Active type vehicle scheduling method at crossroad

The invention proposes an active type vehicle scheduling method at a crossroad. The method comprises the following steps: 1) monitoring the vehicle information; 2) according to the vehicle information, organizing vehicle queues; 3) consolidating the vehicle queues of the same phase; 4) constructing vehicle queue scheduling sequences; 5) obtaining the best vehicle queue scheduling sequence; 6) splitting the overlapped vehicle queues; 7) according to the splitting strategy, performing the active type vehicle scheduling; 8) performing wait-free active-type vehicle scheduling; and 9) executing a fixed time planning strategy. According to the invention, through the utilization of the establishment of a binary tree method for the construction of vehicle queue scheduling sequences, it is possible to search the sequence corresponding to the smallest travel time, and the efficiency is better than the one-by-one screening in the form of full permutation. With regard to the traffic scenario where wait-free passing canno