CN-116824884-B - Method for eliminating conflict between fast exit ramp and intersection connection section interweaving area

CN116824884BCN 116824884 BCN116824884 BCN 116824884BCN-116824884-B

Abstract

The invention provides a collision elimination model and a method for an intersection connection section interweaving area of a rapid exit ramp and an intersection, wherein the collision elimination model adopts a linear programming expression form according to an optimization theory and a rolling time domain control principle, and takes the maximum average running speed of all vehicles as an optimization target; the traffic safety and the efficiency are used as guiding to set constraint conditions, including vehicle interweaving decision constraint, safety distance constraint and vehicle dynamics constraint, lane changing vehicles are separated from time and space, the passing authority of the vehicles in the area is orderly controlled, the purpose of zero collision of vehicle running is achieved in the control range of the model, and the traffic passing efficiency of a road section is improved to a certain extent.

Inventors

ZHAO JING
QI JUNJIE
LIU YUE
YU JIE
ZHENG JIAYUAN
XIANG JUNPING
ZHAO JIANXIN

Assignees

上海理工大学

Dates

Publication Date: 20260508
Application Date: 20230713

Claims (5)

1. A method for eliminating conflict of an interweaving area of a connecting road section of a fast exit ramp and an intersection is characterized in that the conflict elimination model is based on the conflict elimination model of the interweaving area of the connecting road section of the fast exit ramp and the intersection, and the conflict elimination model takes the average running speed of all vehicles as an optimization target to the maximum; the objective function is: ; in the formula, A unit time interval for system operation; Is the total running time of the system; Is the total number of vehicles; The lane number is changeable, the value range is ; The value range is that the number of the vehicle on a single lane is ; Is numbered as Number on lane of The longitudinal distance of the vehicle running is accumulated in the total time; The conflict elimination model also comprises vehicle interleaving decision constraint, safety distance constraint and vehicle dynamics constraint; the vehicle interleaving decision constraint comprises a vehicle inward interleaving lane change limit, a vehicle outward interleaving lane change limit, a vehicle queuing overflow and a signal control constraint; The vehicle-inward-interleaving lane-change restriction requires that the vehicle satisfy the following equation: ; ; in the formula, A longitudinal length for a single interleaving control region; Is numbered as Sequence number on lane The vehicle is at the first Coordinate position of the time node; the number of times of changing the road for the interweaving vehicle is needed; Is numbered as Sequence number on lane The vehicle driving direction; Is numbered as The functional flow direction of the lane of the entrance way; The lane number is changeable, the value range is ; The vehicle out-interleave lane change restriction requires the vehicle to satisfy the following equation: ; ; Vehicle queue overflow and signal control constraints require the vehicle to meet the following equation: ; ; ; Wherein M represents an extremely infinite number; a binary variable is represented and is used to represent, Indicating that the vehicle is in a queuing queue, Indicating that the vehicle is not in the queuing; When the signal phase of the lane in the control range is in the red light time period, the vehicle position must meet the basic traffic regulation, namely, the vehicle driving across the intersection in the constraint range needs to accelerate to pass the intersection, but the vehicle cannot pass the intersection in time, and the vehicle must gradually reduce the speed before the stop line until stopping, and the vehicle should meet the following formula S3: ; ; in the formula, The green light start and end moments of the straight phase are respectively indicated; indicating the effective green time of the straight phase; Indicating the number of signal periods, Is a set of integers; Representing a binary variable; The method for eliminating the conflict of the interweaving areas of the sections of the connection between the rapid exit ramp and the intersection comprises the following steps: S1, inputting various parameters into a conflict elimination model to maximize the average running speed of all vehicles; s2, limiting the vehicle in real time including speed, acceleration change rate, safety distance and lane change rule based on constraint conditions; And S3, evaluating the scheme meeting the limiting condition.
2. The method for eliminating conflict between a rapid exit ramp and an intersection connection segment intersection as defined in claim 1, wherein the control range of the conflict elimination model is determined according to a vehicle position farthest from a reverse direction of a stop line of the intersection under an initial condition and a vehicle position farthest from a forward direction of the stop line of the intersection after the operation time is finished, and the following formula is satisfied: ; in the formula, Is numbered as Sequence number on lane An initial coordinate position of the vehicle; Is numbered as Sequence number on lane Final coordinate position of the vehicle at the end of the model operation; 。
3. The rapid exit ramp and intersection connection segment intersection conflict resolution method of claim 1, wherein the vehicle dynamics constraints include vehicle speed limits, vehicle acceleration limits, and vehicle acceleration rate of change limits.
4. The method for eliminating the conflict between the rapid exit ramp and the intersection connection section intersection according to claim 1, wherein the safety distance constraint comprises: the safety limit of the distance between the vehicle heads and the limit of the distance between the vehicle heads kept at a certain time interval through the same section.
5. The method for eliminating collision between a fast exit ramp and an intersection connection segment intersection as defined in claim 1, wherein in S1, input parameters of the model include: Unit time interval of system operation, Total system running time, The total number of lanes, The total number of vehicles, Longitudinal length of the non-changeable road lane before the stop line, Longitudinal length of road lane of the ground road, Longitudinal length of single interwoven region, Maximum road speed, Minimum road speed, Maximum acceleration of road section, Minimum acceleration of road section, Acceleration change rate of road section limitation, Minimum head space constraint, Minimum headway constraint, An intersection signal period, Full red time, A straight-line phase green light starting time, A straight-line phase green light end time, The initial coordinate position of the vehicle is input according to the sequence of the vehicle number, The initial speed of the vehicle is input according to the serial number sequence of the vehicle; and S3, adopting the post-invasion time duty ratio, the average running speed and the vehicle delay as evaluation indexes, and comparing with a VISSIM simulation comparison scheme to evaluate the scheme.

Description

Method for eliminating conflict between fast exit ramp and intersection connection section interweaving area Technical Field The invention relates to the technical field of traffic, in particular to a rapid exit ramp and intersection connection road section interweaving area conflict elimination model and elimination method. Background The vehicle interweaving area of the urban expressway exit ramp and the connecting section of the adjacent intersection is a bottleneck area frequently generated by urban traffic, and in order to relieve the problem and improve the traffic passing efficiency of the road level of the section, a vehicle track control method based on the network-connected vehicle technology is provided. The existing method mainly aims at a real-time updating and dynamic control technology of intersection signal control or an organization optimization design of the connection section area, mainly adopts a universal control algorithm and strategy in the technical aspect of network-connected vehicles, focuses on overall control of a strand of traffic flow, cannot ensure that traffic conflict is completely eliminated within a control range, does not see a targeted control optimization method, and does not search the patent of the invention. According to the document retrieval of the prior art, the traffic optimization control method of the expressway exit ramp area mainly comprises the following steps: 1. A method based on signal control. The traffic control scheme of the adjacent intersections is redesigned and adjusted by considering the traffic influence of the expressway exit ramp, or other signal control devices are additionally arranged at the exit end positions of the exit ramp, and signal cooperation is performed by arranging the detection devices, so that the traffic capacity of a road section is increased, and the traffic collision influence caused by vehicle interweaving is reduced. The invention patent 'dynamic control technology of the signal of the junction intersection of the expressway exit ramp and the local road' (CN 201811178625.1), the invention patent 'a signal lamp linkage control system and method of the urban expressway exit ramp and the adjacent intersection' (CN201010289988. X) and the invention patent 'a joint control method of the expressway exit ramp and the junction intersection' (CN 202111558852.9) are introduced. 2. A method based on road traffic organization optimization. By changing and designing the traffic organization structure of the whole exit ramp system, a totally new lane layout system is designed aiming at the vehicle interweaving bottleneck, or sign marks or road side traffic information devices of the connection sections of the exit ramp and the adjacent intersections are reorganized and optimized to achieve better inducement of the running vehicles. The invention patent 'a ramp system for connecting an elevated expressway with a ground road' (CN 201620699303.1) and the invention patent 'an optimized organization method for the junction section of an expressway exit ramp and an adjacent plane intersection' (CN 201810915087.3) are introduced. 3. Control method based on network-connected vehicle equipment and information technology. The intelligent technologies such as information transmission, data collaboration and the like are applied to the vehicle-mounted unit or road side facilities, information processing and instruction generation are carried out on the real-time running state of the road traffic flow, and the running decision of the road traffic flow is given, so that the orderly lane change of the vehicles in the interweaving bottleneck area is controlled, and the road traffic capacity is improved. The invention discloses a traffic control algorithm optimization algorithm (CN 201610542723.3) for improving traffic efficiency of different traffic bottleneck road sections, which adopts ramp control and variable speed limit control to realize optimal control on vehicles, and relates to a multi-lane expressway exit ramp diversion area intelligent vehicle team lane change guiding method and system (CN202110066751. X) in the invention patent, wherein the guiding system is used for realizing real-time traffic flow data according to traffic information acquisition equipment so as to maximally meet lane change requirements of the vehicles. The method 1 and the method 2 solve the traffic problem of the junction section of the expressway exit ramp and the adjacent intersection from the angles of traffic signal control, road organization optimization and collaborative strategy control, have a mature design and application system, and are better in the overall strategy optimization angle. The method 3 utilizes intelligent technologies such as network-connected vehicle information interaction, data processing, decision generation and the like, and by controlling the running track of the vehicle, the problem of vehicle conflict between the expressway exit ramp an