Emergency lane switch monitoring method and device for intelligent expansion of expressway

Abstract

The embodiment of the invention discloses an emergency lane switch monitoring method and device for intelligent expansion of an expressway, and the method comprises the steps: sensing the position and speed information of vehicles in a traffic flow in real time through a road side unit, carrying out the clustering of the vehicles, and generating a plurality of class clusters through a clustering result; judging whether the cluster is in a congestion state or not according to the number of vehicles contained in each cluster and the average speed of the vehicles in the cluster; for the class cluster in the congestion state, calculating the congestion length, the starting position and the ending position of the congestion, and opening the emergency lane at the corresponding position according to the starting position information and the ending position information; and when the congestion of the main line disappears, the opened emergency lane is automatically closed. By sensing the traffic flow state in real time, discovering the congested traffic flow in time and automatically opening and closing the emergency lane at the corresponding position of the congested road section, intelligent expansion of the expressway is achieved, the congestion condition of the road can be relieved, stable running of the traffic flow is guaranteed, and the traffic efficiency and safety of the road and the travel experience of a user are improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a method and device for monitoring emergency lane switches for intelligent expansion of highways. Background Technology

[0002] With rapid economic development and accelerated urbanization, traffic flow on my country's expressways has shown a continuous upward trend. Traffic congestion is particularly frequent and severe during holidays, special events, and on some economically developed expressway sections. Traditional expressway expansion methods mainly rely on large-scale physical construction, such as widening the road surface and adding lanes. However, these methods are not only time-consuming and costly, but also involve extensive land acquisition and demolition work, causing significant environmental damage, and further exacerbating traffic congestion during construction.

[0003] Emergency lanes, as a crucial component of highways, were originally designed to provide rapid passage for emergency vehicles involved in engineering rescue, firefighting, and medical assistance, ensuring the smooth operation of roadside assistance efforts and maintaining highway safety and traffic flow. Under normal circumstances, non-emergency vehicles are strictly prohibited from using emergency lanes. However, when traffic congestion surges, temporarily opening emergency lanes for traffic can significantly improve the overall capacity of highways and alleviate congestion if their space is utilized effectively.

[0004] Currently, the management of emergency lanes largely relies on traditional methods. On one hand, it depends heavily on manual experience; managers review video surveillance footage from multiple road sections and judge whether temporary use of emergency lanes is permitted based on their own experience. This method is highly subjective, lacks scientific theoretical basis, and may lead to differing judgment standards among managers, easily causing disputes. Furthermore, it often only opens emergency lanes when congestion is already severe, at which point the effect of alleviating congestion is significantly reduced. On the other hand, some regions have attempted to establish fixed rules for emergency lane opening, such as opening them under specific holidays or on specific road sections. However, these rules lack dynamic adaptability to real-time traffic conditions and cannot flexibly adjust the opening and closing strategies of emergency lanes according to the actual traffic flow and congestion levels at different times and on different road sections. In short, the existing management methods for highway emergency lanes are insufficient to meet the ever-increasing traffic demands. How to further optimize the opening and closing strategies of emergency lanes to improve road traffic efficiency has become a research topic that needs to be addressed. Summary of the Invention

[0005] This invention provides a method and device for monitoring and controlling the switching of emergency lanes on highways using intelligent expansion mechanisms. By monitoring traffic flow in real time, it instantly detects congested sections on the road and triggers a dynamic switching mechanism for the corresponding emergency lanes. This technical solution can instantly expand road space, intelligently achieving dynamic expansion of highways, ultimately alleviating traffic congestion and improving traffic efficiency.

[0006] To achieve the above objectives, the embodiments of the present invention adopt the following technical solutions:

[0007] In a first aspect, the method provided by embodiments of the present invention includes:

[0008] Step 1: Establish a set of variable information flags corresponding to the road segment that require the application of emergency lane opening instructions. For example: Initialize set B0 = {} (used to initially store variable information flags that require the application of emergency lane opening instructions). The initial state of the emergency lane is all closed, so set B0 is initialized to empty.

[0009] Step 2: Obtain real-time vehicle-related information for the road segment, including real-time vehicle location and speed information. For example: in the next time interval [t]... i ,t i+1 The starting time t of (i≥1) i Obtain real-time vehicle-related information in traffic flow.

[0010] Step 3: Cluster the traffic flow based on real-time vehicle-related information.

[0011] Step 4: For each cluster in the clustering results, determine whether it is in a congested state. Specifically, use the clusters in the clustering results to detect whether the road segment is in a congested state and record the congested clusters.

[0012] Step 5: Update the variable information flag set according to congestion clusters. For example: For congestion clusters, construct a mapping dictionary between adjacent variable information flags and cluster elements by calculating and selecting the two nearest adjacent variable information flags to each element of the cluster. Update the variable information flag set according to the key values ​​of the mapping dictionary to obtain the variable information flag set B that requires the application of emergency lane opening instructions. i ={b i ,…,b k}

[0013] Step 6: Obtain the difference between the sets of variable information signs before and after the update, and select the emergency lane that needs to be switched on or off.

[0014] Specifically, step two includes: using roadside sensing radar deployed on the highway to collect real-time vehicle-related information on the road segment, wherein the location information of the roadside sensing radar is known. The real-time vehicle-related information includes the real-time location information and the real-time speed information of the vehicles. The location information includes longitude and latitude. The sampling time interval is [t]. i ,t i+1 ], t i This represents the sampling time point with time slice number i, where i ≥ 1, [t i ,t i+1 The length of ] is T span T span >0, time interval [t] i ,t i+1 (i≥1) is continuous and uniform, and its length T span It is a constant that can be adjusted according to specific circumstances and still satisfy the requirements.

[0015] Specifically, step three includes: clustering the vehicle location information to generate m clusters C1, C2, ..., Cn. m And n noise points N1, N2, ..., N n Where m≥0, n≥0, and m clusters constitute the cluster set E={C1, C2, ..., C... m}

[0016] Specifically, step four includes: when cluster C i Number of vehicles included ≥VehCount and cluster C i The average speed of the vehicles included When VehCount ≤ AveSpeed, the road segment corresponding to that cluster is considered congested. Here, VehCount represents a quantity constant, and AveSpeed ​​represents a speed constant. VehCount ≥ 0, AveSpeed ​​≥ 0, and the clusters experiencing congestion form a set F = {C}. j | C j A traffic jam occurred, C j E}.

[0017] Specifically, step five includes: deploying p variable message signs b along the side of the highway. k And record each variable information flag b kThe location information and the distance between two adjacent variable message signs. In practical applications, variable message signs can be deployed on the side of highways, specifically physical roadside variable message signs or highway traffic signs. k is the sign number, 1≤k≤p, and the variable message signs are stored in the set list B=[b1, b2, ..., b...] in order from upstream to downstream in the direction of travel. p In the process, construct a mapping dictionary between adjacent variable information flags and cluster elements, where for each element of a congested cluster, select the two adjacent variable information flags that are closest to the element.

[0018] The construction of the mapping dictionary between adjacent variable information markers and cluster elements includes: for congestion clusters C in set F... j Determine C j Containing u elements, we obtain a set in the form C. j ={c j,1 ,c j,2 ,……,c j,u}, for C j ={c j,1 ,c j,2 ,……,c j,u For each element in set B, retrieve the two nearest adjacent variable information flags b from set B. r and b r+1 and establish (b r , b r+1 The mapping relationship between elements is established. All obtained element-to-element mapping relationships are imported into the mapping dictionary Dic. j Among them, Dic j The set of keys for key-value pairs consists of all adjacent variable information tags (b) corresponding to each element. r , b r+1 Composed of ( ). For example:

[0019] The value of the key-value pair is the adjacent variable information flag b. r and b r+1 The list consisting of the nearest if elements, i.e.

[0020] Dic j ={

[0021] ...

[0022] {(b r-1 , b r ), […, ,…]},

[0023] {(b r , br+1 ), […, ,…]},

[0024] {(b r+1 , b r+2 ),[…, ,…]},

[0025] ...

[0026] }

[0027] Dic j The order of the keys in the list is consistent with the order in set B. , , ... belong to the set {t|1≤t≤u}. And in Dic... j In the set C, the intersection of any two values ​​is an empty set, and the union of all values ​​is equal to C. j .

[0028] For Dic j Given all keys, select the set consisting of the second element of each key as the set B of variable information flags for which the emergency lane opening command needs to be issued. i ={b i ,…,b k In practical applications, each item in a dictionary will include a key-value pair, such as Dic in the following text. j One of the entries in the dictionary is {(b2,b3), [ , , , , , , , ]}, the key is (b2, b3), and the value is [ , , , , , , , The second element of key is b3, which refers to a variable information flag on the roadside.

[0029] Specifically, step six includes: obtaining the difference between the sets of variable information signs before and after the update; applying lane closure instructions to the variable information signs in the difference set; and applying emergency lane opening instructions to the variable information signs in the updated set. For example: for lane B... i-1 With B iThe difference set B i-1 -B i When a lane-closing instruction is issued by a variable information sign, the time interval [t] will be used. i ,t i+1 The command is divided into two parts: the first part issues the command to clear the emergency lane, and the second part issues the command to close the emergency lane. For set B... i The variable message sign in the middle applies the emergency lane opening instruction, opening the emergency lane until time t. i+1 Then proceed to step two to continue the next round of the loop.

[0030] Secondly, the apparatus provided in the embodiments of the present invention includes:

[0031] The preprocessing module is used to establish a set of variable information flags for the emergency lane opening instructions corresponding to the road segment.

[0032] The information acquisition module is used to obtain real-time vehicle-related information for the road segment, including real-time vehicle location information and vehicle speed information.

[0033] The clustering module is used to cluster traffic flow based on real-time vehicle-related information.

[0034] The congestion detection module is used to detect whether a road segment is congested by using the clusters in the clustering results, and to record the congestion clusters.

[0035] An update processing module is used to update the set of variable information flags according to the congestion cluster.

[0036] The switch module is used to obtain the difference between the sets of variable information signs before and after the update, and to select the emergency lane that needs to be switched.

[0037] The emergency lane switching monitoring method and device for intelligent expansion of highways provided in this invention uses roadside units to sense the position and speed information of vehicles in the traffic flow in real time, clusters the vehicles, and generates several clusters. Based on the number of vehicles in each cluster and the average speed of vehicles in that cluster, it is determined whether the cluster is congested. For clusters in a congested state, the length of the congestion, the start and end positions of the congestion are calculated, and the corresponding emergency lanes are opened based on the start and end position information. When the mainline congestion disappears, the opened emergency lanes are automatically closed. This invention, by sensing the traffic flow status in real time, promptly detects congested traffic flow, and automatically opens and closes emergency lanes at corresponding positions in congested road sections, realizes intelligent expansion of highways, effectively alleviates road congestion, ensures smooth traffic flow, and improves road traffic efficiency. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in 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.

[0039] Figure 1 This is an illustration of a real-world scenario at a specific moment on a designated section of a highway, as provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram illustrating the abstraction of vehicles in a real-world scenario as coordinate points, provided by an embodiment of the present invention.

[0041] Figure 3 This is a schematic diagram of the results of clustering coordinate points according to an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of road sections where emergency lanes are open and closed, provided as an embodiment of the present invention.

[0043] Figure 5 This is a schematic diagram of the method flow provided in an embodiment of the present invention;

[0044] Among them, b1, b2, b3, b4, b5, and b6 are roadside variable message signs; R1 is a roadside sensing radar. , , , The elements in cluster C1 of the clustering results; , , , , , , , , , , , , , , , , , , , , , , , , , , , , N1 and N2 are elements in cluster C2 of the clustering results; N1 and N2 are noise points in the clustering results; segment1 and segment3 are emergency lanes in the closed state; segment2 is the emergency lane in the open state. Detailed Implementation

[0045] To enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Embodiments of the present invention will be described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in the specification of the present invention means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or couplings. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0046] To address the bottleneck in traffic efficiency inherent in current highway management models, this invention innovatively proposes a dynamic switching method for emergency lanes in intelligent highway expansion. This method monitors road traffic flow in real time, instantly identifying congested sections and triggering a dynamic switching mechanism for the corresponding emergency lanes. This technical solution can instantly expand road space, intelligently achieving dynamic expansion of highways, ultimately alleviating traffic congestion and improving traffic efficiency.

[0047] The specific design concept is as follows: design a dynamic switching method for emergency lanes for intelligent expansion of highways. Real-time vehicle-related information in the traffic flow is obtained by roadside sensing radars deployed on the highway. Based on this information, it is calculated whether congestion has occurred in the traffic flow. Combined with roadside variable message signs, when congestion occurs, an emergency lane opening instruction is issued on the variable message signs at the corresponding locations; when congestion disappears, an emergency lane closing instruction is issued on the variable message signs at the corresponding locations.

[0048] The specific steps in this embodiment are as follows:

[0049] S1. Initialize set B0 = {} (used to initially store variable information flags that require the application of emergency lane opening instructions); the emergency lane is initially closed.

[0050] S2, in the next time interval [t] i ,t i+1 The starting time t of (i≥1) i Obtain real-time vehicle-related information in traffic flow;

[0051] S3. Cluster the traffic flow based on real-time vehicle-related information;

[0052] S4. For each cluster in the clustering results, determine whether it is in a congested state;

[0053] S5. For congestion clusters, construct a mapping dictionary between adjacent variable information markers and cluster elements by calculating and selecting the two nearest adjacent variable information markers to each element of the cluster.

[0054] S6. Based on the key values ​​of the mapping dictionary, select the set B of variable information flags for which the emergency lane opening command needs to be applied. i ={b i ,…,b k};

[0055] S7, For set B i-1 -B i Apply lane closure instructions to variable information signs in set B; i The variable message sign in the middle applies the emergency lane opening instruction until time t. i+1 Jump to S2 and start the next iteration.

[0056] In S1, set B0 is used to initially store variable information flags that require the application of emergency lane opening instructions, and is initialized to empty.

[0057] In S2, the time interval [t] i ,t i+1 (i≥1) is continuous and uniform, and its length T spanIt is a constant that can be adjusted according to specific circumstances and satisfies T. span >0; Real-time vehicle-related information in traffic flow is obtained by using roadside sensing radar deployed on highways; the location information of the roadside sensing radar is known; the real-time vehicle-related information includes the real-time location information and the real-time speed information of the vehicles; wherein, the location information includes longitude and latitude.

[0058] Preferably, T can be selected. span =2min, thus dividing the time into continuous and uniform time intervals, such as [00:00,00:02], [00:02,00:04], ..., [08:00,08:02], [08:02,08:04], ...;

[0059] Preferably, the distance between two different locations can be calculated using a planar approximation method.

[0060] In S3, the DBSCAN algorithm is used to cluster vehicle location information. This algorithm includes two adjustment parameters:

[0061] ε (eps): refers to the neighborhood radius, used to define the range of "nearby";

[0062] MinPts: refers to the minimum number of neighborhood points (including itself) required for a core point.

[0063] The neighborhood radius ε and the minimum number of neighborhood points MinPts can be preset fixed values ​​according to the road traffic conditions; preferably, ε can be 30m and MinPts can be 3.

[0064] Using this algorithm to cluster vehicle location information will result in m clusters C1, C2, ..., C m And n noise points N1, N2, ..., N n Where m≥0, n≥0; m clusters constitute a set E={C1, C2, ..., C...} m}

[0065] Furthermore, cluster C i Vehicles in (1≤i≤m) are also called cluster C. i Element;

[0066] For each cluster C generated in S3, in S4 i (1≤i≤m) is used for judgment, when the cluster C i Number of vehicles included ≥VehCount and cluster C i The average speed of the vehicles included When ≤ AveSpeed, it is determined that congestion has occurred in this cluster; where VehCount and AveSpeed are constants, which can be adjusted according to the specific situation of the traffic flow, and satisfy VehCount ≥ 0, AveSpeed ≥ 0; the clusters with congestion form a set F = {C j | C j has congestion occurred, C j E}.

[0067] Preferably, VehCount can take 20, and AveSpeed can take 40 km / h.

[0068] In S5, it includes deploying p variable message signs b k (1 ≤ k ≤ p) on the roadside of the highway. These variable message signs are stored in the set list B = [b1, b2, ……, b p in sequence from the upstream to the downstream of the driving direction. The position information of each variable message sign b k is known, and the distance between two adjacent variable message signs (1 ≤ q < p) is known;

[0069] In S5, it includes that when constructing the mapping dictionary between adjacent variable message signs and cluster elements, for each element of the congested cluster, the selected two adjacent variable message signs are the closest to this element.

[0070] Specifically, for any congested cluster C j in the set F, assume it contains u elements (u ≥ MinPts), that is, C j ={c j,1 ,c j,2 ,……,c j,u}, for any element c j,t (1 ≤ t ≤ u) among them, find the two adjacent variable message signs b j,t and b r that are the closest to the element c r+1 (b r B, b r+1 B) from the set B, and establish the corresponding relationship between (b r , b r+1 ) and c j,t ; according to this corresponding relationship, construct the dictionary set Dic j : The key of the key-value pair in the dictionary is composed of the adjacent variable message signs (b j,t , b r , b r+1The key-value pair is composed of the adjacent variable information flag b. r and b r+1 A list consisting of the nearest elements, i.e.

[0071] Dic j =

[0072] {

[0073] ...

[0074] {(b r-1 , b r ), […, ,…]},

[0075] {(b r , b r+1 ), […, ,…]},

[0076] {(b r+1 , b r+2 ),[…, ,…]},

[0077] ...

[0078] }

[0079] Dic j The order of the keys in the list is consistent with the order in set B. , , ... belong to the set {t|1≤t≤u}; and in Dic... j In the set C, the intersection of any two values ​​is an empty set, and the union of all values ​​is equal to C. j .

[0080] In S6, this includes Dic. j Given all keys, select the set consisting of the second element of each key as the set B of variable information flags for which the emergency lane opening command needs to be issued. i ={b i ,…,b k}

[0081] S7 includes set B. i-1 With B i The difference set B i-1 -B i When a lane-closing instruction is applied using a variable information sign, the time interval [t] can be used. i ,t i+1The process is divided into two parts: the first part is used to issue an instruction to clear the emergency lane, and the second part is used to issue an instruction to close the emergency lane.

[0082] Preferably, the duration of the initial clearing of the emergency lane can be selected as T. span / 2=1min; the duration of the emergency lane closure instruction can be selected as T. span / 2=1min;

[0083] For set B i The variable message sign in the middle applies the emergency lane opening instruction, opening the emergency lane until time t. i+1 Then jump to S2 to continue the next round of the loop.

[0084] The application process of this embodiment is illustrated below with specific examples: The technical solution of this embodiment can be designed into various extended solutions according to different application scenarios in practical applications, such as combining... Figure 1-4 The specific application scenario shown can be designed according to the scheme of Implementation Example 1, including:

[0085] A section of a highway is a two-lane road. Traffic flow at time t1=08:00 was obtained using roadside sensing radar, as shown below. Figure 1 As shown. The latitude and longitude coordinates of the roadside variable message signs are as follows:

[0086] b1(119.182926, 32.051508), b2(119.183456, 32.051508),

[0087] b3(119.183986, 32.051508), b4(119.184516, 32.051508),

[0088] b5(119.185046, 32.051508), b6(119.185576, 32.051508),

[0089] Initialize set B0 to empty, i.e., B0 = {}; the emergency lane is initially closed.

[0090] Take T span =2min, thus dividing the time into continuous and uniform time intervals, such as [08:00, 08:02], [08:02, 08:04], ...;

[0091] The latitude, longitude, and speed of the vehicle at time t1=08:00 are shown in Table 1:

[0092] Table 1

[0093]

[0094] The detailed steps for calculating the distance between two points (each point corresponds to a vehicle or a variable message sign) using the planar approximation method are as follows:

[0095] 1> Calculate the distance in the longitude direction (East-West Direction)

[0096] (Unit: km)

[0097] in: (Average latitude, unit: degrees)

[0098] (Difference in longitude, unit: degrees)

[0099] 2> Calculate the distance in the latitudinal direction (North-South direction)

[0100] (Unit: km)

[0101] in: (Latitude difference, unit: degrees)

[0102] 3> Calculate the straight-line distance d between two points.

[0103]

[0104] For example, calculate the distance between roadside variable message signs b1 (119.182926, 32.051508) and b2 (119.183456, 32.051508). :

[0105] , , ,

[0106]

[0107]

[0108]

[0109]

[0110]

[0111] (m)

[0112] Similarly, the distance between any two points can be calculated.

[0113] The DBSCAN algorithm is used to cluster the vehicles at this time, with ε=30m and MinPts=3. The result will be two clusters C1 and C2, and two noise points N1 and N2; the set of clusters E={C1, C2}; cluster C1 includes four elements: , , , Cluster C2 contains 29 elements. , , , , , , , , , , , , , , , , , , , , , , , , , , , , .

[0114] Set VehCount=20, AveSpeed=40km / h;

[0115] here, =4, which is less than VehCount, so it is determined that there is no congestion in cluster C1;

[0116] =29, which is greater than VehCount, and =19.99, which is less than AveSpeed, thus meeting the congestion occurrence condition, and it is determined that congestion has occurred in this cluster.

[0117] The clusters of congestion form a set F = {C2};

[0118] Six variable message signs were installed along the roadside. k (1≤k≤6) Stored sequentially in the set list B=[b1, b2, b3, b4, b5, b6] from upstream to downstream in the direction of travel, with the distance between two adjacent variable information flags as the reference. (1≤q<6) is 50m;

[0119] For C2 in set F, construct a dictionary Dic2 that corresponds to adjacent information boards and elements of C2. Specifically,

[0120] Cluster C2 contains 29 elements, C2={ , , , , , , , , , , , , , , , , , , , , , , , , , , , , }

[0121] For any element c 2,t (1≤t≤29), find the distance element c from set B. 2,t The two nearest adjacent variable information flags b r and b r+1 (b r B,b r+1 B), establish (b) r , b r+1 ) and c 2,t The correspondence is shown in Table 2;

[0122]

[0123] Based on this correspondence, construct a dictionary set Dic2: the keys of the key-value pairs in the dictionary are determined by each element c. 2,t Corresponding adjacent variable information flags (b) r , b r+1 The key-value pair is composed of the adjacent variable information flag b. r and b r+1 The list consisting of the nearest if elements, i.e.

[0124] Dic2={

[0125] {(b2,b3), [ , , , , , , , ]},

[0126] {(b3,b4), [ , , , , , , , , , , , , ]},

[0127] {(b4,b5),[ , , , , , , , ]}

[0128] }

[0129] For all keys in Dic2 (b2,b3), (b3,b4), (b4,b5), select the set consisting of the second element b3, b4, b5 of each key as the set of variable information flags B1={b3,b4, b5} for which the emergency lane opening instruction needs to be applied.

[0130] Apply an emergency lane closure command to the variable information flags in the difference set B0-B1 of sets B0 and B1. Here, since B0-B1={}, no additional emergency lane closure command is required.

[0131] Apply an emergency lane opening command to the variable information signs in set B1={b3, b4, b5}. For example, display "Emergency lane is temporarily open" on the variable information signs to open the emergency lane. At time t2=08:02, jump to S2 to continue the next cycle.

[0132] Based on specific application scenarios, a solution for Implementation Example 2 can be designed. This solution is similar to the scenario of Implementation Example 1, except that: when real-time vehicle-related information in the traffic flow is obtained at time t2=08:02, and the traffic flow is clustered based on the real-time vehicle-related information, the clustering results are all noise points and no clusters are generated, that is, set E is empty, E={}, and consequently sets F and B2 are both empty, that is, F={}, B2={}.

[0133] Calculate the difference between sets B1 and B2, B1-B2={b3, b4, b5}, and apply a lane closure instruction to the variable information signs in this set: Take T span / 2=1min is used to clear the emergency lane, take T span / 2=1min is used to close the emergency lane. Specifically, during the time interval [08:02, 08:03], a lane clearing command is applied to the variable message signs b3, b4, b5 of the difference set B1-B2. For example, these variable message signs display "Emergency lane is about to close, please leave immediately." During the time interval [08:03, 08:04], an emergency lane closing command is applied to the variable message signs b3, b4, b5 of the difference set B1-B2. For example, these variable message signs display "Emergency lane closed, no passage allowed." Since set B2={}, no variable message signs require an emergency lane opening command. After T... span When time t3=08:04, jump to S2 to continue the next round of the loop.

[0134] The main advantage of this embodiment in practical applications is that:

[0135] Effectively alleviates traffic congestion and significantly improves traffic efficiency: Through real-time monitoring of road traffic flow, congested sections can be instantly identified and a dynamic emergency lane opening / closing mechanism can be triggered, breaking the limitations of traditional emergency lanes that are only opened in fixed scenarios or after manual judgment. During critical periods of surge in traffic flow, road space can be rapidly expanded, intelligently realizing dynamic expansion of highways, effectively diverting congested traffic, significantly reducing vehicle delays, and significantly improving the overall capacity of highways, especially suitable for peak traffic scenarios such as holidays and special events.

[0136] Replacing traditional physical expansion with reduced costs and environmental impact: Compared to traditional highway expansion methods that rely on large-scale physical construction (such as widening roads and adding lanes), this invention eliminates the need for lengthy and costly land acquisition, demolition, and road construction, fundamentally reducing construction costs. Simultaneously, it avoids damage to the surrounding ecological environment during construction and mitigates the problem of increased traffic congestion during construction, achieving the goal of improving road capacity at low cost and with minimal environmental impact, aligning with the concept of green transportation development.

[0137] Improving the scientific nature of emergency lane management and reducing the influence of subjective factors: Addressing the pain points of existing emergency lane management systems that rely on human experience and judgment, are highly subjective, and lack scientific basis, this invention constructs a dynamic on / off mechanism based on real-time traffic data. Using objective data as decision support, it eliminates reliance on human experience. This not only standardizes the criteria for determining when to open and close emergency lanes, avoiding decision-making disputes arising from differences in experience among managers, but also accurately grasps the initial stages of congestion, triggering the opening of emergency lanes in advance. This solves the problem of traditional manual judgments that "intervene only after congestion becomes severe, resulting in poor mitigation effects," thus improving the scientific nature and timeliness of emergency lane management.

[0138] With dynamic adaptability to complex traffic scenarios: Unlike the fixed emergency lane opening rules in some areas (such as opening only on specific holidays or road sections), this invention can flexibly adjust the opening and closing strategy according to the real-time traffic flow and congestion level of different time periods and road sections, exhibiting strong dynamic adaptability. Whether it is local road congestion during daily peak hours or a surge in traffic flow across the entire area during special periods, it can quickly adapt through real-time data feedback, ensuring that emergency lane resources play an expanded role at the most needed time and on the most needed road sections. This adapts to the complex and ever-changing traffic scenarios on highways, enhancing the universality and practical value of the method.

[0139] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. The above descriptions are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for monitoring emergency lane switches for intelligent expansion of highways, characterized in that, include: Step 1: Establish a set of variable information signs for road segments that require emergency lane opening instructions; Step 2: Obtain real-time vehicle-related information for the road segment, including real-time vehicle location and speed information; Step 3: Cluster the traffic flow based on real-time vehicle-related information; Step 4: Use the clusters in the clustering results to detect whether the road segment is congested and record the congestion clusters; Step 5: Update the set of variable information flags according to the congestion cluster; Step 6: Obtain the difference between the sets of variable information signs before and after the update, and select the emergency lane that needs to be switched on or off.

2. The method according to claim 1, characterized in that, Step two includes: Roadside sensing radars deployed on highways are used to collect real-time vehicle-related information on the road segment. The sampling time interval is [t]. i ,t i+1 ], t i This represents the sampling time point with time slice number i, where i ≥ 1, [t i ,t i+1 The length of ] is T span T span >0.

3. The method according to claim 1, characterized in that, Step three includes: The vehicle location information is clustered to generate m clusters C1, C2, ..., Cn. m And n noise points N1, N2, ..., N n Where m≥0, n≥0, and m clusters constitute the cluster set E={C1, C2, ..., C... m } 4. The method according to claim 3, characterized in that, Step four includes: When cluster C i Number of vehicles included ≥VehCount and cluster C i The average speed of the vehicles included When VehCount ≤ AveSpeed, the road segment corresponding to that cluster is considered congested; where VehCount represents a quantity constant, AveSpeed ​​represents a speed constant, VehCount ≥ 0, AveSpeed ​​≥ 0, and the clusters that are congested form a set F = {C}. j | C j A traffic jam occurred, C j E}.

5. The method according to claim 1, characterized in that, Step five includes: p variable message signs b are installed along the side of the highway. k And record each variable information flag b k The location information and the distance between two adjacent variable message signs are stored in the set list B=[b1, b2, ..., b...]. Here, k is the sign number, 1≤k≤p. The variable message signs are stored sequentially from upstream to downstream in the direction of travel. p ]middle; Construct a mapping dictionary between adjacent variable information flags and cluster elements, where for each element of a congestion cluster, select the two adjacent variable information flags that are closest to that element.

6. The method according to claim 5, characterized in that, The construction of the mapping dictionary between adjacent variable information markers and cluster elements includes: For the congestion cluster C in set F j Determine C j Containing u elements, we obtain a set in the form C. j ={c j,1 ,c j,2 ,……,c j,u }, for C j ={c j,1 ,c j,2 ,……,c j,u For each element in}, retrieve the two nearest adjacent variable information flags b from set B. r and b r+1 and establish (b r , b r+1 The correspondence between ) and the element; Construct a mapping dictionary Dic based on the correspondence of all elements. j Among them, Dic j The set of keys for key-value pairs consists of all adjacent variable information tags (b) corresponding to each element. r , b r+1 ) constitute; Dic j The order of the keys in the key-value pair is the same as the order in the set list B; the value of each key-value pair is the value of the corresponding key (b). r , b r+1 A list consisting of the nearest if elements; For Dic j Given all keys, select the set consisting of the second element of each key as the set B of variable information flags for which the emergency lane opening command needs to be issued. i ={b i ,…,b k } 7. The method according to claim 1 or 6, characterized in that, Step six includes: Obtain the difference between the sets of variable information signs before and after the update, and apply lane closing instructions to the variable information signs in the difference set; Apply the emergency lane opening instruction to the variable information signs in the updated variable information sign set.

8. The method according to claim 7, characterized in that, Step six includes: For B i-1 With B i The difference set B i-1 -B i When a lane-closing instruction is issued by a variable information sign, the time interval [t] will be used. i ,t i+1 The command is divided into two parts: the first part is used to issue an instruction to clear the emergency lane, and the second part is used to issue an instruction to close the emergency lane. For set B i The variable message sign in the middle applies the emergency lane opening instruction, opening the emergency lane until time t. i+1 Then proceed to step two to continue the next round of the loop.

9. A monitoring device for emergency lane switches used in intelligent expansion of highways, characterized in that, include: The preprocessing module is used to establish a set of variable information flags for the emergency lane opening instructions corresponding to the road segment; The information acquisition module is used to obtain real-time vehicle-related information for the road segment, including real-time vehicle location information and vehicle speed information. The clustering module is used to cluster traffic flow based on real-time vehicle-related information. The congestion detection module is used to detect whether a road segment is congested by using the clusters in the clustering results, and to record the congestion clusters. The update processing module is used to update the set of variable information flags according to the congestion clusters; The switch module is used to obtain the difference between the sets of variable information signs before and after the update, and to select the emergency lane that needs to be switched.

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