CN114170812A - Adaptive variable lane control method - Google Patents
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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Abstract
The invention relates to a self-adaptive variable lane control method, which comprises a central platform, wherein an induction screen and an intersection terminal are simultaneously connected to the central platform, interval detection duration is set by the central platform, a request message is sent to the intersection terminal, the intersection terminal replies an image acquired by a camera to the central platform as real-time data, the central platform judges whether a variable lane needs to be switched or not according to the returned real-time data, if the variable lane needs to be switched, the message is sent to the intersection terminal, the intersection terminal records data to a database and adds a log, and performs corresponding switching display through the induction screen, and if the variable lane does not need to be processed. Therefore, the switching between the straight function and the left-turning function of the variable lane can be dynamically controlled, the development of road traffic with variable traffic flow characteristics is actively adapted, the benefit of the variable guide lane is fully exerted, and the oversaturated congestion of left-turning or straight-turning at the peak time of the intersection is effectively relieved.
Description
Technical Field
The invention relates to a control method, in particular to a self-adaptive variable lane control method.
Background
The intersection variable lane is a form of traffic control, and is gradually approved and applied due to small engineering investment and capability of effectively relieving oversaturated congestion of left turn or straight running at the peak time of the intersection. At present, the control of the variable lane is mainly manual and fixed time segments, and the variable lane control method cannot actively adapt to the road traffic development with variable traffic flow characteristics, so that the benefit of the variable guide lane is not fully exerted.
In view of the above-mentioned drawbacks, the present designer is actively making research and innovation to create a self-adaptive variable lane control method, so that the method has more industrial utility value.
Disclosure of Invention
To solve the above technical problems, an object of the present invention is to provide an adaptive variable lane control method.
The invention relates to a self-adaptive variable lane control method, which comprises a central platform, wherein: the central platform is simultaneously connected with an induction screen and an intersection terminal, interval detection duration is set by the central platform, a request message is sent to the intersection terminal, the intersection terminal replies an image acquired by a camera to the central platform as real-time data, the central platform judges whether a variable lane needs to be switched or not according to the returned real-time data, if the variable lane needs to be switched, the message is sent to the intersection terminal, the intersection terminal records data to a database and adds logs, and performs corresponding switching display through the induction screen, and if the variable lane does not need to be switched, the central platform does not perform processing; the real-time data comprises traffic flow statistics of a left-turn lane, a straight-going lane and a right-turn lane, traffic flow density, queuing length, lane occupying length, time headway, headway distance and heading data of a variable lane, and the heading data of the variable lane is the heading state of the current variable lane corresponding to the induction screen.
Further, the adaptive variable lane control method described above, wherein the interval detection period is 5 to 15 minutes.
Furthermore, the adaptive variable lane control method described above, wherein the determination process is explained as follows, the central platform calculates the number of vehicles on each straight lane, counts the number of vehicles per kilometer of a single lane in each interval detection duration, if the straight traffic density is greater than the left turn traffic density in the interval detection duration, it indicates that the straight lane has a large traffic demand, sends data to the guidance screen, determines whether the current variable lane is in a straight state, and if not, switches the variable lane to a straight lane type, so that the average density of the lanes at the intersection after lane change is minimized; if so, keeping the current state of the variable lane; if the left-turn traffic density is greater than the straight-going traffic density within each interval detection duration, sending data to a guidance screen, judging whether the current variable lane is in a left-turn state or not, and if not, switching the variable lane into a left-turn lane type; if so, keeping the current state of the variable lane; and finally, sending the obtained type result of the lane change to be switched to the guidance screen.
Furthermore, in the adaptive variable lane control method, the traffic flow statistics is explained as follows, the central platform performs visual algorithm analysis on the video collected by the camera, performs image recognition and tracking on all passing vehicles, and takes the lane as a partition to respectively count the number of passing vehicles in each lane.
Furthermore, in the adaptive variable lane control method, the traffic density is explained as follows, the central platform counts the number of vehicles in each lane in the detection area through videos collected by the cameras, and then divides the detected number of vehicles by the actual length of the detection area, so as to obtain the traffic density, wherein a traffic density calculation formula is as follows:
Furthermore, the adaptive variable lane control method is characterized in that the queue length is explained as follows, the central platform counts the number of vehicles through videos collected by the cameras, calculates the speed of each vehicle through a tracking mode, determines whether vehicles are currently queued according to the current position and the speed information of each vehicle, and analyzes the number of meters that the vehicles are queued when the vehicles are queued.
Further, in the adaptive variable lane control method, the length of the occupied lane is explained as follows, and the central platform calculates the length of the occupied lane behind each lane vehicle through the video collected by the camera.
Further, the adaptive variable lane control method described above, wherein the headway is explained as follows, which means a time interval between two vehicles passing through a cross section, and a busy degree passing through the cross section can be obtained by analyzing an average headway over a period of 10 to 30 minutes.
Still further, in the adaptive variable lane control method, the headway distance is explained as follows, the distance between front and rear vehicles can be analyzed by analyzing the average headway distance in a period, and the headway distance is obtained by multiplying the headway time distance by the vehicle speed.
By the scheme, the invention at least has the following advantages:
1. the switching between the straight function and the left-turning function of the variable lane can be dynamically controlled, the development of road traffic with variable traffic flow characteristics is actively adapted, the benefit of the variable guide lane is fully exerted, and the oversaturated congestion of left-turning or straight-turning at the peak time of the intersection is effectively relieved.
2. Through the picture collection of camera and the processing of central platform, realize the reference contrast of many road conditions of multidata, can provide more accurate lane switching reference, improve current efficiency.
3. The existing intersection camera can be utilized, hardware is changed little, only a processing assembly and an induction screen of the central platform need to be configured, and the implementation cost is low.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
FIG. 1 is a hardware framework diagram of an implementation of the present invention.
The meanings of the reference symbols in the drawings are as follows.
1 center platform 2 induction screen
3 intersection terminal 4 camera
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The adaptive variable lane control method as shown in fig. 1 includes a central platform 1, which is distinguished in that: the central platform 1 is simultaneously connected with the induction screen 2 and the intersection terminal 3, the central platform 1 sets interval detection duration and sends a request message to the intersection terminal 3. Then, the intersection terminal 3 replies the image acquired by the camera 44 to the central platform 1 as real-time data, and the central platform 1 judges whether the lane change is required according to the returned real-time data. During processing, if switching is needed, a message is sent to the intersection terminal 3, the intersection terminal 3 records data to a database and adds a log, and the guidance screen 2 is induced to perform corresponding switching display, and if not, no processing is performed. During the implementation of the invention, the adopted real-time data comprises traffic flow statistics of a left-turn lane, a straight lane and a right-turn lane, traffic flow density, queuing length, lane occupying length, headway time, headway distance and the headway distance, and the driving data of the variable lane, wherein the driving data of the variable lane is the driving state of the current variable lane corresponding to the inducing screen 2. For effective variable lane control of the traffic of different roads, the interval detection time is 5 to 15 minutes, and may preferably be 10 minutes.
In view of a preferred embodiment of the present invention, the determination process adopted by the present invention is explained as follows, the central platform 1 calculates the number of vehicles on each straight lane, and counts the number of vehicles per kilometer of a single lane in each interval detection duration. Specifically, if the direct traffic density is greater than the left-turn traffic density within the interval detection duration, it indicates that the straight traffic lane has a large traffic demand, sends data to the guidance screen 2, and determines whether the current variable lane is in a straight state, and if not, the variable lane is switched to a straight traffic lane type, so that the average density of the lanes at the intersection after lane change is minimized; if so, the current state of the variable lane is maintained.
Meanwhile, if the left-turn traffic density is greater than the straight-going traffic density within each interval detection duration, sending data to the guidance screen 2, judging whether the current variable lane is in a left-turn state, and if not, switching the variable lane into a left-turn lane type; if so, the current state of the variable lane is maintained. Thus, the self-adaptive effect is achieved. And finally, sending the obtained type result of the lane change to be switched to the guidance screen 2.
In view of practical implementation, the traffic flow statistics is explained as follows, the central platform 1 performs visual algorithm analysis on videos collected by the cameras 4, performs image recognition and tracking on all passing vehicles, and respectively counts the number of passing vehicles in each lane by taking the lane as a partition.
Further, the explanation of the traffic density according to the present invention is as follows, the central platform 1 counts the number of vehicles in each lane in the detection area through the video collected by the camera 4, and then divides the detected number of vehicles by the actual length of the detection area to obtain the traffic density, wherein the traffic density calculation formula is as follows:
Considering the variability of actual road conditions, the queuing length according to the invention is explained as follows, the central platform 1 counts the number of vehicles through videos collected by the camera 4, calculates the speed of each vehicle through a tracking mode, determines whether vehicles are currently queued according to the current position and the speed information of each vehicle, and analyzes how many meters the vehicles are queued when queuing.
In view of the large traffic flow with slight congestion, the length of the occupied lane is explained as follows, and the central platform 1 calculates the length of the occupied lane behind the vehicles in each lane through the video collected by the camera 4. Thus, whether the vehicle is in line or not is not considered. The length of the occupied road of the vehicle can reflect the degree of congestion of the lane laterally, and particularly on the road without traffic lights (such as an elevated road), the length of the occupied road is a substitute for the length of the queue.
In order to provide finer and finer discrimination, the central platform 1 can conveniently acquire more data to realize the autonomous self-adaptation of the variable lane and improve the lane distribution efficiency, and the headway time interval is explained as follows, namely the time interval of two vehicles before and after a certain cross section is passed, and the busyness degree passing through the cross section can be obtained by analyzing the average headway time interval in a period, wherein the period is 10-30 minutes. Meanwhile, the distance between the front vehicle and the rear vehicle is explained as follows, the distance between the front vehicle and the rear vehicle can be analyzed through analyzing the average distance between the front vehicle and the rear vehicle in a period, and the distance between the front vehicle and the rear vehicle in the driving process can be obtained according to the time distance between the front vehicle and the rear vehicle multiplied by the speed of the vehicle. Therefore, the degree of traffic congestion can be reflected, and the dispatching is convenient.
The working principle of the invention is as follows:
the central platform 1 sends a message to the intersection terminal 3 to send the variable lane attribute, and the intersection terminal 3 changes and stores the data.
And the intersection terminal 3 sends a message to the central platform 1 to provide real-time data, and if the judgment is passed, the lane change is required to be switched. For example, the content of a certain message is: the message indicates that the left-turn lane density is greater than the straight lane density, the variable lane should be switched, and the message is sent correctly. Then, the intersection terminal 3 transmits the variable lane attribute to the center platform 1, and performs switching execution.
For example, if the variable lane guidance screen 2 does not receive the switching message sent by the central platform 1, left turn and straight running are displayed. And after receiving the switching message, the lane-changeable induction screen 2 displays left turn and left turn.
Of course, satisfying adaptive control during implementation of the present invention enables manual control in order to satisfy interventions in various emergency situations. Meanwhile, the induction screen 2 adopted by the invention is conventional in the industry, and is not described in detail herein.
In view of practical implementation, the video collected by the camera 4 needs to be analyzed by a visual algorithm, all passing vehicles are identified and tracked by images, and the number of passing vehicles in each lane is counted by lane. The vehicle flow detection accuracy rate is more than 97% in actual test, the detection accuracy rate is even up to more than 99% under the condition that light is good in daytime and a camera is installed according to an angle and camera parameters are high, and the vehicle flow detection device has a good detection effect at present even under the condition that most of vehicle bodies of vehicles are shielded. The main reason for the occurrence of the identification error is that the cars are not found and tracked because the cars pass by and completely shield the adjacent cars.
The invention has the following advantages by the aid of the character expression and the accompanying drawings:
1. the switching between the straight function and the left-turning function of the variable lane can be dynamically controlled, the development of road traffic with variable traffic flow characteristics is actively adapted, the benefit of the variable guide lane is fully exerted, and the oversaturated congestion of left-turning or straight-turning at the peak time of the intersection is effectively relieved.
2. Through the picture collection of camera and the processing of central platform, realize the reference contrast of many road conditions of multidata, can provide more accurate lane switching reference, improve current efficiency.
3. The existing intersection camera can be utilized, hardware is changed little, only a processing assembly and an induction screen of the central platform need to be configured, and the implementation cost is low.
Furthermore, the indication of the orientation or the positional relationship described in the present invention is based on the orientation or the positional relationship shown in the drawings, and is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or configuration must have a specific orientation or be operated in a specific orientation configuration, and thus, should not be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. And it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings, which are used for convenience in describing the invention and to simplify the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. The self-adaptive variable lane control method comprises a central platform and is characterized in that: the central platform is simultaneously connected with an induction screen and an intersection terminal, interval detection duration is set by the central platform, a request message is sent to the intersection terminal, the intersection terminal replies an image acquired by a camera to the central platform as real-time data, the central platform judges whether a variable lane needs to be switched or not according to the returned real-time data, if the variable lane needs to be switched, the message is sent to the intersection terminal, the intersection terminal records data to a database and adds logs, and performs corresponding switching display through the induction screen, and if the variable lane does not need to be switched, the central platform does not perform processing; the real-time data comprises traffic flow statistics of a left-turn lane, a straight-going lane and a right-turn lane, traffic flow density, queuing length, lane occupying length, time headway, headway distance and heading data of a variable lane, and the heading data of the variable lane is the heading state of the current variable lane corresponding to the induction screen.
2. The adaptive variable lane control method according to claim 1, characterized in that: the detection time interval is 5 to 15 minutes.
3. The adaptive variable lane control method according to claim 1, characterized in that: the judgment process is explained as follows, the central platform calculates the number of vehicles on each straight lane, counts the number of vehicles per kilometer of a single lane in each interval detection time,
if the straight-going traffic density is greater than the left-turning traffic density within the interval detection duration, the straight-going lane passing requirement is larger, data are sent to a guide screen, whether the current variable lane is in a straight-going state or not is judged, if not, the variable lane is switched to a straight-going lane type, and the average density of the lane at the intersection after lane change is made to be the minimum; if so, keeping the current state of the variable lane;
if the left-turn traffic density is greater than the straight-going traffic density within each interval detection duration, sending data to a guidance screen, judging whether the current variable lane is in a left-turn state or not, and if not, switching the variable lane into a left-turn lane type; if so, keeping the current state of the variable lane; and finally, sending the obtained type result of the lane change to be switched to the guidance screen.
4. The adaptive variable lane control method according to claim 1, characterized in that: the traffic flow statistics is explained as follows, the central platform performs visual algorithm analysis through videos collected by the camera, performs image recognition and tracking on all passing vehicles, and respectively counts the number of passing vehicles in each lane by taking the lane as a partition.
5. The adaptive variable lane control method according to claim 1, characterized in that: the explanation of traffic flow density is as follows, the central platform counts the number of vehicles in each lane in the detection area through the video collected by the camera, and then divides the detected number of vehicles by the actual length of the detection area, so that the traffic flow density can be obtained, and the traffic flow density calculation formula is as follows:
6. The adaptive variable lane control method according to claim 1, characterized in that: the queue length is explained as follows, the central platform counts the number of vehicles through videos collected by the camera, calculates the speed of each vehicle through a tracking mode, determines whether vehicles are queued or not at present according to the current position and the speed information of the vehicles, and analyzes the number of meters of the vehicles queued when the vehicles are queued.
7. The adaptive variable lane control method according to claim 1, characterized in that: the lane occupying length is explained as follows, and the central platform calculates the lane occupying length of the vehicles in each lane through the video collected by the cameras.
8. The adaptive variable lane control method according to claim 1, characterized in that: the headway is explained as follows, which means that the busyness degree passing through a cross section can be obtained by analyzing the average headway in a period of 10 to 30 minutes through the time interval of two vehicles before and after the cross section.
9. The adaptive variable lane control method according to claim 1, characterized in that: the distance between the front vehicle and the rear vehicle is explained as follows, the distance between the front vehicle and the rear vehicle can be analyzed through analyzing the average distance between the front vehicle and the rear vehicle in a period, and the distance between the front vehicle and the rear vehicle in the driving process can be obtained according to the time distance between the front vehicle and the rear vehicle multiplied by the speed of the vehicle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115762190A (en) * | 2022-11-02 | 2023-03-07 | 安徽科力信息产业有限责任公司 | A method and system for adaptive control of variable lanes of traffic signals |
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Application publication date: 20220311 |