Road traffic control method and traffic facilities

• US 20060155427A1
• Filed: 02/26/2004
• Published: 07/13/2006
• Est. Priority Date: 02/27/2003
• Status: Active Grant

• Current Assignee: Shenzhen Zhongshunzhitong Intelligent Transportation Technology Co., Ltd.
• Original Assignee: Qinghe Wang, Shaopeng Yang
• Inventors: Yang, Shaopeng
• Granted Patent: US 7,860,639 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• 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 a road installed or vehicle installed platoon line up release control device, and assisting platoon control related traffic signs, markings, isolation facilities, passage device facilities, guidance instruction to control each direction or a certain direction, entire or partial vehicle flow of motorized vehicle and non-motorized vehicles, in intersection and road segments, using control method of having at least a period of time for multi-directional multi-lane or multi-segment or multi-point vehicle flow simultaneous platoon line up platoon or one at-a-time line up platoon according under process procedure of predetermined or automatic sensing adjustment to optimize and intelligent, to line up to a certain orderly platoon lines that have variable platoon shape, platoon order, platoon volume, platoon speed, so as to realize traffic flow continuous platoon line up passage or non-continuous platoon line up passage of no crossing multi-lane or little crossing multi-lane;

there are three main types of control methods, which are road segments having dynamic platoon carried out, fixed area platoon line up of platoon line up area provided at intersection and road segment, and combined platoon line up combining the above two methods;

wherein the above mentioned vehicle “

platoon”

includes all distribution form of vehicle line.

2. A traffic control method, as recited in claim 1, wherein after the formation of control of vehicle flow continuous platoon line up passage or non-continuous platoon line up control, or after platoon line up control, under the situations of having no passage instruction guidance signal control or automatic control, pass through intersection and road segment;

forming continuous passage of vehicle flow has control options of;

Method A;

same phase passage of a certain two directions vehicle flow of the same cross-section, forming continuous platoon line up passage;

Method B;

cycle release using continuous platoon order of left turning, straight going, right turning or, right turning, straight going, left turning;

Method C;

a platoon order of a direction of continuous passage is straight going, left turning/right turning, right turning/left turning, that of the other direction is right turning/left turning, left turning/right turning, straight going;

Method D;

continuous platoon line up passage control of excessive or insufficient flow direction, vehicle platoon, phase, right turning continuous passage or borrowing phase for passage, under irregular intersection situation such as T-shape, multi-crossing, other than Method A, B, and C;

all types of mutated continuous platoon line up passage control created by borrowed phase, early-cutting off late initiation, excessive or insufficient flow direction or vehicle platoon, excessive or insufficient phase, and special requirements of the above control method belong to their own scope;

forming at least a certain time period contain multi-direction multi-lane or multi-segment or multi-point vehicle flow simultaneous platoon line up or one-at-a-time platoon line up control, wherein forming at least a certain time period contain multi-direction multi-lane or multi-segment or multi-point vehicle flow simultaneous platoon line up has options of;

cross-position/cross-platoon area platoon line up, platoon merging, borrowed lane platoon line up, follow flow platoon line up, combined/mixed platoon line up, cross position/cross-platoon area platoon line up;

control guiding the speed, direction, distance, position, order and condition of traffic flow, or control the distribution of platoon area, platoon passage way and platoon beginning and ending point, splitting, and flow merging control point, dividing the passage way and space required by platoon line up, forming the control procedure and method of at least a time period has multi-direction multi-lane or multi-segment or multi-point traffic flow simultaneous platoon line up;

merging platoon;

control the control procedure and method of portion of the traffic flow replacement, and merging platoon line of a certain column and segment in dynamic or static platoon area or in a moving platoon line, having chain-type shifting and one-vehicle-at-a-time passage type control, can merge platoon in different segments, and can also merge platoon according to order;

borrowed lane platoon line up is;

control the control procedure and method of partial space platoon line up of traffic flow borrowing opposite or vehicle lanes of other types of vehicles;

position replacement and follow flow platoon line up is;

control the control procedure and method of the position replacement of following traffic following platoon order in front, and following traffic platoon;

combined/mixed platoon line up is;

control procedure and method of platoon line up carried out under the conditions of traffic flow being in a combined or mixed direction, of platoon line and order;

these control can be used in combination with each other;

one-at-a-time take turn platoon line up control;

control the procedure and method of each traffic flow of each split direction or each traffic 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 the vehicle line is moving;

control of vehicle platoon line up include procedure of;

Vehicle x of a certain direction or lane of a certain cross section or a certain segment or a certain point;

Step y1;

carry out instruction of including direction, splitting direction, merging direction, speed, distance, position, order, lane adjustment, condition, information and so forth certain control option to guide control or assist/automatic control through device facility;

Step y2;

carry out instruction of including direction, splitting direction, merging direction, control point of splitting/merging flow, speed, distance, position, order, lane adjustment, condition, information and so forth certain control options to guide control or assist/automatic control through device facility, to control vehicle to enter platoon line up area or a certain position within or out of moving vehicle line;

Step y2+n;

carry out instruction of including direction, splitting direction, merging direction, control point of splitting/merging flow, speed, distance, position, order, lane adjustment, condition, information and so forth certain control options to guide control or assist/automatic control through device facility, to control vehicle to enter platoon line up area or a certain position within or out of moving vehicle line, where n is a whole number>

0, step y2+n is after 0 or a certain step after y2;

The above mentioned step or y1, y2 step of y2, y2+n step can be repeated once or multiple times;

Vehicle platoon line up control procedure of other directions or lanes or segments or points is the same as above;

When using multi-direction, multi-lane or multi-segment or multi-point traffic flow simultaneous platoon line up type control, vehicle platoon line up control step cycle of all direction or all lane, or all segment all point overlap at least in one time period. When using one-at-a-time taking turn type control, procedure is repeated in order, platoon line up, merging control has order options;

After platoon line up control step, if there is passage instruction guidance control or assistance/automatic control, then corresponding passage control or control step is increased. If there are no passage instruction guidance control or assistance/automatic control, then there will be no passage control or control procedure.

3. A traffic control method, as recited in claim 1, wherein corresponding platoon line up control method is used or used in combination with traditional control for each intersection and road segment, all each entrance of intersection and road segment, cross-section, lane, and flow direction;

suitable for use on at least two lanes of containing non-motorized vehicle on road segment or intersection, any types of phase control method, left, right handed and single flow traffic are all suitable, and has 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 intersections that cannot be closed, temporary platoon line up, excessive or insufficient flow direction, vehicle platoon, phase, right turning continuous passage or borrowed phase passage and so forth all types of mutated control method;

According to structure and flow volume of intersection, flow direction situation, irregular, single flow intersection carry out platoon line up control;

borrowing non-motorized vehicle control option;

through device facility control non-motorized vehicle stopping position or, control motorized vehicle to borrow a segment of non-motorized vehicle lane fixed area left the area after portion of vehicle flow in road segment crossed to upstream, or, movement dynamic platoon, non-motorized vehicle will follow the flow when releasing a certain platoon or a certain phase or within a time period or after a time period;

borrowing opposite vehicle lane has control options;

under the situation that no isolation devices are provided or having an opening or utilizes intersection in front, vehicle flow of a certain direction or a certain vehicle lane or a certain segment or a certain point is according to default, or sensor control guidance signal or automatic control, such that in the time period under the condition of not affecting normal passage of opposite direction vehicle flow, part of the opposite direction vehicle lane is borrowed for platoon line up passage;

roundabout platoon line up control option;

install signs, markings facilities related to platoon line up control device and platoon line up area on entrance or roundabout lanes, so as to control and guide yielding and speed guidance of vehicle flow at entrance or roundabouts;

temporary platoon line up control options;

when a certain lane has comparatively small number of incoming vehicles or has no incoming vehicles or there is a temporary need, through inspection real-time control or fixed time period control, control guiding the speed of upstream incoming vehicle or block incoming vehicles from the immediate direction, stage-by-stage adjust the vehicle lane for the passage of other vehicle flow platoon line up;

option of using partial intersection space outside of the vehicle stopping lane for platoon line up release;

option of platoon line up control with public transport specific use lane and public transport priority plan;

option of not being able to shut down neighboring intersection control;

extend platoon area scope, adjust or increase control device and process procedure involving corresponding release, and platoon line up, theory is the same.

4. A traffic control method, as recited in claim 1, wherein it has platoon rows balancing control option, which is control of making all platoon rows neat, length of all platoon rows are consistent or passage times synchronized as much as possible, has options:

including balancing of platoon rows from a single entrance and different entrance, and consistent distribution of release volume of platoon passage and platoon rows, A;

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

B;

guiding speed consistency, through inspection/monitor of the variation of speed, line up release movement speed or length platoon of all rows, especially the last vehicle evacuation, through calculation and adjustment of procedure, using speed guidance format to control the consistency of final release time of each row;

C;

position replacement follow flow and continuous green light phase, using a certain continuous platoon as a whole, using control of position replacement follow flow and continuous green light phase;

D;

control of consistency of the division of flow volume and timing, when there is a large number of incoming vehicles in a certain platoon row or during a particular period of time, and a particular direction, control consistent division of flow volume or signal timing, and use moving or stopped vehicle platoon line up control method to first control excess flow volume in road segment, and match with the next period flow volume;

E;

platoon row grouping, control platoon row to reasonably group platoon line up, realizing balancing of platoon;

F;

combination of the above technology.

5. A traffic control method, as recited in claim 1, wherein dynamic platoon in a road segment with movement has control options of first splitting direction then lining up platoon, mixed platoon line up, cross phase platoon line up;

has control options road of using surface cut-off and division of time period with reference to the number of vehicles, or control options of grouping division to determine the scope of platoon division of vehicle flow with reference to vehicle flow density;

A, when it is inspected that the flow volume of a certain point reaches a predetermined value, determine the last vehicle separation and carry out control guidance to form a gap in vehicle flow by control system;

B, inspect for vehicle flow with obvious density difference by two or more inspection/monitor device, determine the lat vehicle, and carry out separate speed and separate distance control;

C, combination of the above two, has options;

when a certain of number of vehicles has been monitored, if the following has even higher vehicle flow, under allowable conditions, can appropriately receive vehicle flow form the following, and when there is gaping, divisional speed is to be determined;

when divisions using denser groups are smaller, portion of vehicle flow from the following can also be used, and monitor and control the number;

combined platoon has options;

fixed area platoon line up and road segment dynamic platoon line up control are carry out alternately, such that splitting direction of road segment platoon row and fixed area platoon control when in condition are first controlled, and first complete road segment movement platoon control to a certain step, then complete the remaining steps control when enter platoon line up area.

6. A traffic control method, as recited in claim 1, including platoon line up and passage control model, mechanical or electrical control flow process and computerized prediction, simulation and control process;

and involve other options;

control of yielding to longest vehicle, divide out such vehicle space at the end of platoon or provide inspection/monitoring device to carry out inspection/monitoring and use signal device display;

blocking control by signal display should be avoided, has control options of multi-position or mobile display on road installed on upper, side, surface and guiding rail, separation facility device, or vehicle-installed display control options;

control or design of blocking prevention of vehicle lane/safety lane change area, options;

by signal, information instruction/reminder or control, or through inspection/monitoring, signal control design or platoon length remainder design, platoon row platoon shape adjustment, lane change area can be changed into after crossing method, control vehicle flow and prohibit stopping in safety lane change area, or before possible blocking of safety lane change area, change to guiding area or pre-stop line to continue line up platoon, when lane change area is at the tail of platoon line up, it can be used as the replacement position of the last vehicles;

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

heavy flow lane instruction control;

prediction and simulation control;

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

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

alternating between traditional control and platoon line up control, has options of using partial vehicle flow follow flow pressuring complete release of non-traditional full red complete release method, or preset flow cut-off or speed reduction control, or carry out alternation at a certain platoon control cycle point or time period, and control vehicle lane adjustment, control of corresponding changes in platoon line up is variable markings, signs, signal, can design backup electricity source and control of signal transition to traditional or manual condition.

7. A traffic control method, as recited in claim 1, wherein the fixed area platoon line up control has options:

a. traffic flow enters platoon area in order, platoon order is lined up in order from front to back;

b. platoon lane order is in the order of from the farthest other lanes to the immediate lane line up (can also carry out other alterations and adjustment at anytime);

c. position replacement follow flow;

d. split direction and platoon at far position, splitting direction or different direction platoon line up should be carried out as early as possible before traffic flow approaches 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 has priority to use the immediate lane and neighboring lanes;

f. complete release, all vehicles are not allowed to stop in platoon line passage and affect normal platoon passage, vehicles that are unable to be complete released in the corresponding phase should be controlled to be released as much as possible in the following phase, option;

display this instruction by signals with diagram or wordings, or design ahead of time remaining signal, late initiation and early cut-off or early initiation and late cut off, continuous phase /ripplechange, or realize complete release by adjusting platoon line up, release signal control or combine signal remote control and management according to platoon release condition monitored by the installed inspection/monitoring device;

g. borrowing phase, control of traffic flow making use of other phase for passage in a certain direction or a certain platoon row or a certain segment;

h. emergency control, when incomplete release occurs, or has malfunction, or due to accidents that vehicle blocks vehicle lane, emergency control is initiated, option;

close off the blocked lane temporarily through inspection/monitoring automatic adjustment, or remote control or manual control signal instruction, at the same time, carry out control adjustment of platoon line up and release of other phase, and resume when blocking vehicle is removed, or change directly to traditional control;

apart from referring to fixed area platoon control, dynamic platoon line up of road segment with movement also has control options;

a. speed, distance maintenance and guidance instruction, vehicles move with reference to the speed, vehicle distance instruction and information provided by platoon line up control vehicle, through automatic inspection maintenance technology or visual inspection identification to form platoon row;

b. group and team up as much as possible;

c. change of lane signaling and opportunity theory, apart from obeying control guidance instruction, vehicle must provide movement signal before changing lane ahead of time, and move forward under the right opportunity;

d. follow flow, dynamic platoon has a chained effects, should maintain following the vehicle ahead as much as possible, which is applicable to both before and after direction splitting;

e. split direction ahead of time, such that direction splitting is completed ahead of time as much as possible before a farther road segment or at the earlier intersection;

f. maintain position, when certain vehicle is on a position where it should line up, it should keep its position as much as possible during platoon control;

g. moving cross position platoon line up;

h. guide to reduce vehicle stopping, realized mainly through controlling speed and arrival time;

apart from referring to fixed area and dynamic platoon lien up control, combined platoon line up also has options;

a. fixed area platoon control has priority, when vehicle platoon approaches guidance area and platoon area, no matter which platoon condition it is in, it should follow fixed platoon area control, even control of front and end are not consistent;

b. safe speed change, safe speed reduction or vehicle stopping must be controlled during condition alternation in platoon line up.

8. A traffic control method, as recited in claim 1, wherein fixed time, sensing, automatic adjustment, traffic response and intelligence control method are used, including combining or establishing all types of existing control technology under platoon control represented mainly by green wave, late-initiation and early cut-off or early-initiation and late cut off, partial or all dynamic and combined platoon green wave, to realize options of the control of platoon control signal adjusting;

when involving platoon control signal timing and determining procedure parameters, there are options;

A. fixed area platoon control signal timing can be determining platoon line up timing after the determination of release timing, or can be determining release timing after the determination of platoon line up timing, chain action adjustment prioritize, predict and determine method, release control, according to parameter, has expanded or amended traditional control model or platoon control model timing, platoon control is according to platoon control model timing, cooperation of release and platoon line up signal timing is determined according to control requirement, determine platoon line up of corresponding platoon, row, release timing cycle beginning time has a difference of X, under the condition of minimizing delay, taking the middle value between conservative high efficiency model and ideal high efficiency model, can choose formula;

X=K{(T period −

T evacuation)+[T period−

(G−

T moving)]}, K=½

or other appropriate value, G is total phase time of corresponding cross section, when there is no straight delay requirement, X can exceed the scope of traditional high efficiency model;

all lane can line up time order separately, include separate segment method, the same can be merged, all time order cycle can overlap, or can repeat in order;

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

C, combined platoon line up signal control combining A, B;

signal control has other options;

(1) time division consistent control of peak flow volume, (2) under the condition allowed by vehicle flow allowing the platoon line up time scope, should distribute platoon line up time according to the theory of consistent proportion of the total platoon line up release ability of all platoon line up and incoming vehicle flow rate of all platoon or volume of all platoon, (3) connect and share flow direction and phase without crossing, (4) consistent signal control of platoon row.

9. A traffic control method, as recited in claim 1, wherein there is at least one road-installed or vehicle installed mechanical or non-mechanical item of platoon passage control treatment device, platoon line up, passage instruction guiding control device or control execution device, and related signs, markings, isolation facility, and other optional device:

inspection/monitor, information display guidance, signs, communication, positioning, navigating, cruise track guidance identification, vehicle position inspection maintenance, drive control and so forth devices;

device facilities are installed according to platoon control requirement, including use in combination with existing device facility, there are functions or procedure for carrying out platoon line up control or related assistance control, can be new use of traditional device facility, new connection or improvement model, or new type of device, or is functional parts of functional modules, there are many types of combination between them, wherein installation format, or function, or structure or theory or flow, or procedure of at least part of the device facility of traffic control device facility is different from traditional;

mechanical or non-mechanical device can be installed on its own or merge;

there are options;

fixed area, dynamic, combined platoon line up control can be controlled by road-installed and vehicle-installed device, can combine vehicle-installed and road-installed devices, such that all devices are used in a combined manner flexibly, can use facilities of vehicle-installed or road installed platoon line up, in the situation that requires less or not use some road-installed or vehicle-installed device, including single vehicle platoon release control treatment facility;

individual vehicle facility carry out platoon line up/release control according to calculation and treatment related to line up/release information, multi-vehicle platoon line up control treatment facility;

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

has simple matching options;

has 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 order, platoon line up condition shape, cross-position method and acceleration/deceleration, to realize movement dynamic platoon line up.

10. A traffic control method, as recited in claim 1 and 9, wherein the platoon line up control treatment and driver device can be one unit or a plurality of unit, can be installed on its own or merge with other devices, can be an independent device or specific use device or combined type device or central control treatment system, can be within a certain traditional control treatment device or combination or improvement of traditional and specific use or improvement type device, suitable for point, line and surfaces;

has functional options of platoon line up passage control simulation, prediction, optimization, and intelligent;

it can be control system that include platoon control that is similar to or not similar to SCOOT and SCAT and all types of intelligent traffic system, including automatic adjustment, intelligent, professional, fuzzy, nervous and all types of control model applicable to traffic control;

apart from having traditional function and platoon line up control process/timing function, platoon line up control treatment device has release control process/timing, platoon line up release process/timing model, division of time period and phase, platoon line up display/information guidance, alternation of lane adjustment and control condition and related options;

road-installed or vehicle-installed platoon line up and release signal device and other display guidance device, can be electrical or mechanical devices such as electro-optical signal pixel board and so forth form non-traditional signal “

light”

form, can be detachable connecting type device;

including display guiding device combined by platoon line up/information controlling device and platoon/information diagram/words producing device and other traditional device/parts;

a group or a plurality of groups, installed on its own or merge with other devices, has display format of direction, platoon passage and control condition, information diagram and wordings, and also has many control display options of direction splitting, direction merging, lane markings and adjustment, platoon and passage instruction guidance, speed guidance, condition and information, mechanical and non-mechanical control, wherein direction display include many forms such as one direction, multi-direction, crossing direction, splitting direction, merging direction, conditions include conditions options of platoon row immediate platoon line up/merging, space situation, moving situation, changes in increase/decrease in platoon rows;

can be installed on easy to observe positions such as on vehicles or road segment, guidance area, platoon area, immediate direction or entrance of opposite direction, center of intersection, can be installed according to each lanes or a certain lanes;

device options;

A, inspection/monitor/examination device has direction, speed, vehicle types, platoon rows, platoon shape, position, occupied frequency, complete release, line up/release condition examination/monitor/inspection options, can 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 certain points, such as guiding area, lane change area, last vehicle positions in the platoon;

B, platoon line up information display guiding device include display technology device such as prism reflection, aviation used multi-layer image 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 the application of CDMA technology and facility;

d, sign, platoon line up positioning, navigation, cruise track guidance identification, including vehicle position inspection maintenance of platoon shape/vehicle distances, realize 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;

signs, line marking, device, facility include forms such as magnetic nail, electric cable and sign band which are identifiable by using device facility sensing, which can be installed at isolation area, isolation barrier, ground surface, outside of vehicle stopping line;

can be fixed or mobile type or transmit device display;

the format and content of the above mentioned device facility display can be words and diagram, including the color, shape, content, condition, fixed or variable position, in platoon and passage condition control flow diagram example and display diagram example or diagram examples developed from the present invention, control alternation can be manual or automatic, both dynamic and static condition are applicable, and also include audio and non-traditional display format;

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 may be fixed and may vary, wherein in fixed area control, using original stop line of the intersection as ending line and extend backwardly, according to need, it can be divided into several platoon area, where each platoon area can be parallel or separated, can be connected in order along road segment, can cross, overlap or alternated, can divide with cross position;

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

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

shapeless or shaped platoon area/line and other above-mentioned area/line of roundabout and borrowing opposite direction motorized and non-motorized vehicle can be 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;

mobile type or transmission display type variable platoon area and guiding area or pre-stop line has options;

ground surface or underground light emissive, reflective facility of mobile or transmission display, light receiving or light emissive material line markings that can reflect light day or night or emits light and easy to identify, projection moveable lighting device;

platoon length design, can be the greatest or appropriate vehicle row length of all direction traffic 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 can be calculated by the characteristic of passage with the turning requirement of the 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;

above content of dynamic platoon control can be shapeless, dynamic and variable.