CN-117292563-B - Multi-intersection intelligent public transportation global-local green wave passing method under 5G-CV2X vehicle road cloud cooperative environment

CN117292563BCN 117292563 BCN117292563 BCN 117292563BCN-117292563-B

Abstract

The invention belongs to the technical field of intelligent transportation, in particular to a multi-intersection intelligent public transportation global-local green wave passing method under a 5G-CV2X vehicle road cloud cooperative environment, the method comprises the steps of obtaining real-time running states of buses, real-time road states and real-time phase situations of traffic lights at a plurality of intersections by using 5G-V2X equipment, starting a global optimization algorithm based on a green-to-signal ratio objective function, and performing global optimization on phase time lengths of the traffic lights at the plurality of intersections and the speed of the buses. However, the global optimization algorithm does not consider the queuing situation of other vehicles at the intersection, and the local optimization algorithm re-plans the speed of the bus at the subsequent intersection on the basis of global optimization mainly according to the real-time queuing situation of the bus at the intersection. The invention solves the problems of green wave passing of buses at a plurality of intersections and time delay caused by queuing of the buses in the prior passing process, thereby greatly improving the passing efficiency of the buses at the plurality of intersections and the punctuation rate of the buses.

Inventors

MA XIAOLU
ZHANG SHENG
WANG JUNYI
TANG DEZHI
XIA RONGSHENG
QU YUAN
WU ZIHENG
CHEN SONGSHAN
LIU JUN

Assignees

安徽工业大学芜湖技术创新研究院

Dates

Publication Date: 20260505
Application Date: 20230804

Claims (9)

1. A multi-intersection intelligent bus global-local green wave passing method under a 5G-CV2X vehicle road cloud cooperative environment is characterized in that the method uses 5G-V2X equipment to obtain the real-time running state of a bus, the real-time road state and the real-time phase conditions of a plurality of intersection traffic lights, and firstly starts global optimization based on a green-signal ratio objective function to perform global optimization on the phase duration of the plurality of intersection traffic lights and the speed of the bus; the local optimization adopts the passing time of the subsequent crossing as an objective function, as shown in a formula (6): (6) Wherein: Is the road segment speed that is globally optimized, Is the locally optimized road segment speed, For the acceleration of the vehicle, Is the road segment length.
2. The intelligent global-local green wave passing method for buses at multiple intersections under the 5G-CV2X road cloud cooperative environment is characterized in that global optimization aims at multiple intersections between two bus stations of a bus driving road section, when the buses start to drive, the speed of the buses and the conditions of each phase of the traffic lights at the multiple intersections between the two stations are obtained through 5G-V2X equipment, and then the speed of the buses and the time length of each phase of each traffic light are planned again according to an algorithm, so that green wave passing of the buses is realized.
3. The intelligent global-local green wave passing method for buses at multiple intersections in the 5G-CV2X road cloud cooperative environment is characterized in that the local optimization is aimed at the situation that other vehicles are queued at the intersections in the process of running the buses under the condition of global optimization, the green wave passing of the buses is affected, and the time delay caused by the queuing of the other vehicles to the green wave passing of the buses is solved.
4. The intelligent public transportation global-local green wave passing method for multiple intersections in a 5G-CV2X vehicle road cloud cooperative environment according to claim 3, wherein the objective function is as shown in formula (1): (1) Wherein, the (2) (3) The absolute value sum of the green-signal ratio differences of each phase of each N-th intersection is represented, and the green-signal ratio is the ratio of the effective green time to the period; represent the first Time of original signal of each intersection Green-to-signal ratio of the phases, where , Represent the timing of the original signal Signal periods of the intersections; represent the first After signal timing of crossing Green-to-signal ratio of the phases, where , Indicating the post-timing of the signal The signal period of each intersection is defined as, Representing the phase number of the crossing; the time of the bus passing through the road section before the Nth intersection is represented; indicating the length of each road segment, Represents the speed of the bus in front of the nth intersection, Represents the original speed of the bus in front of the Nth intersection, The vehicle speed of the bus re-planning before the nth intersection is shown, and a shows the acceleration and deceleration of the vehicle.
5. The method for intelligent global-local green wave traffic of a multi-intersection bus in a 5G-CV2X road cloud cooperative environment according to claim 4, wherein the method is defined by: l1, L2 and L3 respectively represent the distances among three intersections; 、、 The green light duration of the bus passing direction after the traffic lights of the first intersection, the second intersection and the third intersection are re-timed in each phase is respectively represented; 、、 the green light duration of the bus passing direction before the traffic lights of the first intersection, the second intersection and the third intersection are re-timed in each phase is respectively represented.
6. The method for intelligent global-local green wave passing of the multi-intersection bus in the 5G-CV2X vehicle road cloud cooperative environment is characterized in that in a rapid passing strategy, 5G-V2X judges whether the traffic situation of the bus at each intersection can continuously pass through the plurality of intersections or not at a certain position in front of a first intersection according to the real-time position of the vehicle, if so, the method does not need to carry out re-timing planning on the speed of the bus and the traffic lights of each intersection, if not, the method carries out re-timing on the traffic lights of the plurality of intersections of the lane and re-planning the speed of the bus, the effective green light duration and the period after each intersection timing should be mutually restricted, the speed after each intersection re-planning should meet the recommended speed range of the lane so as to realize rapid passing of the plurality of intersections, and the effective green light duration of the nth intersection should meet the formulas (4) and (5); (4) (5) when the bus judges somewhere in front of the first intersection, the time for the bus to reach the Nth intersection is Before timing, the current phase red light residual time is The remaining time for the current phase to reach the next phase 0 is The time of bus reaching the Nth intersection comprises a period item If the bus can smoothly pass through each intersection, the signal lamp is in phase 0 and the remaining time of phase 0 is in phase 0 before the bus reaches each intersection Within the range.
7. The method for intelligent global-local green wave traffic of a multi-intersection bus in a 5G-CV2X road cloud cooperative environment according to claim 6, wherein in the formula (4) and the formula (5), the effective green light duration, the period duration and the bus speed should satisfy the following conditions: 1) Minimum effective green light duration constraint Too short green time can affect the traffic of other lanes, and in order to ensure the safe traffic of vehicles in each lane, a minimum effective green time needs to be established So that ; 2) Cycle constraint The period of too large or too small has negative effect on road traffic, the length of the actual period is not more than 200s, the minimum period duration is taken Maximum period duration The period duration consists of the effective green light duration and the lost time of each phase; 3) Bus speed The speed of the buses is controlled to be 25-50km/h in the urban road.
8. The method for intelligent global-local green wave traffic of multiple intersections in a 5G-CV2X road cloud cooperative environment according to claim 7, wherein in order to reduce time delay caused by queuing other vehicles to the buses, as the buses are at the tail of a red light or at the bus phase somewhere before reaching the intersections under the result of global optimization, when the buses are 45-55m away from the vehicle queues, if the intersections belong to the red light at the moment, a green light is started; when the buses are in queuing, green lights are adopted for early starting, and at the moment, the buses start to dissipate, so that the buses are prevented from stopping and waiting; If the remaining bus phase time is insufficient to enable the bus to pass through the intersection at the green light at the moment, starting a green light extension strategy to enable the bus to pass through the intersection as soon as possible; When a bus passes through the intersection, verification is carried out on the subsequent intersection, if the bus runs according to the overall traffic optimization result, the subsequent intersection is not affected, the bus continues to run, and otherwise, the speed of the bus is re-planned again.
9. The intelligent multi-intersection bus global-local green wave passing method in the 5G-CV2X vehicle road cloud cooperative environment, which is disclosed in claim 8, is characterized in that the constraint condition of local speed planning is as shown in the following formula (7) and the formula (8): (7) (8) Wherein: The phase sum obtained by global optimization is obtained; dividing the vehicle passing time by the phase time sum to show the bus passing in the phase from the current start; The current phase remaining time after global optimization; The method is characterized in that the phase distance is 0 and the residual time is 0 when the local optimization is started, and after the local optimization, the signal lamp is in phase 0, namely the bus phase and the residual time is in phase when the bus reaches each intersection Within the range; And Representing the minimum and maximum average speeds of the bus when it is running, respectively.

Description

Multi-intersection intelligent public transportation global-local green wave passing method under 5G-CV2X vehicle road cloud cooperative environment Technical Field The invention belongs to the technical field of intelligent transportation, and particularly relates to a multi-intersection intelligent public transportation global-local green wave passing method under a 5G-CV2X vehicle road cloud cooperative environment. Background The V2X technology is a communication technology between vehicles, vehicles and roads, vehicles and people, and vehicles and clouds, and represents the latest technology of current intelligent traffic, and is also a hot spot of current intelligent traffic research at home and abroad. V2X technology combines human-vehicle-road-cloud intimately. The V2X technology has the advantages of no sensing dead angle, uneasy influence of weather and other environments, low cost and the like, and can solve the problem that the current intelligent traffic bus cannot communicate with road side equipment and a server. The V2X standard has evolved from the DSRC standard to the LTE-V standard to the current 5G standard. The DSRC and LTE-V standards ensure real-time communication between vehicles and roads, which improves traffic safety, but still cannot realize real-time communication between vehicles and clouds. The 5G is used as the latest generation of wireless communication technology, and the characteristics of high speed, low delay and wide connection can truly realize real-time interconnection between people, vehicles, roads and clouds. The 5G-V2X technology realizes real-time coordination among the vehicle road clouds, so that global optimization of multi-intersection public transportation priority becomes possible. The intelligent bus is realized by using a GNSS/GPS positioning technology, a 3G/4G communication technology and a GIS geographic information system technology, constructing a bus server and combining the running characteristics of buses, so that the bus can pass rapidly, and the urban traffic efficiency and safety are improved. In the actual running process of the intelligent bus system, the following two problems are particularly remarkable, namely 1) the bus is communicated with the road side equipment such as a signal machine, the communication between the bus and the road side equipment usually adopts a detector mode, and common detectors comprise coil detection, GPS positioning detection, RFID radio frequency detection, video detection and the like, but the detectors have the problems of poor real-time performance, short distance, easiness in interference of a sensor and the like. 2) The communication mode between the bus and the bus server mostly adopts 4G communication, the 4G communication delay is larger, and the requirement of the bus on quick passing instantaneity cannot be met. Based on the two problems, the application scene of intelligent buses cannot be truly implemented, for example, in the green wave traffic scene of an intersection bus, the green wave traffic of a single intersection can only be realized, and the green wave communication of multiple intersections cannot be truly realized. Disclosure of Invention The invention aims to solve the problems in the prior art and provides a multi-intersection intelligent bus global-local green wave passing method under a 5G-CV2X road cloud cooperative environment, wherein the method uses 5G-V2X equipment to obtain the real-time running state of a bus, the real-time road state and the real-time phase situation of traffic lights of intersections, firstly, a global optimization algorithm is started to re-plan the phase time of a plurality of road traffic lights and the speed of the bus based on a green-to-signal ratio objective function, but the global optimization algorithm does not consider the queuing situation of other vehicles of the intersections, delays the bus, and the local optimization algorithm re-plans the speed of the bus at the subsequent intersections on the basis of global optimization mainly according to the real-time queuing situation of the bus at the intersections. In order to achieve the technical purpose and the technical effect, the invention is realized by the following technical scheme: The invention provides a multi-intersection intelligent bus global-local green wave passing method under a 5G-CV2X vehicle road cloud cooperative environment, which uses 5G-V2X equipment to obtain real-time running states of buses, real-time road states and real-time phase conditions of a plurality of intersection traffic lights, starts global optimization based on a green-signal ratio objective function to perform global optimization on the phase duration of the plurality of intersection traffic lights and the speed of the buses, and performs local optimization based on the global optimization mainly according to the real-time queuing conditions of the buses at intersections to re-plan the speed of the buses at s