81 results about "Reversible lane" patented technology

The invention discloses an expressway emergency management and control method and system, and the method comprises the steps: building a multi-dimensional heterogeneous data fusion model through a time-space diagram neural network according to the traffic flow, meteorological data and accident reports collected by roadside sensing equipment, and carrying out the dynamic prediction of the risk level of a road segment, and obtaining a real-time risk level map of a whole road network; based on the real-time risk level map, outputting a dynamic shunting scheme containing variable lane marks and a speed limiting strategy; according to the dynamic shunting scheme, generating a vehicle trajectory optimization strategy; and outputting an anti-interference optimization control strategy based on a vehicle trajectory optimization strategy in combination with sudden obstacle data polled by the unmanned aerial vehicle in real time. According to the embodiment of the invention, rapid and accurate path adjustment and cooperative control can be carried out, and the emergency management level of the expressway is improved.

The invention aims to provide a large-range urban road network intelligent management and control method based on mobile phone signaling data, and belongs to the technical field of traffic management and control. Real-time traffic flow parameters are obtained by preprocessing the mobile phone signaling data, a high-fidelity microscopic traffic simulation environment is constructed, and on the basis, the real-time traffic flow parameters are obtained; the method comprises the following steps: establishing a multi-dimensional evaluation index system containing operation safety and efficiency, constructing a macro-micro collaborative double-layer planning model, adopting a deep reinforcement learning algorithm, taking continuous-discrete mixed decision variables such as intersection signal timing and a variable lane strategy as optimization objects, carrying out strategy learning and iterative optimization through an Actor-Critic architecture, and carrying out optimization on the optimization objects. And outputting the optimal control strategy combination. According to the invention, dynamic and accurate cooperative management and control of the large-range urban road network are realized, and the traffic efficiency is remarkably improved while the operation safety is guaranteed.

The invention discloses a reversible lane traffic flow prediction method based on edge calculation, and relates to the technical field of intelligent traffic. The method comprises the following steps: acquiring reversible lane configuration data, service data, traffic flow data and road network data through an edge server and a cloud server; preprocessing the data; constructing a static road network diagram based on the reversible lane configuration data and the road network data; generating a dynamic road network diagram in combination with time granularity; constructing a generative adversarial network model fusing a multi-head attention mechanism and a graph neural network, and performing adversarial training; and deploying the optimized model to an edge server to realize prediction of the reversible lane traffic flow. According to the method, the precision and timeliness of traffic flow prediction are improved, the perception ability of the model to spatial-temporal characteristics is enhanced, and the improvement of traffic efficiency and the intelligent application of edge resources are promoted.

The invention provides a lane control strategy optimization method and system for a traffic congestion state, and the method comprises the steps: firstly obtaining a real-time traffic state data set of a target road section, including vehicle flow, driving speed and road space occupancy data, carrying out the traffic congestion feature analysis of the real-time traffic state data set, and carrying out the traffic congestion feature analysis of the real-time traffic state data set; the method comprises the following steps: obtaining congestion area distribution, congestion degree evaluation and congestion cause correlation characteristics, generating an initial lane control strategy containing variable lane direction setting, lane opening and closing states and lane passing priority distribution parameters based on the characteristics, sending the initial strategy to road control equipment for execution, and collecting and feeding back a traffic state data set; and adjusting strategy parameters according to a comparative analysis result of the feedback traffic state data set and the real-time traffic state data set, and generating an optimized lane control strategy, thereby improving the adaptability of the lane control strategy, and effectively improving the road traffic efficiency and the congestion relieving capability.

The invention discloses a highway vehicle speed regulation and control and lane guide traffic system and a control method, and relates to the technical field of intelligent traffic, the system comprises the following components: a data acquisition module, a big data analysis module, a reversible lane control module and a vehicle speed regulation and control cooperation module; according to the invention, the data acquisition module collects the number, speed and direction information of vehicles and meteorological data on the highway in real time, the big data analysis module predicts the traffic flow change trend by using an advanced algorithm, and based on this, the reversible lane control module can automatically adjust the lane layout to adapt to traffic demands in different directions, effectively alleviate traffic congestion, and improve the traffic efficiency. And the vehicle speed regulation and control cooperation module carries out personalized and refined regulation and control on the vehicle speed according to the new lane layout and the traffic flow, so that the smooth traffic is ensured, the driving safety is improved, in addition, the system also considers the influence of the road gradient and curvature on the vehicle speed, and the driving safety is further improved.

The invention discloses a lane-level navigation method and a related device, and the method comprises the steps: an electronic device displays a first lane-level navigation route, and carries out navigation according to the first lane-level navigation route; the first lane level navigation route indicates a driving path between the current position and the destination address of the vehicle and a recommended lane at any position in the driving path; when the vehicle runs on the first yaw early warning road section, detecting whether the current running lane of the vehicle belongs to a recommended lane of the first lane level navigation route at the current position of the vehicle; the first yaw early warning road section is determined based on non-variable lane information and / or a preset distance; if the lane belongs to the recommended lane, displaying a second lane-level navigation route; the second lane level navigation route is determined based on the current position of the vehicle, the current driving lane of the vehicle and the destination address of the first lane level navigation route. In this way, the yaw risk can be detected in advance, the yaw route can be displayed in time, the anxiety of the user in driving yaw is effectively reduced, and the user experience is improved.

A lane-level navigation method, an electronic device (100) and a computer-readable storage medium. The method comprises: an electronic device (100) displaying a first lane-level navigation route, and performing navigation according to the first lane-level navigation route, wherein the first lane-level navigation route indicates a travelling path between the current position and a destination address of a vehicle and a recommended lane at any position in the travelling path; when the vehicle travels on a first off-course early-warning road section, detecting whether the current lane on which the vehicle travels is a recommended lane in the first lane-level navigation route for the vehicle at the current position, wherein the first off-course early-warning road section is determined on the basis of non-reversible lane information and / or a preset distance; and if the current lane is not the recommended lane, displaying a second lane-level navigation route, wherein the second lane-level navigation route is determined on the basis of the current position of the vehicle, the current lane on which the vehicle travels, and the destination address of the first lane-level navigation route. By means of the method, an off-course risk can be detected in advance, and an off-course route is displayed in a timely manner, thereby effectively reducing the anxiety of a user when driving off course, and improving the user experience.

The invention relates to a traffic signal control system and method, and relates to the technical field of traffic control, and the method comprises the steps: collecting traffic flow data through multi-source sensing equipment and V2X communication, and carrying out the preprocessing to construct a traffic feature matrix; a hybrid modeling framework is adopted, a queue theory, a cellular automaton and deep reinforcement learning are integrated, a traffic state is evaluated, and a signal control strategy is optimized. Through a double-closed-loop feedback mechanism, the inner loop uses a PID controller to finely adjust the phase, and the outer loop learns online to update reinforcement learning proxy parameters. And finally, an optimization strategy is executed, the variable lane control equipment is linked, and a signal state and a vehicle speed guide instruction are pushed to the vehicle-mounted terminal, so that remarkable beneficial effects can be generated in the aspects of improving traffic efficiency, reducing congestion, improving safety and the like.

The invention relates to a reversible lane dynamic control method and system based on traffic flow prediction and a medium. The method comprises the following steps: constructing a reversible lane dynamic control model; constructing a road section topological graph and outputting a first intermediate feature based on the topological graph; constructing a reversible lane topological graph and outputting a second intermediate feature based on the topological graph; generating a condition sample from the actual road network information and the traffic flow data, and processing the condition sample to obtain a plurality of sample fragments; judging whether an abnormal event exists or not, and generating an abnormal event feature if the abnormal event exists; if no abnormal event exists, obtaining an abnormal event-free feature and directly inputting the abnormal event-free feature into the road segment similar graph convolutional neural network; outputting a third intermediate feature by using the road segment similarity graph convolutional neural network; predicting the traffic flow through a road section upstream and downstream map convolutional neural network; the reversible lane dynamic control is realized based on the predicted traffic flow. The system and the medium are used for realizing the method. Compared with the prior art, the reversible lane dynamic control method can timely and efficiently realize reversible lane dynamic control.

The utility model discloses a tide variable lane controller with a safety detection device, which comprises a control module, a lamp control module and a standby lamp control module, and is characterized in that the control module is used for receiving a signal sent by a traffic signal controller or a platform to control the color conversion of a tide variable lane indicator lamp; the input ends of the lamp control module and the standby lamp control module are connected with the control module, and the output ends of the lamp control module and the standby lamp control module are connected with the tide variable lane indicating lamp; the commercial power switching module is respectively connected with the lamp control module and the standby lamp control module so as to switch power supplies of the lamp control module and the standby lamp control module; the input end of the fault detection module is connected with the tide variable lane indicator light to detect and compare the voltage and current of the tide variable lane indicator light, and the output end of the fault detection module is connected with the control module.

The present invention discloses a method for coordinated optimization of real-time dynamic variable lanes and trunk green waves, which relates to traffic green wave control technology; it solves the problem of delayed response and strategy failure in emergency scenarios of variable lane and green wave coordinated optimization based on historical data of target intersections in the prior art. The present invention predicts the flow of the target intersection based on the flow data of the first two cycles of the upstream intersection, and determines the direction of the variable lane according to the saturation of the lane direction corresponding to the target intersection. The signal phase timing within the signal cycle is optimized with the goal of minimizing the total delay of the import lane group of the key intersection, thereby realizing coordinated control of the variable lane and traffic green wave; it is related to the influence of the upstream intersection on the target intersection as a whole, and the control strategy of the target intersection can be quickly adjusted according to the dynamic changes of the upstream intersection, which is more flexible and can cope with data mutations caused by emergency situations, thereby improving the use value of the control strategy.

The invention relates to the technical field of intelligent traffic, in particular to a reversible lane setting method and system based on the degree of a road tide phenomenon, and the method comprises the steps: obtaining the flow data of a target road section in each unit time within a first preset time period according to a road section id inputted by a user and a flow database; according to the flow data of the target road section in each unit time in the first preset time period, obtaining a relative flow difference of the target road section in each unit time in the first preset time period; obtaining the tide degree of the target road section according to the relative flow difference of each unit time in the first preset time period of the target road section; according to the tide degree and the tide degree threshold value of the target road section, whether the tide lane needs to be arranged on the road section is judged. The system has the beneficial effects that a scientific basis is provided for the arrangement of the reversible lane, so that the arrangement of the reversible lane is more reasonable, the utilization efficiency of road resources is further improved, and the traffic jam is relieved.

The invention relates to the field of road traffic control, in particular to a variable lane setting method and device based on flow, a medium and equipment, and the method comprises the steps: obtaining turning flow and straight flow according to an initial lane type and a first traffic flow, screening out a target road from candidate roads, obtaining a first variable lane number according to the straight lane number, the turning flow and the straight traffic flow, obtaining a left-turn demand degree and a right-turn demand degree according to the initial lane type and the first traffic flow, and obtaining a first variable lane number according to the first variable lane number, the left-turn demand degree, the right-turn demand degree and the distance between the lanes; according to the method, the target lane type corresponding to each straight lane is obtained, the turning demand of the lane and the balance degree of the turning capacity are represented by analyzing the turning flow and the straight flow, and the demand conditions of the current target road for the left-turn lane and the right-turn lane are analyzed to set the straight lanes, so that the setting accuracy of the variable lane is improved, and the setting efficiency is improved. Therefore, the relieving degree of the traffic pressure is improved.

The invention relates to intelligent traffic management, in particular to an intersection variable lane setting method and system, electronic equipment and a storage medium, and the method comprises the steps: selecting an intersection of an urban road, and collecting lane data of different turning directions of each branch at different time periods of the intersection and signal timing schemes at different time periods of the intersection; calculating intersection unbalance coefficients under different signal timing schemes; carrying out division demand analysis on different lanes, and determining channelization suggestions of the intersection in different time periods; comparing channelization suggestions at different time periods of the intersection, and generating a demand of adding a variable lane at the intersection; the technical scheme provided by the invention can effectively overcome the defect that whether a variable lane needs to be arranged at an intersection is difficult to accurately and quickly analyze and judge based on a small amount of intersection data in the prior art.

The utility model relates to the technical field of lane monitoring equipment, and discloses monitoring equipment for an intelligent distribution device based on a variable lane. The convenient maintenance mechanism is arranged on the cross beam, and the convenient maintenance mechanism is used for facilitating safety maintenance work of a user; and the stable clamping mechanism is arranged on the convenient maintenance mechanism, and the stable clamping mechanism is used for improving the stability of shooting. Through the overall design of the convenient maintenance mechanism, the stepping motor is controlled to work, the rotating disc can be driven to rotate, and through transmission of the first connecting rod, the overall connecting cylinder, the second connecting rod and the connecting frame, the camera body can be driven to rotate with the rotating disc as the circle center, so that the camera body tends to move on the ground; and the user can maintain the camera main body on the ground, climbing maintenance is not needed, and the safety and efficiency of maintenance work are improved.

The utility model relates to the field of intelligent traffic signal lamps, in particular to an intelligent traffic signal lamp for a variable lane, which comprises a counterweight base, a sleeve is bolted in the center of the top of the counterweight base, sliding grooves are formed in two sides of an inner cavity of the sleeve, sliding blocks are slidably connected to the inner sides of the sliding grooves, and threaded rods are bolted in the centers of the tops of the sliding blocks. A movable ball is rotationally connected to the upper portion of the inner side of an inner cavity of the sleeve, a connecting ring is arranged on the upper portion of the inner cavity of the sleeve, a ball groove is formed in the outer side of the connecting ring, and the inner side of the ball groove is slidably connected with the surface of the movable ball. Through the counterweight base, the sleeve, the sliding groove, the sliding block, the threaded rod, the movable ball, the connecting ring and other assemblies, the signal lamp can enable the threaded rod to drive the lamp box to vertically move through rotation of the first threaded sleeve, the lamp box vertically falls in the mode in the maintenance process, and a user can conveniently replace and overhaul a damaged signal lamp body; and the practicability of the signal lamp is improved.

Control device (200) for a variable gauge train for a train (100) with variable gauge which has a variable gauge in a gauge-changing section, wherein the device comprises: an inverter (2) for collectively controlling a torque of a plurality of main motors (104a-104d); and a voltage control unit (3) for controlling an output voltage of the inverter, wherein, if at least one of a plurality of axles (103a-103d) to be driven by the plurality of main motors is located within the track gauge change section and at least one of the axles is located outside the track gauge change section, the voltage control unit The reference frequency is treated as a value obtained by converting an average value of rotational frequencies of the axes located outside the track gauge change section into electrical frequencies of the main motors, and the reference frequency and a slip frequency command are added together to provide an output voltage frequency.

The present invention provides a lane control strategy optimization method and system for traffic congestion conditions. First, a real-time traffic status data set of a target road section is obtained, including vehicle flow, driving speed and road space occupancy rate data. Then, traffic congestion characteristics are analyzed on the real-time traffic status data set to obtain congestion area distribution, congestion degree assessment and congestion cause correlation characteristics. Based on the above characteristics, an initial lane control strategy is generated, including variable lane direction settings, lane opening and closing status and lane traffic priority allocation parameters. The initial strategy is sent to a road control device for execution and a feedback traffic status data set is collected. The strategy parameters are adjusted according to the comparative analysis results of the feedback traffic status data set and the real-time traffic status data set to generate an optimized lane control strategy, thereby improving the adaptability of the lane control strategy and effectively improving road traffic efficiency and congestion relief capabilities.

The utility model discloses an intelligent variable lane indicating system which comprises a variable arrow module, a control module and a variable lane indicating sign control module, the variable arrow module is in communication connection with the control module, and the control module is in communication connection with the variable lane indicating sign control module. The variable arrow module comprises a first luminous floor tile subarea, and a second luminous floor tile subarea and a third luminous floor tile subarea which are connected with the first luminous floor tile subarea; the variable lane indication sign control module is used for controlling variable lane indication signs and generating display signals, and the control module is used for generating control signals according to the display signals of the variable lane indication sign control module so as to control the first light-emitting floor tile subarea and / or the second light-emitting floor tile subarea and / or the third light-emitting floor tile subarea to emit light. The system is suitable for a variable lane intersection, can effectively carry out supplementary guidance for a lane indication blind area, avoids wrong driving of vehicles, improves the driving safety, and can effectively improve the utilization rate of variable lanes.

The invention discloses an intersection entrance and exit dynamic variable lane coordination optimization method and system in an automatic driving and manual driving mixed driving environment, and the method comprises the steps: setting a left-turn entrance lane at the left side of an exit lane, and enabling left-turn and opposite straight vehicles to pass at the same time; and setting entrance and exit dynamic variable lanes, enabling a lane of an entrance lane of a left-turn motorcade to be used as an exit lane of an opposite straight motorcade at the same time, and obtaining the functions of each lane at the intersection, the stop line position of a conflict lane and the number of vehicles in each lane by solving a nonlinear programming model with the minimum intersection passing time as a target. The left-turn entrance lane is arranged on the left side of the exit lane, so that left-turn and opposite straight-going motorcades can be simultaneously released in the same phase, the number of conflicts and phases is reduced, and the waiting time of vehicles is shortened. Meanwhile, an entrance and exit dynamic variable lane is arranged, so that a left-turn motorcade can enter the intersection through the lane, an opposite straight lane can leave the intersection through the lane, and efficient utilization of lane resources is achieved.

The application provides a traffic intersection lane direction adaptive switching control method and system, wherein the method comprises the following steps: obtaining a straight congestion coefficient and a left-turn congestion coefficient of an entering lane of a traffic intersection; and switching the lane direction of a variable lane on the entering lane based on the straight congestion coefficient and the left-turn congestion coefficient. According to the application, the straight congestion coefficient and the left-turn congestion coefficient of an entering lane of a traffic intersection are obtained, and the lane direction of a variable lane on the entering lane is switched based on the straight congestion coefficient and the left-turn congestion coefficient, so that the variable lane can be flexibly controlled in real time and accurately according to the traffic flow of each turning direction at the intersection, the turning function of the variable lane can be dynamically switched according to real-time traffic demand, the traffic efficiency of the urban road is improved, and the traffic congestion degree of the urban road is reduced.

The utility model discloses an urban road variable lane isolation guardrail which is characterized in that two adjacent groups of guardrails are connected through a guardrail connecting piece, a positioning piece is arranged on a vertical supporting piece, a rotating rod is hinged with the positioning piece, a connecting half box is fixed on the rotating rod, and the connecting half box is fixed on the connecting half box. The two ends of each connecting belt are fixed into the connecting half boxes of the two adjacent guard bars respectively, and the connecting half boxes of the two adjacent guard bars are of an opening and closing structure. Through the arrangement of the connecting half boxes and the connecting belts, when the connecting half boxes are separated, the two groups of guardrails can be moved for several times, the grouping movement of the guardrails is more labor-saving, each group of guardrails can be conveniently positioned at an accurate position without being dragged by the adjacent guardrails, and the connecting belts are further arranged between the separated connecting half boxes for connection, so that the guiding and arranging effects are achieved; the guardrails can be combined again at the moved positions according to the sequence, the separated guardrails can only move within the lane changing range, and the guardrails can be rapidly combined together after lane changing is completed.

The invention discloses a self-adaptive safe connection control method and system for a reversible lane robot, and relates to the technical field of road traffic control. Comprising the following steps: S1, acquiring load data at a rigid connecting piece for connecting two adjacent robots in real time; s2, on the basis of the load data, calculating at least one key load component causing internal stress accumulation of the connecting piece; s3, comparing the load component obtained by calculation with a corresponding preset safety threshold value; s4, if any load component exceeds the corresponding safety threshold value, the translational degree of freedom of the connecting piece in the corresponding direction causing accumulation of the load component is relieved; and S5, after the load component is reduced to be lower than the corresponding recovery threshold value and is kept stable for a time exceeding a preset time, recovering the locking of the degree of freedom. Closed-loop control of overload release and load drop lock is realized, fatigue damage and sudden fracture risks of connecting pieces are remarkably reduced, the reliability of reversible lane robot groups in a complex road environment is improved, and the service life of the reversible lane robot groups in the complex road environment is prolonged.

The invention relates to the technical field of traffic signal control, and discloses a multi-intersection variable guide lane traffic signal control method based on path selection, and the method comprises the steps: firstly constructing a road network model, and initializing parameters; secondly, establishing a bilevel planning model, optimizing a lane function, a signal period and a green time ratio by the upper layer model by taking minimization of the total impedance of a road network as a target, and performing traffic flow distribution on the basis of a Logit model and a road section impedance function by the lower layer model so as to obtain balanced road section flow; then, a hybrid heuristic algorithm is adopted for solving, an outer layer searches for control parameters through a non-dominated sorting genetic algorithm, and an inner layer loads flow through a continuous averaging method; and finally, analyzing the optimal scheme, and driving the variable lane and the annunciator by adopting asynchronous logic after consistency verification. According to the invention, deep cooperation of time and space resources is realized, road network flow distribution is optimized in combination with driver path selection behaviors, and traffic efficiency and system safety are effectively improved.

The utility model discloses a diverting device for a reversible lane, which comprises a reversible diverting foundation comprising first diverting foundations arranged along a lane line and second diverting foundations connected with different first diverting foundations, and the first diverting foundations comprise a plurality of mounting holes formed along the lane line; the second diversion foundation comprises a plurality of mounting holes formed in the lane, and a first driving device is arranged at the bottom of each mounting hole; the piers are arranged in the mounting holes respectively, the bottoms of the piers are connected with the upper end of the first driving device, and the piers do reciprocating motion along the mounting holes; and the anti-collision barrel is arranged on the outer side of the pier in a sleeving mode, and a plurality of buffer springs arranged in the horizontal direction are arranged between the anti-collision barrel and the pier. According to the reversible lane switching system, the reversible lane switching is realized, the response speed is improved, the congestion is reduced, the safety in the switching process and the comfort of a vehicle driver are remarkably improved, and the overall passing speed is improved.

The invention discloses an urban intelligent lane changing system, relates to the technical field of intelligent lanes, and solves the technical problem of low planning efficiency when an existing variable lane is applied to a road in a city. The data acquisition module is used for acquiring lane passing data of each lane; a lane planning module; acquiring an updating date, and acquiring historical traffic data of each recording period under a plurality of continuous set recording dates when the date to be updated arrives; dividing each recording period according to the historical passing data to obtain a plurality of passing time periods; setting a variable lane according to the lane type; generating a planned lane type of each variable lane of the corresponding passing time period according to the historical passing data of each passing time period; the lane changing module is used for generating lane changing signals of the corresponding lane in the corresponding passing time period according to the passing time period lane type and the planned lane type; lane changing is carried out according to the lane passing data; and the efficiency of planning the variable lanes in the city is improved.

The present application provides a variable lane control method, an electronic device, and a storage medium, which relate to the technical field of intelligent traffic control. This method determines the current traffic imbalance state at the intersection of the variable lane through the real-time traffic data at the variable lane entrance. When there is a traffic imbalance at the intersection, the difference information of the space utilization rate corresponding to the variable lane entrance under each lane plan can be calculated through the real-time traffic data at the variable lane entrance under each lane plan provided. Then, according to the difference information of the space utilization rate corresponding to the variable lane entrance under each lane plan, the flow direction switching of the variable lane is controlled. By optimizing the lane plan through the real-time traffic data at the variable lane entrance, the accuracy of the variable lane flow direction control can be improved, making the optimization result more in line with the current traffic state. Moreover, through this method, the intelligent control of the variable lane can be realized, reducing the error and time consumption of manual control, thereby improving the efficiency of variable lane control.

The invention relates to an urban trunk road signal control coordination optimization method considering multiple types of variable lanes, and the method comprises the steps: constructing an accumulated arrival curve and an accumulated departure curve of the peripheral section of an urban trunk road based on an accumulated curve theory and collected data, and considering the difference distribution of driving behaviors, constructing a virtual cumulative departure curve of the peripheral section of the urban trunk road; constructing a multi-objective optimization function based on the relationship among the three curves, respectively calculating the queuing distribution of the peripheral section and the internal section of the urban trunk road, and quantitatively representing the multi-objective optimization function; a constraint condition of a multi-objective optimization function is constructed by considering a vehicle conflict phenomenon, a lane number, traffic volume fluctuation, an urban trunk road public period length and traffic light duration; and solving the multi-objective optimization function based on a particle swarm optimization algorithm, and obtaining a signal control scheme and a lane division scheme. Compared with the prior art, the method can achieve the coordination optimization of urban trunk roads and signal control under the condition of multiple types of variable lanes.

The invention relates to the technical field of traffic control, in particular to a reversible lane adaptive change method, which comprises the following steps of: detecting forward and reverse motor vehicles by means of a laser radar, and acquiring a first radar point cloud image; or, detecting the motor vehicles at the road intersection by means of the laser radar, and collecting a second radar point cloud image; the data processing terminal performs operation processing on the first radar point cloud image or / and the second radar point cloud image, and calculates the motor vehicle convergence estimated time by combining the speed and the distance of the motor vehicle; and according to the preset moving speed of the tidal robot, whether the tidal robot has sufficient time to complete displacement adjustment before the motor vehicles converge or not is pre-judged. Thus, by means of the collected real-time speed, real-time position and other information of the motor vehicles around the tidal robot and the data processing terminal for data processing, whether lane changing is necessary or not is calculated, and the problem that the tidal robot cannot change lanes in a self-adaptive mode when changing lanes is solved.

The invention relates to a supersaturated intersection space-time cooperative control method fusing dynamic channelization design and multi-target signal optimization, and aims to solve the problem of intersection supersaturation caused by fixed lane functions and the like of a conventional channelization method for urban intersections. A space-time cooperative control scheme fusing dynamic channelization design and multi-target signal optimization is provided. The method comprises the following steps: determining a supersaturation state of an intersection by establishing a supersaturation state identification model based on a queuing length change rate; on the basis of a space-time resource collaborative optimization theory, an improved comprehensive waiting area is designed, a bus-dedicated pre-entrance lane and a variable entrance and exit lane are additionally arranged, and a main and pre-signal coordination control strategy is optimized; according to specifications and questionnaire survey results, determining a signal period and a green time ratio of the supersaturated intersection; on the basis of the principle of easy recognition, sign and marking design is carried out on a pre-entrance lane special for a bus, a reversible lane and a comprehensive waiting area, effective guidance for a driver is achieved, and therefore the operation efficiency and the traffic capacity of a road intersection are improved.