0255] According to the average time headway of the vehicle head in different following states and the occurrence frequencies of various following states calculated, the average time headway of the vehicle head in the mixed traffic lane The calculation results are as follows:

[0256]

[0257] S5: Calculate the traffic capacity of the mixed traffic lane according to the average time headway of the vehicle head in the mixed traffic lane, and deduce the traffic capacity of other lanes:

[0258] S51: According to the theoretical calculation formula of the traffic capacity of the lane, the traffic capacity of the mixed vehicle lane The calculation results are as follows:

[0259]

[0260] Among them, The unit of is pcu / h.

[0261] S52: According to the traffic capacity of the mixed vehicle lane calculated , the traffic capacity of the passenger car lane The calculation results are as follows:

[0262] (pcu / h)

[0263] S53: According to the traffic capacity of the mixed vehicle lane calculated , the traffic capacity of the truck lane The calculation results are as follows:

[0264] (pcu / h)

[0265] S54: According to the traffic capacity of the mixed vehicle lane calculated , the traffic capacity of the dedicated lane for intelligent network-connected vehicles The calculation results are as follows:

[0266] (pcu / h)

[0267] S55: Based on the calculated traffic capacity of the mixed vehicle lane , the traffic capacity of the dedicated lane for intelligent connected trucks The calculation results are as follows:

[0268] (pcu / h)

[0269] S56: Based on the calculated traffic capacity of the mixed vehicle lane , the traffic capacity of the dedicated lane for manually driven trucks The calculation results are as follows:

[0270] (pcu / h)

[0271] S6: Determine the lane design plan according to the traffic demand and the number of lanes in the target road scenario:

[0272] S61: When the number of lanes in the target road scenario is 4, the designed number of lanes shall meet the following constraints:

[0273]

[0274] Among them, is the number of lanes for passenger cars; is the number of mixed vehicle lanes; is the number of truck lanes; is the number of dedicated lanes for intelligent connected trucks; is the number of dedicated lanes for intelligent connected vehicles, and ; is the number of dedicated lanes for manually driven trucks.

[0275] S62: The supply of manually driven passenger cars provided by the selected lane design plan shall meet the demand for passenger cars. The designed number of lanes shall meet the following constraints:

[0276]

[0277] That is:

[0278] The supply of manually driven trucks provided by the selected lane design plan shall meet the demand for trucks. The designed number of lanes shall meet the following constraints:

[0279]

[0280] That is:

[0281] The supply of intelligent connected passenger cars provided by the selected lane design plan shall meet the demand for intelligent connected passenger cars. The designed number of lanes shall meet the following constraints:

[0282]

[0283] That is:

[0284] The supply of intelligent connected trucks provided according to the selected lane design scheme needs to meet the demand for intelligent connected trucks, and the number of designed lanes shall meet the following constraints:

[0285]

[0286] That is:

[0287] S63: According to the lane management scheme that meets the above constraints, a combined design is carried out to determine the lane design scheme as shown in Table 1.

[0288] Table 1 Lane Design Scheme Table

[0289]

[0290] S7: According to the vehicle following and lane-changing rules, a simulation platform and a comprehensive evaluation method based on the entropy value method are constructed to determine the optimal lane design method:

[0291] S71: Based on the traffic simulation software, for manually driven vehicles, the first following model embedded in the traffic simulation software is adopted, and for intelligent connected vehicles, the second following model embedded is adopted. All vehicles adopt the third lane-changing model embedded. The acceleration ability of trucks is 1.3 m / s 2 , the deceleration ability of trucks is 4.0 m / s 2 , the fourth emission model embedded is selected for the emission model of trucks, the acceleration ability of buses is 2.6 m / s 2 , the deceleration ability of buses is 4.5 m / s 2 , and the fifth emission model embedded is selected for the emission model of buses.

[0292] S72: According to the software simulation results, the total number of lane changes , the variance of lane occupancy , and the CO2 emissions are shown in Table 2.

[0293] Table 2 Statistical Table of Simulation Results of Evaluation Indicators

[0294]

[0295] According to the simulation results of the evaluation indicators in Table 2, the total number of lane changes and the CO2 emissions are negative indicators, and the variance of lane occupancy is a positive indicator. The normalization results of positive and negative indicators are shown in Table 3.

[0296] Table 3 Statistical Table of Normalized Results of Evaluation Indicators

[0297]

[0298] Note: Only the first four decimal places are retained for the calculation results.

[0299] According to the calculated normalized results of the evaluation indicators, the proportion of the design scheme in this indicator is shown in Table 4.

[0300] Table 4 Statistical Table of Proportion Results of Design Scheme in Evaluation Indicators

[0301]

[0302] Note: Only the first four decimal places are retained for the calculation results.

[0303] According to the calculated proportion results of the design scheme in the evaluation indicators, the entropy value and information entropy redundancy of each indicator are shown in Table 5.

[0304] Table 5 Statistical Table of Calculation Results of Entropy Value and Information Entropy Redundancy of Evaluation Indicators

[0305]

[0306] Note: Only the first four decimal places are retained for the calculation results.

[0307] According to the calculated information entropy redundancy results of each indicator, the weights of each indicator are calculated as follows:

[0308]

[0309]

[0310]

[0311] According to the calculated normalized results of the evaluation indicators and the weights of each indicator, the comprehensive evaluation scores of each design scheme are shown in Table 6.

[0312] Table 6 Statistical Table of Comprehensive Evaluation Scores

[0313]

[0314] Note: Only the first four decimal places are retained for the calculation results.

[0315] S73: According to the calculated comprehensive evaluation scores of the schemes, select Scheme 9 with the highest score as the best design scheme.

[0316] Example 3

[0317] Based on the same inventive concept as Example 1, this example introduces a lane design system based on the lane passing capacity of mixed traffic flow, including:

[0318] A data acquisition module, configured to collect basic traffic feature data of the target road scene according to the target road scene detector, where the basic traffic feature data includes the number of lanes, the proportion of trucks, the penetration rate of intelligent connected vehicles, and the traffic demand flow;

[0319] A classification module, configured to classify vehicles and their following states according to whether the vehicles are intelligent connected and the application scenarios;

[0320] A following state calculation module, configured to calculate the occurrence frequency of various following states according to the traffic composition of the target road scene;

[0321] A headway calculation module, configured to calculate the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequency of various following states;

[0322] A passing capacity calculation module, configured to calculate the passing capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deduce the passing capacity of other lanes;

[0323] A preliminary scheme determination module, configured to obtain a lane design scheme according to the traffic demand and the number of lanes in the target road scene;

[0324] An optimal scheme determination module, configured to, based on the obtained lane design scheme, construct a simulation platform and a comprehensive evaluation method based on the entropy method according to the vehicle following and lane changing rules, and determine the optimal lane design scheme.

[0325] Example 4

[0326] Based on the same inventive concept as other examples, this example introduces a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned lane design method based on the lane passing capacity of mixed traffic flow are implemented.

[0327] Example 5

[0328] Based on the same inventive concept as other examples, this example introduces a computer device, including: a memory for storing a computer program; a processor for executing the computer program to implement the steps of the above-mentioned lane design method based on the lane passing capacity of mixed traffic flow.

[0329] Example 6

[0330] Based on the same inventive concept as other embodiments, this embodiment introduces a computer program product, including a computer program, which when executed by a processor implements the steps of the above-described lane design method based on the lane passing capacity of mixed traffic flows.

[0331] It should be understood that although Figure 1 the steps in the flowchart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 1 at least a part of the steps in

[0332] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0333] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 one block or multiple blocks.

[0334] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1The functions specified in one or more boxes.

[0335] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide for implementing the steps of the functions specified in one Figure 1 one process or more processes and / or boxes Figure 1 or more boxes.

[0336] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative rather than restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms, and these all fall within the protection scope of the present invention.

Claims

1. A lane design method based on the lane passing capacity of mixed traffic flows, characterized in that, Including: Collect traffic feature basic data of the target road scene according to the target road scene detector, where the traffic feature basic data includes the number of lanes, the proportion of trucks, the penetration rate of intelligent connected vehicles, and the traffic demand flow; Classify vehicles and their following states according to whether the vehicle is intelligent connected and the application scenario; Calculate the occurrence frequencies of various following states according to the traffic composition of the target road scene; Calculate the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequencies of various following states; Calculate the traffic capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deduce the traffic capacities of other lanes; Obtain the lane design plan according to the traffic demand and the number of lanes in the target road scene; Based on the obtained lane design plan, construct a simulation platform and a comprehensive evaluation method based on the entropy value method according to vehicle following and lane-changing rules to determine the optimal lane design plan; The calculating the occurrence frequencies of various following states according to the traffic composition of the target road scene includes: Calculate the traffic composition proportions of different vehicle types, specifically: The vehicle types include intelligent connected buses , intelligent connected trucks , manually driven buses and manually driven trucks ; According to the proportion of trucks in the collected target road scenario , the penetration rate of intelligent network-connected vehicles , calculate the proportion of intelligent network-connected passenger cars in the traffic flow , the proportion of intelligent network-connected trucks , the proportion of human-driven passenger cars , the proportion of human-driven trucks , and the expressions are respectively as follows: ； ； ； ； Calculate the occurrence frequencies of various following states, specifically: Calculate the probability of a manually driven truck following any vehicle based on the traffic composition of the target road scene Frequency of occurrence , manually driven passenger car following any vehicle Frequency of occurrence , intelligent connected trucks follow manually driven vehicles Frequency of occurrence , intelligent connected buses follow manually driven vehicles Frequency of occurrence , smart connected trucks following smart connected vehicles Frequency of occurrence , Intelligent networked buses and intelligent networked vehicles Frequency of occurrence , the expressions are: ； ； ； ； ； 。 2. The lane design method based on the lane passing capacity of mixed traffic flows according to claim 1, wherein The calculating the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequencies of various following states includes: Calculate the average time headway of the lane of the mixed traffic flow based on the average time headway under different car-following states and the occurrence frequencies of various car-following states , and the expression is: ； Among them, is the average headway value in the th type of car-following state; is the occurrence frequency of the th type of car-following state, .

3. The lane design method based on the lane passing capacity of mixed traffic flows according to claim 1, wherein The calculating the traffic capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deducing the traffic capacities of other lanes includes: Calculate the traffic capacity of the mixed vehicle lane: According to the theoretical calculation formula of lane traffic capacity, a mixed vehicle lane is a lane that allows intelligent connected buses , intelligent connected trucks , human-driven buses , and human-driven trucks to drive together. Calculate the traffic capacity of the mixed vehicle lane , and the expression is: ； Among them, is the average headway value in the th type of car-following state; is the occurrence frequency of the th type of car-following state; is the average headway of the mixed traffic lane. Calculate the traffic capacity of the passenger car lane: The bus lane is only allowed for and two types of vehicles to drive together. According to the traffic capacity of the mixed vehicle lane , when the proportion of trucks is 0, calculate the traffic capacity of the bus lane ; Calculate the traffic capacity of the truck lane: The bus lane is only allowed for , two types of vehicles to drive together. According to the traffic capacity of the mixed vehicle lane , when the proportion of trucks is 100%, calculate the traffic capacity of the truck lane ; Calculate the traffic capacity of the dedicated lane for intelligent connected vehicles: The dedicated lane for intelligent connected vehicles only allows and two types of vehicles to drive together. According to the traffic capacity of the mixed vehicle lane , when the penetration rate of intelligent connected vehicles is 100%, calculate the traffic capacity of the dedicated lane for intelligent connected vehicles ; Calculate the traffic capacity of the dedicated lane for intelligent connected trucks: The dedicated lane for intelligent connected trucks only allows vehicles to drive. According to the traffic capacity of the mixed vehicle lane , the penetration rate of intelligent connected vehicles is 100%, and the proportion of trucks is 100%. Calculate the traffic capacity of the dedicated lane for intelligent connected trucks ; Calculate the traffic capacity of the dedicated lane for manually driven trucks: The exclusive lane for manually driven trucks only allows vehicles to drive. Based on the traffic capacity of the mixed vehicle lane , the penetration rate of intelligent connected vehicles is 0%, and the truck proportion is 100%. Calculate the traffic capacity of the exclusive lane for manually driven trucks .

4. The lane design method based on the lane passing capacity of mixed traffic flows according to claim 1, characterized in that, The obtaining the lane design plan according to the traffic demand and the number of lanes in the target road scene includes: Set the lane number constraint conditions, specifically: According to the number of lanes in the target road scene, the designed number of lanes needs to be consistent with the obtained lane number information, and the expression is: ； Among them, is the number of bus lanes; is the number of mixed vehicle lanes; is the number of truck lanes; is the number of dedicated lanes for intelligent connected trucks; is the number of dedicated lanes for intelligent connected vehicles, and ; is the number of dedicated lanes for manually driven trucks; Set the traffic demand flow constraint conditions, specifically: According to the supply of manually driven passenger cars provided by the selected lane design plan needs to meet the demand for passenger cars, determine the traffic demand flow constraint for manually driven passenger cars, and the expression is: ； Among them, represents the penetration rate of intelligent connected vehicles in the bus lane; represents the proportion of trucks in the mixed vehicle lane; represents the penetration rate of intelligent connected vehicles in the mixed vehicle lane; According to the supply of manually driven trucks provided by the selected lane design plan needs to meet the demand for trucks, determine the traffic demand flow constraint for manually driven trucks, and the expression is: ； Among them, represents the penetration rate of intelligent connected vehicles in truck lanes; According to the supply of intelligent connected passenger cars provided by the selected lane design plan needs to meet the demand for intelligent connected passenger cars, determine the traffic demand flow constraint for intelligent connected passenger cars, and the expression is: ； Among them, represents the proportion of trucks in the dedicated lane for intelligent connected vehicles; The traffic demand flow constraint for intelligent connected trucks, and the expression is: ； Conduct combined design according to the satisfaction of the above constraint conditions to obtain the lane design plan.

5. The lane design method based on the lane passing capacity of mixed traffic flows according to claim 1, wherein, The constructing a simulation platform and a comprehensive evaluation method based on the entropy value method according to vehicle following and lane-changing rules to determine the optimal lane design plan based on the obtained lane design plan includes: Based on the traffic simulation software, select vehicle following rules and lane-changing rules that conform to the target road scene according to the vehicle type to build a simulation platform; Three dimensions of efficiency, safety, and greenness are selected for comprehensive evaluation. Among them, the index for the efficiency dimension is the total number of lane changes, the index for the safety dimension is the variance of lane occupancy, and the index for the greenness dimension is the CO2 emissions; According to the number of lane changes of the th vehicle collected by simulation , calculate the total number of lane changes , and the expression is: ； Among them, represents the total number of vehicles, represents the th vehicle, ; Calculate the lane occupancy variance based on the occupancy of each lane collected by simulation , and the expression is: ； Among them, is the average value of the variance of the lane occupancy of one-way lane; is the lane occupancy of the th lane, represents the th lane, ; According to the CO2 emissions of the vehicle collected by simulation , calculate the CO2 emissions , and the expression is: ； The better the evaluation is, the larger the value of the positive index is, and the better the evaluation is, the smaller the value of the negative index is. Among them, the total number of lane changes and CO2 emissions are negative indicators, and the variance of lane occupancy is a positive indicator; calculate the normalized values of the positive and negative indicators , and the expression is: ； Among them, is the value of the th indicator under the th scheme; represents the variance of the lane occupancy rate of the positive indicator , represents the total number of lane changes of the negative indicator , represents the CO2 emissions of the negative indicator ; Calculate the proportion of the th solution under the th indicator in this indicator, and the expression is: ； Indicates the total number of lane design solutions, Indicates the th solution, ; Calculate the entropy value of the th index, and the expression is: ； According to the inverse proportionality between the entropy value and the information entropy redundancy, calculate the information entropy redundancy of the f-th index , and the expression is: ； The information entropy redundancy of each indicator is divided by the sum of the information entropy redundancies of all indicators to obtain the indicator weight, and the weight of each indicator is calculated , and the expression is as follows: ； According to the evaluation index dimension, calculate the comprehensive evaluation score of the th scheme, and the expression is as follows: ； Among them, is the index weight corresponding index correction coefficient, and the value is ; According to the comprehensive evaluation scores of each plan, sort them from largest to smallest in sequence, and select the plan with the highest score as the best lane design plan.

6. A lane design system based on the lane passing capacity of mixed traffic flows, characterized in that, Including: A data collection module configured to collect basic traffic feature data of the target road scene according to a target road scene detector, where the basic traffic feature data includes the number of lanes, the proportion of trucks, the penetration rate of intelligent connected vehicles, and the traffic demand flow; A classification module configured to classify vehicles and their following states according to whether the vehicles are intelligent connected and the application scenarios; A following state calculation module configured to calculate the occurrence frequencies of various following states according to the traffic composition of the target road scene; A headway calculation module configured to calculate the average headway of the mixed traffic flow lane according to the average headway under different following states and the occurrence frequencies of various following states; A traffic capacity calculation module configured to calculate the traffic capacity of the mixed traffic flow lane according to the average headway of the mixed traffic flow lane, and deduce the traffic capacities of other lanes; A preliminary plan determination module configured to obtain a lane design plan according to the traffic demand and the number of lanes in the target road scene; An optimal plan determination module configured to, based on the obtained lane design plan, construct a simulation platform and a comprehensive evaluation method based on the entropy method according to vehicle following and lane change rules, and determine the best lane design plan; The calculating the occurrence frequencies of various following states according to the traffic composition of the target road scene includes: Calculating the traffic composition ratios of different vehicle types, specifically: The vehicle types include intelligent connected buses , intelligent connected trucks , manually driven buses and manually driven trucks ; According to the proportion of trucks in the collected target road scenario and the penetration rate of intelligent network-connected vehicles , calculate the proportion of intelligent network-connected passenger cars, the proportion of intelligent network-connected trucks, the proportion of human-driven passenger cars, and the proportion of human-driven trucks , and the expressions are respectively as follows: ； ； ； ； Calculating the occurrence frequencies of various following states, specifically: Calculate the occurrence frequency of a human-driven truck following any vehicle according to the traffic composition of the target road scenario ; Calculate the occurrence frequency of a human-driven bus following any vehicle ; Calculate the occurrence frequency of a connected and automated truck following a human-driven vehicle ; Calculate the occurrence frequency of a connected and automated bus following a human-driven vehicle ; Calculate the occurrence frequency of a connected and automated truck following a connected and automated vehicle ; Calculate the occurrence frequency of a connected and automated bus following a connected and automated vehicle ; The expressions are as follows: ； ； ； ； ； 。 7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the steps of the lane design method based on the traffic capacity of the mixed traffic flow lane according to any one of claims 1 to 5.

8. A computer device, characterized in that, Including: A memory for storing a computer program; A processor for executing the computer program to implement the steps of the lane design method based on the traffic capacity of the mixed traffic flow lane according to any one of claims 1 to 5.

9. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the lane design method based on the traffic capacity of the mixed traffic flow lane according to any one of claims 1 to 5.

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