Intelligent lane structure special for train set and method for getting in and out of station by adopting structure

Abstract

The invention discloses an intelligent vehicle train special lane structure and a station entering and exiting method, belongs to the field of intelligent traffic, and aims to solve the problems that an intelligent vehicle train special lane in an existing road is unclear in isolation from a conventional road, station entering and exiting and signal lamp cooperation is insufficient (including that there is no multi-intersection area linkage during congestion, so that vehicle train waiting is too long) and there is no standardized scheme for a waiting area. The structure comprises an intelligent train special lane in the middle of a main road, special lane isolation belts on the two sides, special lane exits (just crossing intersections) and special lane entrances (far away from the just crossing intersections) on the isolation belts, optional conventional road isolation belts and universal waiting areas corresponding to bus stations, and a newly-added area signal control optimization module linkage crossing signal machine. According to the method, efficient entering and exiting of the train set are achieved through double-safety-phase and regional signal cooperation. The traffic safety and efficiency are improved, the transformation cost is low, and the method is adaptive to urban main roads.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a dedicated intelligent vehicle lane structure, and an operation control method for intelligent vehicles entering and leaving stations using this dedicated lane structure. Specifically, it is applicable to the layout design of dedicated intelligent vehicle lanes on urban main roads, and the process control for the safe and efficient flow of intelligent vehicles between dedicated lanes and bus stops. Background Technology

[0002] With the development of intelligent connected vehicle technology, intelligent train systems, as an important component of new urban transportation systems, face key challenges in efficient passage and rational utilization of road resources. Currently, intelligent train transportation systems have formed a multi-dimensional technological layout: At the system architecture level (CN118800085A): it proposes an architecture for collaboration between dedicated road systems and intelligent connected vehicles, and achieves precise travel through dedicated lanes and reservation systems, but does not provide specific solutions for the design of dedicated lanes for the transformation of existing roads.

[0003] Operation control level (CN110867125A / B): Through sand table demonstration device and control method, the coordinated control of intelligent train following, entering and leaving station and other actions is realized, which verifies the feasibility of train operation in closed scenario, but lacks adaptation design for conventional road intersection scenario.

[0004] Merging and signal coordination (CN111091721A, CN114842646B): Solutions are proposed for ramp merging optimization and green wave signal linkage, emphasizing the dynamic adaptation of trains and road signals, but not the specific technical means of separating bus stop entry and exit from regular roads.

[0005] Currently, there are three core issues to consider when setting up intelligent vehicle lanes on existing roads: 1. The lack of clear physical separation between dedicated lanes and regular roads can easily lead to traffic interference between trains and other vehicles; 2. Insufficient coordination between bus stop entry / exit routes and intersection traffic lights affects train stopping efficiency; moreover, the existing traffic light coordination only focuses on phase matching of main / branch roads at a single intersection, and does not cover multi-intersection area linkage in congested scenarios. When the section where the dedicated lane exit is located is congested, relying solely on the signal at a single intersection cannot alleviate the upstream and downstream traffic flow, which can easily cause trains to wait for a long time at the dedicated lane exit, further aggravating the road congestion and making it difficult to meet the needs of intelligent trains for efficient entry and exit from stations.

[0006] 3. The lack of standardized plans for setting up waiting areas makes it difficult to balance priority passage for trains with regular traffic order.

[0007] Therefore, this solution focuses on the design of dedicated smart train lanes in the middle of existing roads. Through the structured layout of median strips and waiting areas, combined with the planning of station access routes, it solves the problem of efficient and safe passage of smart trains on road sections. Summary of the Invention

[0008] To address the shortcomings of existing technologies, this invention aims to solve the problems of unclear separation between dedicated lanes for intelligent trains and regular roads, insufficient coordination between station entry and exit and traffic lights, and the lack of standardized solutions for waiting areas in existing roads. At the same time, existing traffic light coordination is limited to phase matching of main / branch roads at a single intersection, lacking signal linkage in multi-intersection areas under congestion scenarios. As a result, when the road section where the dedicated lane exit is located is congested, intelligent trains have to wait for a long time at the dedicated lane exit, which cannot efficiently enter and exit the station, further aggravating the traffic pressure on the road section.

[0009] A smart train dedicated lane structure, characterized in that it includes: The dedicated lane for intelligent trains is located in the middle of the main road and serves as a special passage for intelligent trains. The dedicated lane isolation strip is set on both sides of the intelligent train dedicated lane to separate the intelligent train dedicated lane from the regular road on the main road; The dedicated lane exit is located on the dedicated lane median strip and is used for smart trains to exit from the dedicated smart train lane and enter the bus station; The dedicated lane entrance is located on the dedicated lane median strip and is used to allow intelligent trains to return to the intelligent train dedicated lane from the main road or regular road.

[0010] Preferably, the dedicated lane exit is located near the direction of travel of the intelligent vehicle train, just past the intersection.

[0011] Preferably, the entrance to the dedicated lane is located near the direction of travel of the intelligent vehicle train and away from the intersection just past, specifically in the direction of approaching the next intersection or in the middle section between two intersections.

[0012] Preferably, the isolation strip for the dedicated road is a green belt or a rigid guardrail, and the height of the rigid guardrail is not less than 50cm.

[0013] Preferably, it also includes a conventional road median strip, which is set between the conventional road and the bus stop to separate the conventional road and the bus stop area.

[0014] Preferably, the conventional road median strip is provided with a general waiting area corresponding to the bus stop location. The general waiting area is a disconnected passage of the conventional road median strip at the bus stop, used for temporary parking of smart trains or conventional vehicles.

[0015] Preferred options also include: The area signal control optimization module is connected to the conventional road traffic signal controllers at the dedicated lane exit, dedicated lane entrance, and the intersections associated with them via 5G-V2X communication. The conventional road traffic signal controller is the existing equipment at the intersection, and is electrically connected to the main road and branch road traffic lights at the corresponding intersection. The regional signal control optimization module is used to: obtain the traffic congestion status around the dedicated lane exit and dedicated lane entrance in real time, and push regional signal coordination instructions to the intelligent vehicle train; the congestion status judgment criterion is: the average speed of the main road is less than 40% of the free flow speed.

[0016] A method for intelligent train entry and exit from a station using a dedicated intelligent train lane structure, characterized by comprising: (1) Entry process: S1. After the intelligent train passes through the intersection in accordance with traffic rules, it sends an entry request to the regional signal control optimization module. The module provides feedback on the congestion status around the dedicated lane exit, and the intelligent train adjusts its speed to enter the dedicated lane exit. S2. When the preset traffic light safety conditions are met and the regional signal coordination instructions pushed by the module match, the smart train exits the dedicated lane from the dedicated lane exit and enters the regular road; if there is congestion, the regional signal coordination instructions include: extending the green light time of the main road at the intersection after the dedicated lane exit, shortening the green light time of the main road at the intersection before the dedicated lane exit, and shortening the green light time of the adjacent branch road intersection at the dedicated lane exit. S3. The intelligent vehicle train travels on a regular road according to traffic rules to the bus stop and completes its entry into the station; (2) Exit procedure: T1. The intelligent train departs from the bus station and sends a departure request to the regional signal control optimization module. The module provides feedback on the congestion status around the entrance of the dedicated lane. Before starting, the intelligent train observes and confirms safety before entering the regular road. T2. The intelligent vehicle train travels on the regular road and gradually merges into the lanes close to the median strip of the dedicated lane; if there is congestion, the regional signal coordination instructions pushed by the module include: extending the green light time of the main road at the intersection before the dedicated lane entrance and shortening the green light time of the main road at the intersection after the dedicated lane entrance; T3. The intelligent train returns to the dedicated intelligent train lane through the dedicated lane entrance and resumes normal operation.

[0017] Preferably, the preset traffic light safety conditions in step S2 include one of the following two situations: The main road traffic light is red, the side road straight-ahead traffic light is green, and the side road left-turn traffic light is red; The main road traffic light is green for left turns, the side road straight traffic light is red, and the side road left turn traffic light is red; The aforementioned regional signal coordination instruction matching refers to the timing of the main road green light at the intersection associated with the dedicated lane exit being consistent with the time window when the intelligent train exits the dedicated lane.

[0018] Preferably, when the intelligent vehicle train dedicated lane structure includes a conventional road median strip, step S3 specifically involves: after the intelligent vehicle train enters the conventional road from the dedicated lane exit, it safely merges into the rightmost lane of the conventional road; the intelligent vehicle train directly stops in the general waiting area, and after confirming safety, the intelligent vehicle train completes passenger boarding and alighting, and passengers cross the non-motorized vehicle lane under the premise of ensuring safety.

[0019] Preferably, when the intelligent vehicle train dedicated lane structure includes a conventional road median strip, step T1 specifically involves: the intelligent vehicle train conducting a safety observation in the general waiting area corresponding to the bus stop; after confirming safety, the intelligent vehicle train starts from the general waiting area and drives out of the general waiting area; after driving out of the general waiting area, the intelligent vehicle train enters the conventional road.

[0020] Preferably, in step T2, "gradually merging into the lane close to the dedicated lane median strip" specifically means: the intelligent vehicle train turns on its turn signal according to traffic rules on a regular road, and after confirming that there are no oncoming vehicles in the adjacent lane, it gradually changes lanes to the left until it is driving close to the dedicated lane median strip.

[0021] Preferably, in step S1, "the intelligent vehicle train follows traffic rules to pass through the intersection" specifically means that the intelligent vehicle train shares the intersection traffic light phase with other vehicles and proceeds straight through the intersection according to the main road traffic light indication.

[0022] Compared with the prior art, the whipping sheets and milkshake machine of the present invention have the following beneficial effects: 1. Improve traffic safety and order. By setting up green belts or rigid guardrails on both sides of the smart train lanes, and combining the differentiated location design of the lane exit "just past the intersection" and the lane entrance "far from the intersection," clear physical isolation and path zoning are constructed. The newly added regional signal control optimization module is linked with the conventional traffic signal controller at the intersection through 5G-V2X, further avoiding cross-interference between trains and other vehicles when entering and leaving the station, reducing scraping and lane change conflicts. It is estimated that the risk of train traffic accidents can be reduced by more than 60%. At the same time, the staggered entrance and exit spaces and the coordination of regional signals ensure the stability of traffic order on the main road, and the overall traffic efficiency of the main road during peak hours is improved by 25%.

[0023] 2. Improve train stopping efficiency and solve the pain points of congestion and waiting. Based on the established safety phases of "red light on the main road + green light for straight traffic and red light for left turn on the side road" and "green light for left turn on the main road + all red lights on the side road," the newly added regional signal control optimization module provides trains with passage windows by issuing instructions such as "extending the green light at the intersection after the exit and shortening the green light at the intersection before the exit during congestion." This avoids trains waiting at red lights or yielding to other vehicles at the dedicated lane exit, reducing the waiting time for a single entry from more than 30 seconds in the traditional scheme to less than 10 seconds, a 70% reduction compared to the uncoordinated scheme. When exiting the station, the process of "regional signal instruction guidance + gradual merging into the side lane of the dedicated lane" quickly connects to the dedicated lane, improving station turnover rate by 30%.

[0024] 3. Priority for self-balancing scooters and regular traffic order The waiting area is divided into a dedicated lane exit / entrance waiting area and a general waiting area separated from the regular road median strip, forming a standardized design system. This general waiting area seamlessly connects with bus stops and regular lanes, ensuring that train stops do not occupy other lanes. The area signal control optimization module can simultaneously adjust the signals of surrounding secondary roads during passenger pick-up and drop-off times to prevent traffic flow from interfering with the waiting area's order. This layout is easy to implement on main roads in different cities, balancing train priority and the needs of other vehicles, keeping the delay rate on regular roads below 8%, achieving a win-win situation of "efficient train stopping" and "orderly social traffic."

[0025] 4. Reduces modification costs and has strong adaptability. This solution focuses on setting up dedicated smart vehicle lanes in the median area of ​​existing roads, eliminating the need to construct a new dedicated road system for the entire road section. The cost per kilometer is only 30% of that of building a new dedicated lane. The newly added regional signal control optimization module is installed in existing roadside cabinets, utilizing existing conventional road traffic signal controllers at intersections (only requiring a reserved 5G-V2X interface) to achieve functionality, without large-scale damage to existing road infrastructure. The solution supports flexible adaptation to urban main roads of different widths, reducing the impact on main road traffic during construction to one-third of traditional renovation solutions. It is particularly suitable for upgrading existing urban arterial roads and can be quickly implemented and promoted. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of this embodiment.

[0028] Figure 2 for Figure 1 A magnified view of a portion of the image.

[0029] In the diagram: Smart train dedicated lane 10, central divider 11, forward dedicated lane 12, reverse dedicated lane 13, right-side divider of forward dedicated lane 14, right-side divider of reverse dedicated lane 15, forward dedicated lane exit 16, reverse dedicated lane entrance 17, regular road divider 20, general waiting area 21, bus stop 30. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] I. Structure of Intelligent Train Dedicated Lane 1.1 Smart Train Dedicated Lane (10) Located in the middle of the main road, it is a two-way dedicated lane, with an overall symmetrical structure of "central median (11) + forward dedicated lane (12) + reverse dedicated lane (13)": Central divider (11): Located between two dedicated lanes, 0.8 meters wide, with 80cm high concrete crash barriers to prevent collisions between forward and reverse traffic. Forward dedicated lane (12): Located on the right side of the central divider (11), with a width of 3.5 meters, paved with red modified asphalt and marked with white hot melt lane lines (15cm wide). Reverse lane (13): Located to the left of the central divider (11), with a width of 3.5 meters. It has the same parameters as the forward lane (12), except that the lane lines are yellow (to distinguish between two-way traffic), and the ground text is marked "Dedicated for Smart Trains".

[0032] Each of the two dedicated lanes is equipped with a roadside millimeter-wave radar (detection range 150 meters) and a 5G-V2X unit every 100 meters to transmit dedicated traffic flow information to the vehicles in the forward dedicated lane (12) and the reverse dedicated lane (13), respectively, to ensure independent passage in both directions. The 5G-V2X unit is a vehicle-to-everything (V2X) communication module based on the fifth-generation mobile communication technology (5G).

[0033] 1.2 Dedicated lane median strip There are two median strips for the dedicated lane, namely the right-side median strip for the forward dedicated lane (14) and the right-side median strip for the reverse dedicated lane (15): Right-side median strip (14) of the dedicated lane: a 50cm high corrugated beam steel guardrail with reflective film on the inside, separating the dedicated lane (12) from the regular lane on the right side of the main road; Right-side median strip of the reverse lane (15): A 1-meter-wide green median strip (planted with holly shrubs) is used to separate the reverse lane (13) from the regular lane on the left side of the main road; Both sides of the isolation strip are continuously set up and only disconnected at the entrance and exit of the dedicated lane to ensure that the physical isolation boundary between the forward dedicated lane (12), the reverse dedicated lane (13) and the regular road is clear.

[0034] 1.3 Dedicated lane exit Forward dedicated lane exit (16): Located 20-100 meters after the stop line of the forward intersection (in the direction of forward train travel), the exit is 3.5 meters wide. The right-side isolation strip (14) of the forward dedicated lane ends here. Reflective warning posts are set on both sides of the lane, and white stop lines and right-pointing directional arrows are painted on the edges. A sign that reads "Forward Train Exit" is placed above it. Reverse lane exit: Located 20-100 meters behind the stop line of the reverse intersection (in the direction of travel of the reverse train), the exit is 3.5 meters wide, the right-side isolation strip (15) of the reverse lane is disconnected, the supporting facilities are the same as those of the forward lane exit (16), and the sign is marked "Reverse train exit"; The intersections where the forward dedicated lane exit (16) and the reverse dedicated lane exit are located, as well as the intersections adjacent to the exits, are all equipped with conventional road traffic signals. The signals are reserved with 5G-V2X communication interfaces, which can receive instructions from the regional signal control optimization module.

[0035] 1.4 Dedicated Lane Entrance Forward dedicated lane entrance: Located 150-300 meters from the previous intersection (in the forward direction of travel) of the forward lane, the entrance is 3.5 meters wide, with a 15-meter transition section (from 3.75 meters in the regular lane to 3.5 meters), and an LED screen is installed to display "Forward Train Entrance" and real-time status; Reverse lane entrance (17): Located 150-300 meters from the previous intersection in the reverse lane (symmetrical to the forward entrance in the reverse direction of travel), with entrance parameters consistent with the forward entrance, and the LED screen labeled "Reverse lane entrance"; The intersections where the entrance to the forward dedicated lane and the entrance to the reverse dedicated lane (17) are located, as well as the intersections adjacent to the entrances, are equipped with the same conventional road traffic signals as the exit-related intersections, with the same functions and communication interfaces.

[0036] 1.5 Conventional road median strips (20) The following lanes are set up along the right side of the main road (right side of the forward dedicated lane (12)) and the left side of the main road (left side of the reverse dedicated lane (13): The two-way conventional road median strips (20) are all 1m high PE plastic guardrails, which separate the conventional lanes (motor vehicles) from the non-motor vehicle lanes to prevent non-motor vehicles from entering the conventional lanes; The two-way conventional road median strip (20) is broken at the corresponding position of the bus stop (30) to form a "general waiting area (21)" - the width of the passage is 3 meters (aligned with the rightmost lane edge of the conventional road) and the length is 20 meters (consistent with the length of the bus stop (30)). "Passenger crossing warning signs" are set on the outer side (near the non-motorized vehicle lane).

[0037] The rightmost lane of the regular road is 3.75 meters wide and is seamlessly connected to the general waiting area (21). After the vehicle stops in the general waiting area (21), the vehicle body is completely located in the rightmost lane and the right side is ≤30cm away from the edge of the regular road median strip (20), ensuring that the vehicle train does not occupy other lanes when it stops.

[0038] 1.6 Area Signal Control Optimization Module and Communication Connection Module hardware: The area signal control optimization module is installed in a roadside cabinet next to the dedicated lane. It adopts an industrial-grade embedded processor and integrates a 5G-V2X communication chip with a communication distance of ≥1km. Communication connection: The module is connected to the traffic signal controllers of the dedicated lane exit, the dedicated lane entrance, and the intersections associated with them via 5G-V2X. The signal controller response delay is ≤100ms. The traffic signal controllers are the existing equipment at the intersections and are electrically connected to the main road and branch road traffic lights at the corresponding intersections. Congestion detection and instruction push: The module collects the average speed of the main road through the roadside millimeter-wave radar in the dedicated lane. When the speed is less than 40% of the free flow velocity, it is determined to be congested. If congestion occurs, the module sends an instruction to the traffic signal controller to "extend the green light of the main road at the intersection after the exit, shorten the green light of the main road at the intersection before the exit, and shorten the green light of the main road at the intersection before the entrance", and pushes the passage window information to the intelligent vehicle train. If there is no congestion, only the intersection signal status is reported.

[0039] Methods of entering and exiting the station 2.1 Forward Train Entry and Exit Procedures (1) Entering the station When the train is 500 meters away from the station, it sends an entry request to the regional signal control optimization module via the onboard 5G-V2X. The module provides real-time feedback on the congestion status around the dedicated lane exit (based on the average speed of the main road collected by the roadside millimeter-wave radar in the dedicated lane; a speed less than 40% of the free flow velocity is considered congested). After the intelligent train passes through the intersection in accordance with traffic rules, it adjusts its speed according to the congestion status fed back by the module and enters the forward dedicated lane exit (16). When the preset traffic light safety conditions of "red light on the main road + green light for straight traffic and red light for left turn on the side road" or "green light for left turn on the main road + all red light on the side road" are met, and the regional signal coordination instructions pushed by the module match (the green light sequence of the main road at the intersection associated with the dedicated lane exit is consistent with the time window of the train leaving the dedicated lane), the train leaves the dedicated lane (12) from the dedicated lane exit (16) and enters the regular road; if there is congestion, the regional signal coordination instructions include: extending the green light time of the main road at the intersection after the dedicated lane exit, shortening the green light time of the main road at the intersection before the dedicated lane exit, and shortening the green light time of the adjacent side road intersection at the dedicated lane exit; The train slows down to 20 km / h and enters the forward waiting area from the dedicated lane exit (16). After confirming safety through a 360° surround view camera, it safely merges into the rightmost lane of the regular road and enters the general waiting area (21) corresponding to the forward bus stop (30) at 5 km / h. After the train comes to a complete stop and safety is confirmed, passengers can board and alight. Passengers can cross the non-motorized vehicle lane to enter the station, provided that safety is ensured.

[0040] (2) Exiting the station Before the train departs from the bus station (30), it sends a departure request to the regional signal control optimization module, which provides real-time feedback on the congestion status around the entrance of the dedicated lane. The train is observed for safety at the general waiting area (21) corresponding to the bus stop (30). After confirming that there are no passengers waiting in the general waiting area (21) and no continuous traffic flow within 30 meters of the non-motorized vehicle lane, the train starts from the general waiting area (21) and drives out of the general waiting area (21) to enter the regular road. The train turns on its left turn signal in accordance with traffic rules on the regular road. After confirming that there are no vehicles coming from the adjacent lane, it gradually changes lanes to the left lane (merging into the lane close to the median strip of the dedicated lane in two steps) until it drives close to the median strip (14) on the right side of the dedicated lane. If there is congestion, the regional signal coordination instructions pushed by the module include: extending the green light time of the main road at the intersection before the dedicated lane entrance and shortening the green light time of the main road at the intersection after the dedicated lane entrance. After the train arrives at the entrance of the dedicated lane and confirms that the LED screen indicates "passable", it returns to the dedicated lane (12) through the entrance of the dedicated lane, accelerates to 60km / h and resumes normal driving, and completes the exit from the station.

[0041] 2.2 Reverse Train Entry and Exit Procedures (1) Entering the station When the train traveling in the opposite direction is 500 meters away from the station, it sends an entry request to the regional signal control optimization module via the onboard 5G-V2X. The module provides real-time feedback on the congestion status around the dedicated lane exit. After the intelligent train follows traffic rules through the intersection, it adjusts its speed based on the congestion status reported by the module and enters the dedicated lane exit for the opposite direction. When the preset traffic light safety conditions of "red light on the main road in reverse + green light for straight and red light for left turn on the side road in reverse" or "green light for left turn on the main road in reverse + all red lights on the side road in reverse" are met, and the regional signal coordination instructions pushed by the module match (the green light sequence of the main road at the intersection associated with the exit of the reverse dedicated lane is consistent with the time window of the train leaving the dedicated lane), the train leaves the reverse dedicated lane (13) from the exit of the reverse dedicated lane and enters the regular road; if there is congestion, the regional signal coordination instructions include: extending the green light time of the main road at the intersection after the exit of the reverse dedicated lane, shortening the green light time of the main road at the intersection before the exit of the reverse dedicated lane, and shortening the green light time of the side road intersection adjacent to the exit of the reverse dedicated lane. The reverse train slows down to 20km / h, turns on the left turn signal (when driving in the opposite direction, the turning direction is opposite to the forward direction), enters the reverse waiting area from the reverse dedicated lane exit, stops and observes for 3 seconds, and after confirming safety through the 360° surround view camera, safely merges into the leftmost lane of the regular road and enters the general waiting area (21) corresponding to the reverse bus station (30) at 5km / h; after the train stops and confirms safety, passengers get on and off, and passengers cross the non-motorized vehicle lane to enter the station under the premise of ensuring safety.

[0042] (2) Exiting the station Before the reverse train departs from the bus station (30), it sends a departure request to the regional signal control optimization module, which provides real-time feedback on the congestion status around the entrance of the dedicated lane; The train is observed for safety at the general waiting area (21) corresponding to the bus stop (30). After confirming that there are no passengers waiting in the general waiting area (21) and no continuous traffic flow within 30 meters of the non-motorized vehicle lane, the train starts from the general waiting area (21) and drives out of the general waiting area (21) to enter the regular road. When the train is on a regular road, it turns on its right turn signal according to traffic rules (when driving in the opposite direction, the turning direction is opposite to the forward direction). It scans the regular lane on the left with the onboard sensor and after confirming that there are no vehicles coming from the adjacent lane, it gradually changes lanes to the left lane (merging into the lane close to the median strip of the reverse dedicated lane in two steps) until it drives close to the median strip on the right side of the reverse dedicated lane (15). If there is congestion, the regional signal coordination instructions pushed by the module include: extending the green light time of the main road at the intersection before the entrance of the reverse dedicated lane and shortening the green light time of the main road at the intersection after the entrance of the reverse dedicated lane. When the train reaches the entrance of the reverse dedicated lane (17), after confirming that the LED screen shows "passable", it turns into the reverse dedicated lane (13), accelerates to 60km / h and resumes normal driving, and completes the exit from the station.

[0043] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A smart train dedicated lane structure, characterized in that, include: The dedicated lane for intelligent trains is located in the middle of the main road and serves as a special passage for intelligent trains. The dedicated lane isolation strip is set on both sides of the intelligent train dedicated lane to separate the intelligent train dedicated lane from the regular road on the main road; The dedicated lane exit is located on the dedicated lane median strip and is used for smart trains to exit from the dedicated smart train lane and enter the bus station; The dedicated lane entrance is located on the dedicated lane median strip and is used to allow intelligent trains to return to the intelligent train dedicated lane from the main road or regular road.

2. The intelligent train lane structure according to claim 1, characterized in that, The dedicated lane exit is located near the direction the intelligent train is traveling, just past the intersection.

3. The intelligent train lane structure according to claim 1, characterized in that, The entrance to the dedicated lane is located near the direction of travel of the intelligent vehicle train and away from the intersection just past, specifically in the direction of approaching the next intersection or in the middle section between two intersections.

4. The intelligent train lane structure according to claim 1, characterized in that, The isolation strip for the dedicated road shall be a green belt or a rigid guardrail, and the height of the rigid guardrail shall not be less than 50cm.

5. The intelligent train lane structure according to claim 1, characterized in that, It also includes a conventional road median strip, which is set between the conventional road and the bus stop to separate the conventional road and the bus stop area.

6. The intelligent train lane structure according to claim 5, characterized in that, The conventional road median strip is equipped with a general waiting area corresponding to the bus stop location. The general waiting area is a disconnected passage of the conventional road median strip at the bus stop, used for temporary parking of smart trains or conventional vehicles.

7. The intelligent train lane structure according to claim 5 or 6, characterized in that, Also includes: The area signal control optimization module is connected to the conventional road traffic signal controllers at the dedicated lane exit, dedicated lane entrance, and the intersections associated with them via 5G-V2X communication. The conventional road traffic signal controller is the existing equipment at the intersection, and is electrically connected to the main road and branch road traffic lights at the corresponding intersection. The regional signal control optimization module is used to: obtain the traffic congestion status around the dedicated lane exit and dedicated lane entrance in real time, and push regional signal coordination instructions to the intelligent vehicle train; the congestion status judgment criterion is: the average speed of the main road is less than 40% of the free flow speed.

8. A method for intelligent train entry and exit from a station using the intelligent train dedicated lane structure described in any one of claims 1-7, characterized in that, include: (1) Entry process: S1. After the intelligent train passes through the intersection in accordance with traffic rules, it sends an entry request to the regional signal control optimization module. The module provides feedback on the congestion status around the dedicated lane exit, and the intelligent train adjusts its speed to enter the dedicated lane exit. S2. When the preset traffic light safety conditions are met and the regional signal coordination command pushed by the module matches, the smart train exits the dedicated lane from the dedicated lane exit and enters the regular road; If congestion occurs, the regional signal coordination instructions include: extending the green light time of the main road at the intersection after the dedicated lane exit, shortening the green light time of the main road at the intersection before the dedicated lane exit, and simultaneously shortening the green light time of the adjacent side road intersection at the dedicated lane exit. S3. The intelligent vehicle train travels on a regular road according to traffic rules to the bus stop and completes its entry into the station; (2) Exit procedure: T1. The intelligent train departs from the bus station and sends a departure request to the regional signal control optimization module. The module provides feedback on the congestion status around the entrance of the dedicated lane. Before starting, the intelligent train observes and confirms safety before entering the regular road. T2. The intelligent vehicle train travels on the regular road and gradually merges into the lanes close to the median strip of the dedicated lane; if there is congestion, the regional signal coordination instructions pushed by the module include: extending the green light time of the main road at the intersection before the dedicated lane entrance and shortening the green light time of the main road at the intersection after the dedicated lane entrance; T3. The intelligent train returns to the dedicated intelligent train lane through the dedicated lane entrance and resumes normal operation.

9. The intelligent vehicle entry and exit method according to claim 8, characterized in that, The preset traffic light safety conditions mentioned in step S2 include one of the following two situations: The main road traffic light is red, the side road straight-ahead traffic light is green, and the side road left-turn traffic light is red; The main road traffic light is green for left turns, the side road straight traffic light is red, and the side road left turn traffic light is red; The aforementioned regional signal coordination instruction matching refers to the timing of the main road green light at the intersection associated with the dedicated lane exit being consistent with the time window when the intelligent train exits the dedicated lane.

10. The intelligent vehicle entry and exit method according to claim 8, characterized in that, When the intelligent vehicle train dedicated lane structure includes a conventional road median strip, step S3 specifically involves: after the intelligent vehicle train enters the conventional road from the dedicated lane exit, it safely merges into the rightmost lane of the conventional road; the intelligent vehicle train directly stops in the general waiting area, and after confirming safety, the intelligent vehicle train completes passenger boarding and alighting, and passengers cross the non-motorized vehicle lane under the premise of ensuring safety.

11. The intelligent vehicle entry and exit method according to claim 8, characterized in that, When the intelligent vehicle lane structure includes a conventional road median strip, step T1 specifically involves: the intelligent vehicle train conducting a safety observation in the general waiting area corresponding to the bus stop; after confirming safety, the intelligent vehicle train starts from the general waiting area and drives out of the general waiting area; after driving out of the general waiting area, the intelligent vehicle train enters the conventional road.

12. The intelligent vehicle entry and exit method according to claim 8, characterized in that, In step T2, "gradually merging into the lane close to the dedicated lane median strip" specifically means: the intelligent vehicle train turns on its turn signal according to traffic rules on the regular road, and after confirming that there are no vehicles approaching from the adjacent lane, it gradually changes lanes to the left until it is driving close to the dedicated lane median strip.

13. The intelligent vehicle entry and exit method according to claim 8, characterized in that, In step S1, "the intelligent vehicle train follows traffic rules to pass through the intersection" specifically means that the intelligent vehicle train shares the intersection traffic light phase with other vehicles and proceeds straight through the intersection according to the main road traffic light indication.

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