Road traffic control method and traffic facilities

• US 7,860,639 B2
• Filed: 02/26/2004
• Issued: 12/28/2010
• Est. Priority Date: 02/27/2003
• Status: Active Grant

• Current Assignee: Shenzhen Zhongshunzhitong Intelligent Transportation Technology Co., Ltd.
• Original Assignee: Qinghe Wang, Shaoping Yang
• Inventors: Yang, Shaopeng
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Holwerda; Stephen
• Application Number:
  US10/547,055
• Publication Number:
  US 20060155427A1
• Time in Patent Office: 2,497 Days
• Field of Search: 701/117, 701/1, 701/23, 701/24, 340/901, 340/907, 340/910, 340/933
• US Class Current: 701/117
• CPC Class Codes: G08G 1/07 Controlling traffic signals
• CPC Class Codes: G08G 1/081 Plural intersections under common control

Abstract

The invention relates to a road traffic control method and corresponding traffic facilities. The method includes: setting roads mounted or vehicles mounted devices for controlling queens passing; setting associated traffic facilities which assist controlling queens; guiding, including and controlling to vehicle flows in various directions by the above devices and facilities; arranging the vehicle queens into sequential array at the same time or by turns in roads and crosses according to preset procedure. By the method, the vehicle flows can pass continuously or non-continuously without crossing or with less crossing in multi-driveway road. The invention has small investment, wide application and can greatly improve the cross passing ability.

Claims

1. A traffic control method, comprising the steps of:

(a) providing a road or vehicle installed platoon line up release control device, and assisting platoon control related devices which include traffic signs, markings, isolation facilities, and passage device facilities;

(b) providing guidance instruction to control directions of at least partial vehicle flow of vehicles in one or more intersections and road segments;

(c) using a control method of simultaneous platoon line up as well as one-at-a-time platoon line up within at least a period of time for vehicle flows including multi-directional multi-lane vehicle flow, multi-segment vehicle flow and multi-point vehicle flow, according to a predetermined or automatic sensing adjustment procedure, wherein said control method is classified as three types, namely a dynamic platoon line up at said road segment, a fixed area platoon line up which provides platoon line up area at said intersection and said road segment, and a combined platoon line up combining said dynamic platoon line up and said fixed area platoon line up, wherein said platoon includes all distribution forms of vehicle line;

(d) forming a plurality of orderly platoon lines, each of which has a variable platoon shape, platoon order, platoon volume, and platoon speed, so as to achieve a platoon line up passage selected from a group consisting of a vehicle flow non-continuous platoon line up passage and a vehicle flow continuous platoon line up passage with a little or no crossing multi-lane;

(e) providing a passage at said intersection and said road segment under one of the situations of having no passage instruction guidance signal control and no automatic control, after a formation of control of said vehicle flow continuous platoon line up passage or said vehicle flow non-continuous platoon line up passage, or a control of platoon line up;

after said formation of said vehicle flow continuous platoon line up passage, providing a plurality of control options, including;

(i) a same phase passage of two predetermined directions vehicle flow of the same cross-section to form a continuous platoon line up passage;

(ii) a cycle release using continuous platoon order of left turning, straight going and right turning, or right turning, straight going and left turning;

(iii) a platoon order in one direction of continuous passage of straight going, left turning/right turning, and right turning/left turning, and another direction of continuous passage of right turning/left turning, left turning/right turning and straight going; and

(iv) a continuous platoon line up passage control of excessive passage or borrowing phase for passage, under irregular intersection situations including T-shape and multi-crossing, other than said control options (i), (ii) and (iii);

(f) forming control of said simultaneous platoon line up as well as said one-at-a-time platoon line up within at least a period of time for said multi-directional multi-lane vehicle flow, said multi-segment vehicle flow and said multi-point vehicle flow, wherein options for forming control of said simultaneous platoon line up within at least a period of time for said multi-directional multi-lane vehicle flow, said multi-segment vehicle flow and said multi-point vehicle flow are provided, wherein said options include cross-position/cross-platoon area platoon line up, platoon merging, borrowed lane platoon line up, follow flow platoon line up, and combined/mixed platoon line up, wherein said options are capable of being used in combination;

wherein said cross-position/cross-platoon area platoon line up is adapted for controlling guiding speed, direction, distance, position, order, and condition of vehicle flow, and controlling distribution of platoon area, platoon passage way, platoon beginning and ending points, and splitting and flow merging control points, so as to divide passage way and space required by said cross-position/cross-platoon area platoon line up to form a control procedure of said simultaneous platoon line up as well as said one-at-a-time platoon line up within at least a period of time for vehicle flows including said multi-directional multi-lane vehicle flow, said multi-segment vehicle flow and said multi-point vehicle flow;

wherein said merging platoon is adapted to form a control procedure of a certain columns and segments of portion of vehicle flow replacement and merging platoon line in dynamic or static area or in a moving platoon line, wherein said control procedure includes a chain-type shifting control and a one-vehicle-at-a-time passage type control for merge platoon in different segments as well as merge platoon in order;

wherein said borrowed lane platoon line up is adapted to form a control procedure of partial space platoon line up of vehicle flow borrowing opposite lanes or lanes for other types of vehicles;

wherein said position replacement and follow flow platoon line up is adapted to form a control procedure of position replacement of following vehicle flow following a platoon order in front, and following traffic platoon;

wherein said combined/mixing platoon line up is adapted to form a control procedure of platoon line up carried out under conditions of vehicle flow in combined or mixed direction, platoon line and order;

wherein said one-at-a-time platoon line up is adapted for controlling each vehicle flow of each split direction or each vehicle flow of each lane one-direction-at-a-time or one-vehicle-at-a-time taking turn to carry out platoon line up in platoon line up area or while a vehicle line is moving; and

(g) providing a platoon line up control for a Vehicle x of a predetermined direction or lane of a predetermined cross section, segment or defined point, comprising the control steps of;

(y1) carrying out instruction guiding control and assisting/automatic control of a plurality of control options including direction, splitting direction, merging direction, speed, distance, position, order, lane adjustment, condition, and information;

(y2) carrying out instruction guiding control and assisting/automatic control of a plurality of control options including direction, splitting direction, merging direction, control point of splitting/merging flow, speed, distance, position, order, lane, lane adjustment, condition, and information, for controlling vehicle entering platoon line up area or a position in or out of a moving vehicle line; and

(y2+n) carrying out instruction guiding control and assisting/automatic control of a plurality of control options including direction, splitting direction, merging direction, control point of splitting/merging flow, speed, distance, position, order, lane adjustment, condition, and information, for controlling vehicle entering platoon line up area or a position in or out of a moving vehicle line, where n is a whole number ≧

0, the step (y2+n) is after 0 or a predetermined number of steps;

wherein the steps (y1) and (y2), or the steps (y2) and (y2+n) are capable of repeating once or multiple times, wherein vehicle platoon line up control procedure of other directions, lanes or segments is the same as the above steps (y1), (y2), and (y2+n);

wherein during said control of said simultaneous platoon line up for said multi-directional multi-lane vehicle flow, multi-segment vehicle flow, or multi-point vehicle flow, the steps of said vehicle platoon line up control cycling in all directions, all lanes, all segments, or all points overlap in at least one time period;

wherein during said control of said one-at-a-time platoon line up, the steps of said vehicle platoon line up control are repeated in order, wherein platoon line up and merging control has options in order; and

wherein after said platoon line up control, when there is said instruction guiding control or said assisting/automatic control, increase the control steps accordingly;

when there is no said instruction guiding control or said assisting/automatic control, there is no control step.

2. The method, as recited in claim 1, wherein said platoon line up control is used correspondingly at each of said intersections and said road segments, each entrance, cross-section, lane and flow direction of each of said intersections and said road segments;

wherein said method is adapted to apply for at least two lanes of containing non-motorized vehicle on said intersection or road segment, all types of phase control method, left and right handed and single flow traffic, irregular interaction, single direction intersection, platoon line up release area shift to upstream, borrowing opposite vehicle lane, non-motorized vehicle lane, portion intersection space, highway, roundabouts, ramps, neighboring intersection that is not able to be closed, temporary platoon line up, excessive or insufficient flow direction, vehicle platoon, phase, right turning continuous passage, and borrowed phase passage;

wherein, for irregular, single flow intersection, according to structure, flow volume and flow direction situation of said irregular, single flow intersection, said method further comprises platoon line up control options, including borrowing non-motorized vehicle lane control, borrowing opposite vehicle lane control, roundabout platoon line up control, temporary platoon line up control, using partial intersection space outside of vehicle stopping lane for platoon line up release control, using platoon line up control with public transport specific use lane and public transport priority plan, and unable shutting down neighboring intersection control;

wherein said borrowing non-motorized vehicle lane control is adapted to control one or more motorized vehicles to borrow a segment of non-motorized vehicle lane fixed area or movement dynamic platoon after controlling non-motorized vehicle stopping position or portion of vehicle flow in road segment crossed to upstream, wherein when releasing a particular platoon or a particular phase, or within a time period or after a time period, non-motorized vehicle is allow to follow a flow of said motorized vehicles;

wherein said borrowing opposite vehicle lane control is adapted to automatically control vehicle flow of a predetermined direction, vehicle lane, segment, or point according to a default or sensor control guidance signal under a situation of providing no isolation devices, having an opening or utilizing an intersection in front;

wherein said roundabout platoon line up control is adapted to provide platoon line up control device and platoon line up area as well as signs, markings and facilities thereof so as to control and guide yielding and speed guidance of vehicle flow at entrance or roundabout;

wherein said temporary platoon line up control is adapted to control and guide a speed of upstream incoming vehicle or to temporary block incoming vehicles from immediate direction by means of an inspection real-time control or a fixed time period control when a predetermined lane has comparatively small number of incoming vehicles or has no incoming vehicle, or there is a temporary need;

wherein said using partial intersection space outside of vehicle stopping lane for platoon line up release control is adapted for platoon line up release; and

wherein said unable shutting down neighboring intersection control is adapted to extend platoon area scope and to adjust or increase control device and process procedure involving corresponding release, and platoon line up.

3. The method, as recited in claim 1, further comprising a plurality of platoon rows balancing control options for controlling of making all platoon rows neat, lengths of said platoon rows in balance or synchronizing passage times, wherein in order to balance platoon rows from a single entrance and different entrances and a distribution of release volume of platoon passage, said platoon rows balancing control options include a balancing control of platoon length of static and dynamic movement, a speed guiding balance, a position replacement follow flow and continuous green light phase, a control of balancing of division of flow volume and timing, a platoon row grouping, and a combination of the above control options;

wherein said balancing control of platoon length of static and dynamic movement is adapted to calculate and pre-set signal control time of each platoon lining up according to follow volume and traffic model, or through real-time monitoring and to calculate an accumulated platoon length of vehicles entering each said platoon row, so as to carry out comparison with preset parameter and procedure and guide vehicles to enter shorter rows of said platoon rows;

wherein said speed guiding balance is adapted to control a balance of a final release time of each said platoon row through speed guidance, that is by inspecting/monitoring of variation of speed, line up release movement speed or length platoon of all said platoon rows, especially a last vehicle evacuation through calculation and adjustment of procedures;

wherein said position replacement follow flow and continuous green light phase is adapted for using a plurality of continuous platoons as a whole and using control of position replacement follow flow and continuous green light phase;

wherein said control of balancing of division of flow volume and timing is adapted to control excessive flow volume in road segment and to match with a next period flow volume by means of a moving or stopped vehicle platoon line up way when there is a large number of incoming vehicles in a particular platoon of said platoon rows or in a particular direction during a particular period of time and there is a need to control balancing division of flow volume or sign time; and

wherein said platoon row grouping is adapted to reasonably group platoon line up for platoon balancing.

4. The method, as recited in claim 1, further comprising control options of first splitting direction then lining up platoon, mixed platoon line up, cross phase platoon line up for dynamic platoon in a road segment with movement;

wherein said method further comprises the following control options of using road surface cut-off and division of time period with reference to a number of vehicles or grouping division to determine a scope of platoon division of vehicle flow with reference to vehicle flow density;

(A) when a flow volume of a particular point reaches a predetermined value is inspected, determining a last vehicle separation and carrying out a control guidance to form a gap in a vehicle flow by a control system;

(B) inspecting said vehicle flow with obvious density difference by two or more inspection/monitor device to determine a last vehicle and carrying out a separate speed and separate distance control;

(C) combining the above control options (A) and (B), wherein when a particular number of vehicles is monitored, a following vehicle flow is appropriately received in such a manner that when there is gaping, divisional speed is to be determined, while the following vehicle flow has a higher vehicle flow and a size of the vehicle flow is acceptable;

wherein when divisions using denser groups are smaller, portion of said vehicle flow from following is received while monitoring and controlling an amount thereof; and

wherein when a fixed area platoon line up and a road segment dynamic platoon line up control are carried out alternately, control a splitting direction and operation of road segment platoon rows until a predetermined condition is reached and then control said fixed area platoon line up, and, alternatively, complete said road segment movement platoon line up control to a predetermined control step and then complete the remaining control steps while entering a platoon line up area.

5. The method, as recited in claim 1, including a platoon line up and passage control model and a mechanical or electrical control process and computerized prediction, simulation and control process, wherein said method further comprises a plurality of controls, including

a control of yielding to a longest vehicle by dividing a vehicle space at an end of platoon or providing an inspection/monitor device to carry out inspecting/monitoring and using a signal device to display;

a control of avoiding signal display from being blocked by providing multi-position or mobile display or vehicle-installed display control of a display device installed at upper and side on road, ground and guiding rail, and separation facility device;

a control or design of blocking prevention of vehicle lane/safety lane change area, including a control of prohibiting stop of vehicle flow in said safety lane change area, and a changing of guiding area or pre-stop line to continue a line up platoon before a possible blocking in said safety lane change area, as well as using a replacement position of last vehicles while said safety lane change area is at a tail of a platoon line up, by means of signal and information instruction/reminder or control, inspection/monitoring, signal control design or platoon length reminder design, or platoon row platoon shape adjustment;

a vehicle lane control of vehicle lane splitting direction adjustment and accommodation;

a heavy flow lane instruction control;

a prediction and simulation control;

a priority of public transport, incidence inspection/monitoring, exhaust estimation control;

a cooperation control of mechanical and non-mechanical and control of non-motorized vehicles to pass in split direction or pass in said platoon line up, or combining two waiting times control; and

an alternating between a regular control and a platoon line up control, having options of using partial vehicle flow follow flow pressuring complete release of a full read complete release method, or preset flow cut-off or speed reduction control, carrying out alternation at a particular platoon control cycle point or time period, and controlling vehicle lane adjustment, controlling of corresponding changes in said platoon line up with variable markings, signs and signal, and designing backup electricity source and control of signal transition to regular or manual condition.

6. The method, as recited in claim 1, wherein said fixed area platoon line up control is a control selected from a group consisting of:

(a) vehicle flow entering platoon area in order, that is lining up in order from front to back;

(b) platoon lane order being in an order of from farthest other lanes to an immediate lane line up where other alternations and adjustment are able to be carried out anytime;

(c) position replacement follow flow;

(d) split direction and platoon at far position, wherein splitting direction or different direction platoon line up is carried out as early as possible before vehicle flow approaching platoon area and when entering platoon area for platoon line up, so as to ensure row formation of early direction split or a reasonable far position direction split platoon curve;

(e) large vehicles having priority to use said immediate lane and neighboring lanes;

(f) complete release, wherein all vehicles are not allowed to stop in platoon line passage and affect normal platoon passage, wherein vehicles that are unable to be complete released in a corresponding phase are controlled to be released as much as possible in a following phase, wherein said complete release is performed by a way selected from a group consisting of displaying instruction by signals with diagram or wordings;

pre-designing time remaining signal, late initiation and early cut-off or early initiation and late cut off, continuous phase/ripple change;

adjusting platoon line up and release signal according to platoon release condition monitored by installed inspection/monitoring devices; and

combining signal remote control and management;

(g) borrowing phase, wherein vehicle flow is controlled by making use of other phase for passage in a particular direction or a particular platoon row or a particular segment; and

(h) emergency control, wherein when a vehicle lane is blocked due to incomplete release of vehicles, or by a blocking vehicle being malfunction or having accidents, one of the following emergency controls is initiated, including closing off said blocked vehicle lane temporarily through inspection/monitoring automatic adjustment, remote controlling or manual controlling signal instruction and carrying out control adjustment of platoon line up and releasing of other phase at the same time, wherein until said blocking vehicle is removed, said vehicle lane is resumed or changing directly to regular control;

wherein, besides referencing to said fixed area platoon line up control, a dynamic platoon line up control of road segment with movement further comprises the following control options;

(a1) speed, distance maintenance and guidance instruction, vehicle moving with reference to the speed, vehicle distance instruction and information provided by said platoon line up control, forming platoon row through automatic inspection maintenance technology or visual inspection identification;

(b1) grouping and teaming up as much as possible;

(c1) lane changing signaling and opportunity theory, other than obeying control guidance instruction, vehicle providing movement signal before changing lane ahead of time and moving forward under a right opportunity;

(d1) follow flow and dynamic platoon having a chain effect, maintaining following vehicle ahead as much as possible, which is applicable to both before and after direction splitting;

(e1) splitting direction ahead of time, such that direction splitting is completed ahead of time as much as possible before a farther road segment or at an earlier intersection;

(f1) maintaining position, wherein when a particular vehicle is on a position where said vehicle should line up, said vehicle should keep a position thereof as much as possible during platoon control;

(g1) moving cross position platoon line up; and

(h1) guiding to reduce vehicle stopping, mainly performed by controlling speed and arrival time;

wherein, besides referencing to said fixed area and dynamic platoon line up controls, a combined platoon line up control comprises the following control options;

(a2) said fixed area platoon control having priority that when vehicle platoon approaches guidance area and platoon area, no matter which platoon condition is in, following said fixed platoon area control, even though controls of front and end are not consistent; and

(b2) safe speed changing, wherein during condition alternation in said platoon line up, safe speed reduction or vehicle stopping must be controlled.

7. The method, as recited in claim 1, wherein fixed time, sensing, automatic adjustment, traffic response and intelligence control methods are used, which include combining or establishing all types of platoon control of green wave, late-initiation and early cut-off or early-initiation and late cut off, partial or all dynamic and combined platoon green wave, and releasing options of control of platoon control signal adjusting;

wherein methods of platoon control signal timing and determining procedure parameters include;

(A) fixed area platoon control signal timing being arranged to determine platoon line up timing after a determination of release timing, and alternatively to determine release timing after a determination of platoon line up timing, chain action adjustment prioritizing, predicting and determining a method, releasing control having expanded or amended traditional control model or platoon control model timing according to parameter, platoon control being according to platoon control model timing, cooperation of release and platoon line up signal timing being determined according to control requirement, determining platoon line up of corresponding platoon, row, releasing timing cycle beginning time having a difference of X, under a condition of minimizing delay, taking a middle value between conservative high efficiency model and ideal high efficiency model, choosing formula;

X=K{(T period−

T evacuation)+[T period−

(G−

T moving)]}, wherein K=½

or other predetermined value and G is total phase time of corresponding cross section;

wherein when there is no straight delay requirement, X is able to exceed a scope of a regular high efficiency model; and

wherein all lanes are capable of lining up in time order separately, including a separate segment way, wherein the same one is arranged to be merged and all time order cycles are able to be overlapped and repeated in order;

(B) road segment with movement dynamic platoon control, wherein signal control combines fixed area, dynamic platoon control model and moving vehicle model, wherein through calculation, display guidance or automatic control of vehicle installed or road installed device control vehicle movement platoon passage; and

(C) combined platoon line up signal control combining the above (A) and (B);

wherein said signal control comprises;

(1) time division consistent control of peak flow volume;

(2) under a condition allowed by vehicle flow allowing platoon line up time scope, platoon line up time is distributed according to a theory of consistent proportion of a total platoon line up release ability of all platoon line ups and incoming vehicle flow rate of all platoons or volume of all platoons;

(3) connecting and sharing flow direction and phase without crossing; and

(4) consistent signal control of platoon row.

8. The method, as recited in claim 1, further comprising at least a road-installed or vehicle installed mechanical or non-mechanical item of platoon passage control treatment device, a platoon line up and passage instruction guiding control device or control execution device, and related signs, markings, isolation facility, and a device selected from a group consisting of inspection/monitor, information display identification, vehicle position inspection maintenance, drive control, wherein device facilities are installed according to platoon control requirement, including using in combination with regular device facility, wherein there are functions or procedure for carrying out said platoon line up control, including new use of regular device facility, new connection or improvement model, functional parts of functional modules, and combination thereof;

wherein at least an installation format, or function, or instruction or theory or flow, or merge of part of said device facility is different from a conventional traffic control device facility, wherein mechanical or non-mechanical devices are installed in single or in combination;

wherein fixed area, dynamic and combined platoon line up control is controlled by road-installed and vehicle-installed devices, wherein said road-installed and vehicle installed devices are able to be combined so that all said road-installed and vehicle-installed devices are used in a combined manner flexibly, wherein vehicle-installed or road-installed platoon line up is able to be used, wherein less use or not use of some of said road-installed or vehicle-installed devices is required, including single vehicle platoon release control treatment facility;

wherein an individual vehicle facility carries out a platoon line up/release control according to calculation and treatment related to line up/release information and multi-vehicle platoon line up control treatment facility;

wherein vehicles at opposite point, line, surface according to related unify calculation treatment of said line up/release information to carry out said multi-vehicle platoon line up/release control, and other devices in vehicles used for said platoon line up control;

wherein said method further comprises a plurality of simple matching options, including splitting direction, distance identifying markings, inspection/monitor device to inspect flow volume of different directions, control device calculates, treats and emits on platoon line up information board to display platoon line up guiding information and instruction containing direction, speed, vehicle distances, platoon line up condition shape, and cross-position method and acceleration/deceleration, so as to perform movement dynamic platoon line up.

9. The method, as recited in claim 1, wherein platoon line up control treatment and driver device are arranged to be one unit or multiple units which are capable of being installed independently or in combination with other devices to form an independent device, specific use device, combined type device, or central control treatment system;

wherein a plurality of functions, including platoon line up passage control simulation, prediction, optimization, and intelligent, is achieved, including platoon line up passage control system and other intelligent traffic systems, including automatic adjustment, intelligent, professional, fuzzy, nervous and all types of control model applicable to traffic control;

wherein besides having regular function and platoon line up control process/timing function, a platoon line up control treatment device has release control process/timing, platoon line up and release signal device and other display guidance devices, which is an electrical or mechanical device of electro-optical signal pixel board in non-conventional signal “

light”

form;

wherein a detachable connecting type device includes display guiding device combined by platoon line up/information controlling device and platoon/information diagram/words producing device and other regular device/part;

wherein a group or a plurality of groups, installed independently or in combination with other devices, has display format of direction, platoon passage and control condition, information diagram and wordings, and has multiple control display options of direction splitting, direction merging, lane markings and adjustment, platoon and passage instruction guidance, speed guidance, condition and information, and mechanical and non-mechanical control, wherein direction display includes multiple forms including one direction, multi-direction, crossing direction, splitting direction, merging direction, conditions including conditions options of platoon row immediate platoon line up/merging, space situation, moving situation, changes in observe positions including an vehicles or road segment, guidance area, platoon area, immediate direction or entrance of opposite direction, center of intersection, being arranged to be installed on easy to observe positions including vehicles or road segment, guidance area, platoon area, immediate direction or entrance of opposite direction, center of intersection, being arranged to be installed according to each lanes or a particular lanes;

wherein said device is selected from a group consisting of;

(A) inspection/monitor/examination device having direction, speed, vehicle types, platoon rows, platoon shape, position, occupied frequency, complete release, line up/release condition examination/monitor/inspection options, wherein said inspection/monitor/examination device is able to be all types of device or improvements of closed-circuit type or ultrasound wave type vehicle sensors, infrared, laser, microwave, optical-electrical tube, visual frequency inspection, signs, electrical tag, including dispersed light/microwave blockage inspection device, underground or above ground installed signal emitter and receiver, inspect situations of signal being cut off by vehicles, and platoon line up fixed point inspection that inspection devices are only installed in predetermined points, including guiding area, lane change area, last vehicle positions in platoon;

(B) platoon line up information display guiding device, including display technology and device, “

flat display”

, including vehicle installed audio frequency activation, inside or outside vehicle turning signal activation guiding device;

(C) communication system, wired or wireless, road to vehicle communication or vehicle to vehicle all position communication, including an application of Code Division Multiple Access (CDMA) technology and facility; and

(D) sign, platoon line up positioning, navigation, cruise track guidance identification, including vehicle position inspection maintenance of platoon shape/vehicle distances, realizing speed reduction, braking, change of direction, change of lane, driving control device of display platoon line up control, regulation violation imaging, central line shifting device, full angle inspection, far position direction split device through external information received by sensors of one or both vehicle-installed or road-installed devices, wherein signs, line marking, device, facility include forms including magnetic nail, electric cable and sign band which are identifiable by using device facility sensing, which is arranged to be installed at isolation area, isolation barrier, ground surface, outside of vehicle stopping line, being fixed or mobile type or transmit device display;

wherein format and content of said device facility display are words and diagram, including color, shape, content, condition, fixed or variable position, in platoon and passage condition control flow diagram example and display diagram example or diagram example from said method, control alternation being manual or automatic, both dynamic and static condition being applicable, and also including audio and non-conventional display format;

said device has shapeless or shaped platoon area/line, guiding area/line, safety lane change area/line, direction guiding area/line, position shifting area/line, formats of installation of related signs, line markings facility and sign display being fixed and vary, wherein in fixed area control, using original stop line of an intersection as ending line and extending backwardly according to need, dividing into several platoon area, where each said platoon area is parallel or separated, being connected in order along road segment, able to cross, overlap or alternated, able to divide with cross position;

wherein end portion of platoon area extends towards upstream direction as guiding area or pre-stop line, and being divided with cross-position;

wherein if there is no guiding area or pre-stop line, display and control are carried out using instruction/display sign of guiding platoon, signal, information device;

shapeless or shaped platoon area/line and other said area/line of roundabout and borrowing opposite direction motorized and non-motorized vehicle being set on roundabout lane, borrowed lane and position close to intersection, borrowing point of road segment, and position of covering lane that crosses to opposite direction lane, including variable line marking or variable display of instruction display device;

wherein mobile type or transmission display type variable platoon area and guiding area or pre-stop line is selected from a group consisting of ground surface or underground light emissive, reflective facility of mobile or transmission display, light receiving or light emissive material line markings that is able to reflect light day or night or emits light and easy to identify, projection moveable lighting device;

wherein platoon length design is a greatest or appropriate vehicle row length of all direction vehicle flow of all time period that correspond to all platoon area in control plan, especially that allowed during peak period and lane change safe distance when necessary, or determined according to control requirement and road and safety condition, wherein lane change safety distance is calculated by a characteristic of passage with a turning requirement of a largest type of vehicle and motorized vehicle movement orbit, at the same time position of safe vehicle distance or lane change area/line has to be determined reasonably according to flow volume and control method, including options provided at platoon line up, merging passage and starting point, wherein content of dynamic platoon control is shapeless, dynamic and variable.