Road traffic flow management and control system based on mobile road cone

Abstract

The invention discloses a road traffic flow management and control system based on a mobile road cone. The road traffic flow management and control system comprises a data transmission module (1), a scheme generation module (2), a field management and control module (3) and an energy storage and charging module (4), the data transmission module (1) is used for transmitting a control instruction issued by a traffic manager to the scheme generation module (2); the scheme generation module (2) is used for receiving an instruction issued by a traffic manager and generating a moving path scheme and a formation scheme; the field management and control module (3) is used for moving a mobile road cone (6) to a target position according to the mobile path scheme and the formation scheme to form a preset formation management and control traffic flow; and the storage and energy charging module (4) is used for charging the movable road cone (6). Manual on-site operation is not needed, the coverage range is far, the intelligent degree is high, and response is rapid.

Description

Technical Field

[0001] The present invention belongs to the technical field of road traffic flow control, and in particular relates to a road traffic flow control system based on mobile traffic cones. Background Art

[0002] In road traffic scenarios, traffic flow control is essential for achieving all traffic organization goals. Traditional traffic flow control systems determine traffic organization plans based on real-time road traffic conditions. Through the systematic design and management of traffic facilities, they separate traffic flows at different locations or in different directions. This allows for the development and implementation of specific traffic organization plans, improving road traffic safety and service efficiency.

[0003] Traditional traffic flow control equipment includes traffic lights, traffic signs, cones, guardrails, barriers, cordons, and central green belts. These can be further categorized as traffic guidance facilities and hard barriers based on the mandatory nature of traffic control. Traffic flow control systems operate in both routine and emergency scenarios. Routine scenarios include parking lot entrances and exits, highway toll booths, median strips in opposing lanes, intersections, and road traffic lights. Emergency scenarios include road construction, lane closures caused by traffic accidents, power failures resulting in traffic lights, and the failure of guidance facilities.

[0004] Existing traffic flow control technologies primarily focus on everyday road traffic scenarios, lacking research on rapid responses to unexpected situations. For everyday scenarios, fixed traffic flow control systems are sufficient to stably and efficiently meet demand. However, for unexpected situations, untimely responses, slow response times, and over-reliance on manual intervention often lead to traffic congestion and even secondary accidents. Summary of the Invention

[0005] To solve the above technical problems, the present invention proposes a road traffic flow control system based on mobile cones, which does not require manual on-site operation, has a long coverage range, is highly intelligent, and responds quickly.

[0006] To achieve the above objectives, the present invention provides a road traffic flow control system based on mobile traffic cones, comprising:

[0007] Data transmission module, solution generation module, on-site control module and storage and charging module;

[0008] The data transmission module is used to transmit the control instructions issued by the traffic manager to the solution generation module;

[0009] The plan generation module is used to receive instructions issued by the traffic manager and generate a movement path plan and a formation plan;

[0010] The on-site control module is used to move the mobile traffic cones to the target position according to the movement path plan and the formation plan to form a preset formation to control the traffic flow;

[0011] The energy storage and charging module is used to charge the mobile traffic cone.

[0012] Optionally, the control instruction includes latitude and longitude location information of the control location, control queue information and induction display information;

[0013] The control queue information is the linear queue formed by the on-site control module at the control point, including straight queue, curved queue, triangle queue, rectangular queue, circular queue, and V-shaped queue;

[0014] The induced display information includes the road opening status of the current control area and the induced traffic flow direction.

[0015] Optionally, the on-site control module is composed of a plurality of mobile road cones, each of which has real-time positioning, rapid movement, information display and communication functions.

[0016] Optionally, an LED screen at the top of the mobile road cone displays information indicating that the vehicle is prohibited from passing or changing lanes left / right.

[0017] Optionally, the energy storage and charging modules correspond one-to-one to the movable road cones, and the energy storage and charging modules are arranged at the edge of the controlled road area.

[0018] Optionally, the data transmission module is provided on each mobile road cone.

[0019] Optionally, generating a movement path plan and a formation plan includes:

[0020] The DP algorithm is used to plan the formation path of the mobile cones, and the entire path is divided into multiple sub-paths. The optimal sub-path is solved recursively to obtain the optimal solution of the entire path.

[0021] Technical effects of the present invention:

[0022] 1. High degree of automation: no manual operation required, reducing costs and errors caused by manual operation

[0023] 2. High safety: In high-speed traffic flow scenarios, it reduces the danger of manually setting up control areas.

[0024] 3. Fast response speed: The combination of network communication and mobile operation mode enables the system to respond and act quickly, quickly completing management and control goals.

[0025] 4. Multiple applicable scenarios: The multi-unit formation control mode enables the system to form multi-linear and multi-structure hard isolation zones, which are suitable for a variety of scenarios.

[0026] 5. Large coverage: The system has a long mobile endurance and a large response coverage area. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0028] Figure 1 This is a schematic structural diagram of a road traffic flow control system based on mobile traffic cones according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the workflow of a road traffic flow control system based on mobile traffic cones in an emergency scenario according to an embodiment of the present invention;

[0030] Figure 3 Schematic diagram of different queues that can be formed by the system under different emergency scenarios according to an embodiment of the present invention;

[0031] Among them, 1-data transmission module, 2-plan generation module, 3-on-site control module, 4-storage and charging module, 5-accident point, 6-mobile road cones, 7-vehicles on the road, 8-two-lane road from south to north, 9-rectangular queue, 10-straight queue, 11-V-queue, 12-curved queue. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] like Figure 1As shown, this embodiment provides a road traffic flow control system based on mobile traffic cones, comprising: a data transmission module 1, a plan generation module 2, an on-site control module 3, and a storage and charging module 4. The data transmission module 1 transmits control instructions issued by the traffic manager to the plan generation module 2. After the plan generation module 2 generates three types of information, including the route, formation, and final stopping position of the mobile traffic cones 6, the on-site control module 3 initiates action, moves to the designated area, completes the formation, and forms a hard isolation zone. The LED screen at the top of the on-site control module 3 displays information such as "no passage" or "left / right lane change." After receiving the information, the system returns to the storage and charging module 4 and enters standby mode. This system can be used for traffic control in various emergency scenarios, such as temporary traffic control, traffic accidents, road construction, and power failures. Because the causes of emergency scenarios vary widely and are difficult to detect, the system does not include a detection module. Instead, control instructions are issued by the traffic manager or relevant departments. The system then takes action based on the information received from the traffic manager.

[0035] The On-site Control Module 3 is the system's core operation, comprised of multiple mobile cones 6. Each cone 6 features real-time positioning, rapid movement, information display, and communication capabilities. At the start of a response, a predetermined number of mobile cones, known as "mobile cones," are deployed according to the plan generated by the Plan Generation Module 2. These cones are then assembled to form the On-site Control Module 3, which implements hard isolation management of traffic flow on site. Upon receiving the control completion command, the On-site Control Module 3 returns to its standby position.

[0036] The energy storage and charging module 4 is paired with the mobile traffic cone, providing a charging and parking space for the mobile traffic cone in standby mode. When no traffic control event occurs, the mobile traffic cone 6 is docked in the energy storage and charging module 4 in a charging standby state. When a traffic control event occurs, the mobile traffic cone 6 ends its charging standby state and begins responding.

[0037] Data transmission module 1 transmits the issued control instructions to solution generation module 2. According to a white paper released by the European Union 5G Public-Private Partnership Association, 5G is the optimal data transmission solution for multi-vehicle platooning scenarios. Therefore, data transmission module 1 uses 5G to establish network communications. On-site control module 3 relies on this module to form a relatively reliable network topology. Nodes in the network topology rely on the stable 5G communication protocol to establish real-time communication channels and transmit control instructions. The data transmission process is required to meet the following indicators:

[0038] (1) End-to-end communication delay ≤ 20ms;

[0039] (2) Message false alarm rate ≤ 5%;

[0040] (3) Broadcast rate of 10 to 30 messages per second;

[0041] (4) 5G dynamic communication range ≥ 100m.

[0042] The control command includes the latitude and longitude location of the control point, control queue information, and guidance display information. The control queue information represents the linear queues formed by the on-site control module 3 at the control point, including straight queues, curved queues, triangular queues, rectangular queues, circular queues, and V-shaped queues. The guidance display information primarily includes the current road access status in the control area and the guidance traffic flow direction. The message format data is shown in Table 1.

[0043] Table 1

[0044]

[0045]

[0046] After receiving the action instructions and target location information, Solution Generation Module 2 plans the route for each mobile cone. Using a computer or embedded system as a central controller, Solution Generation Module 2 employs the DP algorithm (Dynamic Programming) to plan the formation path for the mobile cones. The basic idea is to divide the entire path into multiple subpaths and recursively solve the optimal subpath to obtain the optimal solution for the entire path. The specific steps are:

[0047] S1: Determine the state. Divide the total path into multiple sub-paths, and take the starting point and end point of each sub-path as a state.

[0048] S2: Determine the recursive formula. Based on the path planning objectives and constraints, determine the recursive formula. For each state, calculate the cost of the best path among all possible paths to that state to obtain the optimal cost to that state.

[0049] S3: Use the Bellman equation of dynamic programming to find the optimal solution:

[0050]

[0051] S4: Determine the boundary conditions: Determine the optimal cost of the path's starting state. The optimal cost of the starting state is 0, and the optimal costs of other states can be initialized to infinity. The boundary conditions are the constraints of the equation:

[0052] a0∈Γ(x0),x1=T(x0,a0);

[0053] Here, we choose a0. This choice will cause the state at time 1 to change. From time 1 onward, this new state will affect the subsequent decision-making process. The path planning decision problem at the next moment appears in the square brackets on the right.

[0054] The core of the DP algorithm is to determine the recursive formula, that is, how to express the solution to the original problem as a function of the solutions to smaller subproblems. Once the recursive formula is determined, the DP algorithm can be used to recursively solve the solution to each subproblem and obtain the optimal solution to the original problem.

[0055] Taking a single mobile road cone as an example, the path planning recursive formula based on DP dynamic programming is established as follows:

[0056] L t+1 =g(L t ,C t )=f(L t )-C t ;

[0057] Where, L t+1 is the path point position at the next moment, L t is the current position, C t For L t To L t+1 The loss function in the process takes into account the influence of three factors: deviation from the path centerline, path curvature, and distance to obstacles.

[0058] like Figure 2 As shown, the workflow of the road traffic flow control system based on mobile cones in an emergency scenario of this embodiment includes:

[0059] In the figure, 8 is a two-lane road from south to north, and 7 is a vehicle traveling on the road. When a traffic accident occurs at the accident point 5, the traffic management department issues information to block the traffic at the accident point 5 and guide the traffic flow in the left lane to merge to the right.

[0060] When the system begins operation, the latitude and longitude location information of the control point, control queue information, and guidance display information are transmitted via the data transmission module 1. After the plan generation module 2 generates a formation control plan for the mobile traffic cones 6, the mobile traffic cones 6 are moved along the designated route from the storage and charging module 4 to the accident site 5. The mobile traffic cones 6 are then formed into the specific queue generated by the plan, forming the on-site control module 3, in this case a V-shaped queue 11. The mobile traffic cones 6 display traffic signs such as "No Entry" and "Merging to the Right" on the top-mounted LED display, thus achieving traffic flow control. After the accident is handled, the on-site control module 3 returns to the storage and charging module 4 for recharge and stands by.

[0061] Specifically, under different emergency situations, a road traffic flow control system based on mobile cones can form different formations to adapt to traffic flow control under different scenario requirements. Figure 3 As shown, there are different queues composed of control points, including a rectangular queue 9, a straight queue 10, a V-shaped queue 11, and a curved queue 12.

[0062] The above are merely preferred embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A road traffic flow control system based on mobile traffic cones, characterized in that: include: Data transmission module (1), solution generation module (2), on-site control module (3) and storage and charging module (4); The data transmission module (1) is used to transmit the control instructions issued by the traffic manager to the solution generation module (2); The plan generation module (2) is used to receive instructions issued by the traffic manager and generate a movement path plan and a formation plan; The on-site control module (3) is used to move the mobile road cone (6) to the target position according to the moving path plan and the formation plan to form a preset formation to control the traffic flow; The energy storage and charging module (4) is used to charge the mobile road cone (6).

2. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: The control instructions include the latitude and longitude location information of the control location, control queue information and induction display information; The control queue information is a linear queue formed by the on-site control module (3) at the control point, including a straight queue, a curved queue, a triangular queue, a rectangular queue, a circular queue, and a V-shaped queue; The induced display information includes the road opening status of the current control area and the induced traffic flow direction.

3. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: The on-site control module (3) is composed of a plurality of mobile road cones (6), and each mobile road cone (6) has real-time positioning, rapid movement, information display and communication functions.

4. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: The LED screen at the top of the mobile road cone (6) displays information indicating that passage is prohibited or that the lane is changed to the left or right.

5. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: The energy storage and charging modules (4) correspond one to one with the movable road cones (6), and the energy storage and charging modules (4) are arranged at the edge of a controlled road area.

6. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: The data transmission module (1) is arranged on each mobile road cone (6).

7. The road traffic flow control system based on mobile traffic cones according to claim 1, characterized in that: Generating movement path plans and formation plans includes: The DP algorithm is used to plan the formation path of the mobile cones, and the entire path is divided into multiple sub-paths. The optimal sub-path is solved recursively to obtain the optimal solution of the entire path.

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