CN102867422A - Vehicle ad hoc network-based real-time single-point intersection signal lamp control method - Google Patents
Vehicle ad hoc network-based real-time single-point intersection signal lamp control method Download PDFInfo
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Abstract
The invention discloses a vehicle ad hoc network-based real-time single-point intersection signal lamp control method, relating to a real-time city single-point intersection signal lamp control method, and solving the problems that by using a signal control method for detecting the queuing length at entrance passages by virtue of a coil detector in the prior art, the calculated queuing length is easily subjected to influence of detection speed errors and cause large difference between the estimated queuing length and the practical queuing length. The control method is used for traffic control. The method comprises the following steps of: based on a vehicle ad hoc network, grouping the queuing vehicles at each entrance lane, selecting certain vehicle as an external communication node of the vehicle ad hoc network, and sending the queuing length information of vehicles to a signal controller of a signal intersection signal lamp by the vehicle; and based on the vehicle queuing information, and completing calculation on next signal control period length and design on the green lamp phase position combination timing by the signal controller.
Description
Technical field
The present invention relates to the signal lamp real-time control method of city single-point cross junction.
Background technology
Many countries all show great attention to city, especially metropolitan traffic jam issue.The most frequently used method is to realize signal controlling in crossing.The signal control method of single-point crossing roughly can be divided into 3 classes: signal controlling, timing signal are controlled and real-time signal control at times.Based on the signal controlling of different periods in one day, be divided into certain several period with one day, each period is adopted a kind of signal timing dial method that pre-establishes.Timing signal control then no matter how traffic environment and time change, is adopted static signal timing plan fully.Real-time signal control is by analyzing real-time traffic circulation situation, and Automatic Optimal is adjusted signal time distributing conception.
The advantage of at times signal controlling and timing signal control is to need not extra traffic information collection equipment and complicated control algolithm, but its control effect is compared real-time signal control and had larger gap.On the other hand, real-time signal control obtains by Real-time Traffic Information, can formulate more reasonably signal timing plan, thereby alleviates traffic congestion.But the difficult point of its core be how to detect accurately, real-time transport information.Current, the most frequently used transport information checkout equipment in signalized intersections place mainly comprises: coil checker, ultrasonic detector, microwave detector and video detector etc.Coil checker and ultrasonic monitor need to be embedded in the below, road surface, cause its maintenance cost higher.Although video and microwave detector are easy to install, and can cause higher maintenance cost equally.
At present, the signal controlling according to each entrance driveway queue length of crossing is optimum real-time signal control method.In engineering practice in the past, for realizing this control method, need to coil checker be installed in every track of each entrance driveway.The detection of queue length depends on overflow the back data of detecting device of upstream queue length detecting device and downstream.In addition, the queue length of calculating is very easy to be subject to the impact of detection speed error, thereby causes estimated queue length and actual deviation larger.
Summary of the invention
The purpose of this invention is to provide a kind of single-point cross junction signal lamp real-time control method based on car self-organization network, utilize coil checker to detect the signal control method of each entrance driveway queue length to solve prior art, the queue length of calculating is very easy to be subject to the impact of detection speed error, thereby causes the larger problem of estimated queue length and actual deviation.
This method is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, by the signal controller transmission vehicle queue length information of this vehicle to this signalized intersections signal lamp; Signal controller is finished the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue information.
The proposition of car self-organization network (VANETs) technology, so that need not in crossing any transport information checkout equipment to be installed, just can communicate by letter with signal controller by the communicating by letter of car and car, vehicle, obtain the queue length transport information of each entrance driveway of crossing, thereby calculate exactly and timing.Solved prior art and utilized coil checker to detect the signal control method of each entrance driveway queue length, the queue length of calculating is very easy to be subject to the problem of detection speed error effect.
Description of drawings
Fig. 1 is based on the crossing real-time signal control system schematic of VANETs; Fig. 2 is the synoptic diagram of cross junction entrance driveway and lane number; Fig. 3 is that the phase place of dicyclo signal controlling arranges corresponding diagram; The workflow diagram of Fig. 4 system; Fig. 5 is the vehicle exemplary plot of forming a team.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1 to Fig. 5.The method of present embodiment is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, by the signal controller 1 transmission vehicle queue length information of this vehicle to this signalized intersections signal lamp; Signal controller 1 is finished the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue information.
(1) system architecture of the inventive method
The function of system of the present invention is the real-time signal control of realizing the single-point cross junction.System forms and has comprised: signal controller 1 and car self-organization network (VANETs).Car self-organization network can be realized the function of communicating by letter between communicating by letter of car and workshop and vehicle and the intersection signal controller 1.The function of car self-organization network is to obtain the information of crossing inlet road vehicle queue length, selects " leader " vehicle (leader) in MANET inside, regularly sends queue length information to signal controller by " leader " vehicle based on Che-Che communication.Signal controller is realized the real-time Optimal Signals control based on the track queue length, has mainly comprised signal controlling cycle optimization module and phase place green time and has optimized module.System's signal as shown in Figure 1.
(2) digital model of crossing and signal controlling phase place thereof
For realizing the real-time signal control of crossing, at first need digitization modeling is carried out in crossing and control phase thereof.Each entrance driveway of crossing is numbered successively according to orientation separately: east (E), south (S), west (W), north (N).Each entrance driveway supposition has 2 tracks, is respectively left turn lane (L) and craspedodrome/right-turn lane (F).Thereby, each entrance driveway track of crossing can be represented D=EF namely, EL, NF, NL, WF, WL, SF, SL with an indications D.Consequent crossing model as shown in Figure 2.
Based on the crossing digital model of setting up, the control that realizes this crossing can be set by dicyclo signal phase as shown in Figure 3.In a control cycle (cycle), signal controlling comprises altogether 4 phase places, is respectively: phase place 1(G1 and G5), phase place 2(G2 and G6), phase place 3(G3 and G7) and phase place 4(G4 and G8).
(3) workflow of system
The operational scheme of this system sees Fig. 4 for details.Every track of each entrance driveway after its current green time finishes, begins its queuing vehicle form a team (algorithm of forming a team is seen (4) joint), and when forming a team, and selects " leader " that form into columns (leader).Be selected as the vehicle of " leader " by accepting the transport information of formation member vehicle, calculate the queue length before of next current green time, and queue length information is regularly sent to signal controller.
When current green time began in the track, " leader " of this track queuing vehicle sent to signal controller (queue length is calculated and seen (5) joint) with final queue length result of calculation, then passes through the crossing.When the current green time of phase place 4 begins, signal controller is based on received queue length information, calculate next signal control cycle length and corresponding green light timing allocative decision (signal period and green light timing scheme see (6) and (7) save).
(4) based on the vehicle of the VANETs algorithm of forming a team
For the real-time signal control of crossing, the queue length of obtaining each each track of entrance driveway is vital.Can be directly separately information be sent to signal controlling machine with the vehicle of radio communication function, yet, when having more vehicle in the queuing, if vehicle is all communicated by letter with signal controller, the obstruction of communication will be caused, and the decline of signal controller calculated performance can be caused.Thereby, thinking of the present invention is: the vehicle of lining up on the track is formed a team, and (current green time finishes from this track during forming a team, begin to next current green time), then from form a team, select " leader " that form a team (leader), between " leader " vehicle and each the queuing vehicle, mode by radio communication is determined queue length, then by " leader " is unified queue length information is sent to signal controlling machine.Fig. 5 has provided the signal that vehicle is formed a team.
As follows for the designed detailed vehicle in a certain track, the crossing inlet road process of forming a team:
Step 1: the phase place setting of signalized intersections as shown in Figure 3.After the current green time in this track finished, the vehicle queue that reaches the crossing from this track began to form, and the vehicle of each arrival is near information that " leader " served as in request of vehicle broadcasting; The content that this information comprises is: the id information of the time of sending of unique vehicle ID information, this information, the longitude and latitude position of vehicle and intersection signal controller 1; Other vehicle that receives this information does not generate the information of self, but again broadcasts the information that this receives.
Step 2: its information of broadcasting of the vehicle contrast of broadcasting " leader " solicited message and received " leader " solicited message from other vehicle, then can to sending an information than its more Zao vehicle that enters queuing (position is more near the crossing), show the application of oneself abandoning " leader ";
Step 3: the final vehicle of determining form a team " leader " " election " result is sent to its member's vehicle, receive member's vehicle of " leader " information that vehicle sends, feed back an information as affirmation to " leader " vehicle; When " leader " vehicle received feedback information from member's vehicle, its can send one to this member's vehicle accept it as the affirmation information of member's vehicle; After member's vehicle receives affirmation information from " leader " vehicle, it will upgrade " leader " vehicle ID of self, and with " leader " share form a team in the information of other member's vehicle;
Step 4: the whole signal controlling except the green time of self is in the cycle, " leader " vehicle all receives the information from its member's vehicle, and periodically queue length information is sent to signal controller 1(queue length computing method see for details (5) joint).
Step 5: when the current green time of " leader " vehicle began, it no longer received any information from its member's vehicle, directly passed through the crossing;
Step 6: after current green time finished, repeating step 1 was to step 5.
(5) entrance driveway track queue length algorithm for estimating
After the current green time of phase place finished, the queuing in corresponding track began to form." leader " vehicle begins to receive the information of its member's vehicle.The vehicle queue length estimation formulas is as follows:
Wherein, RQL represents the queue length in the current period t; D represents the coding in entrance driveway track, i.e. D=1, and 2 ..., 8(sees (2) joint); VL represents the average length of vehicle; ADBV represents the average headway between vehicle; N represents the vehicle number of forming a team.
" leader " vehicle calculates vehicle queue length according to formula (1), and this length is sent to signal controller.Signal controller is according to the vehicle queue length in current period and the first two cycle, and the mode of employing weighting calculates final vehicle queue length, such as formula (2):
QL
D(t)=A×RQL
D(t)+B×RQL
D(t-1)+C×RQL
D(t-2）（2）
Wherein: A+B+C=1; A=RQL
D(t)/1
DB=(1-A) * A; 1
DThe length of expression import track D.
(6) signal controlling computation of Period method
The signal controlling cycle of a crossing can not be oversize can not be too short.If the signal controlling cycle is too short, it is comparatively frequent that signal phase switches, and the current green time of corresponding each phase place is shorter, just may cause the increase of intersection parking number and vehicle to start to walk frequently and stop.On the contrary, if the signal controlling excessive cycle will cause the waits for too long of each phase place queuing vehicle so.For this reason, the designed signal controlling Cycle Length computing method of the present invention are as follows:
Step 1: signal controller receives the queue length that each vehicle is formed a team, QL
1(t), QL
2(t) ..., QL
8(t)
Step 2: calculate respectively the maximum vehicle queue length in East and West direction and north-south:
MAX_Q
1(t)=max{QL
1(t),QL
5(t),QL
2(t),QL
6(t)} （3）
MAX_Q
2(t)=max{QL
3(t),QL
7(t),QL
4(t),QL
8(t)} （4）
Wherein, MAX_Q
1(t) be East and West direction maximum queue length in the cycle t; MAX_Q
2(t) be north-south maximum queue length in the cycle t.
Step 3: the Cycle Length of estimating temporary needs
Wherein, R_CL
1(t) be the signal period length of East and West direction temporary needs in the cycle t; R_CL
2(t) be the signal period length of north-south temporary needs in the cycle t;
Be the vehicle number in the maximum queuing of East and West direction in the cycle t;
Be the vehicle number in the maximum queuing in north-south in the cycle t; H is time headway.
Step 4: calculate the Cycle Length that needs
R_CL(t)=R_CL
1(t)+R_CL
2(t) （7）
Step 5: add red time and yellow time
R_CL(t)=R_CL(t)+intergreen_time （8）
intergreen_time=yellow_time+red_time （9）
Step 6: determine final signal period length
If, | R_CL (t)-CL (t) |≤Δ c, so the signal length CL in next cycle (t+1)=CL (t);
Otherwise, the signal length CL in next cycle (t+1)=R_CL (t).
Wherein, Δ c changes threshold value for the signal period length of setting; CL (t) is the signal period length of cycle t.
(7) phase place green light timing algorithm
In case determined the signal controlling cycle, just can determine according to following algorithm the green time of each phase place:
Step 1:, can obtain respectively in next cycle the East and West direction green time (GT that passes through according to the step 3 of signal controlling computation of Period method in (6) joint
1=R_CL
1And the current green time (GT in north-south (t))
2=R_CL
2(t)), thus obtaining total green time is:
GT=GT
1+GT
2 (10)
Step 2: estimate that the green time in each entrance driveway track accounts for the ratio of total green time
Wherein, R_GT
DAccount for the ratio of total green time for the current green time of entrance driveway track D; V
D/ C
DThroughput ratio for entrance driveway track D.
Step 3: select corresponding green light phase place that pattern is set according to table 1;
Step 4: according to formula (11), determine the final green time in each entrance driveway track
GT
D=R_GT
D×GT (11)。
Claims (5)
1. based on the single-point cross junction signal lamp real-time control method of car self-organization network, it is characterized in that this method is based on car self-organization network, queuing vehicle to each entrance driveway track is formed a team, and select a certain vehicle as the correspondence with foreign country node of this car self-organization network, by signal controller (1) the transmission vehicle queue length information of this vehicle to this signalized intersections signal lamp; Signal controller (1) is finished the calculating of next signal control cycle length and the design of green light phase combination timing based on vehicle queue information.
2. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 1 is characterized in that the car self-organization network process of forming a team is as follows:
Step 1: after the current green time in this track finished, the vehicle queue that reaches the crossing from this track began to form, and the vehicle of each arrival is near information that " leader " served as in request of vehicle broadcasting; The content that this information comprises is: the id information of the time of sending of unique vehicle ID information, this information, the longitude and latitude position of vehicle and intersection signal controller (1); Other vehicle that receives this information does not generate the information of self, but again broadcasts the information that this receives.
Step 2: its information of broadcasting of the vehicle contrast of broadcasting " leader " solicited message and received " leader " solicited message from other vehicle, then can to sending an information than its more Zao vehicle that enters queuing, show the application of oneself abandoning " leader ";
Step 3: the final vehicle of determining form a team " leader " " election " result is sent to its member's vehicle, receive member's vehicle of " leader " information that vehicle sends, feed back an information as affirmation to " leader " vehicle; When " leader " vehicle received feedback information from member's vehicle, its can send one to this member's vehicle accept it as the affirmation information of member's vehicle; After member's vehicle receives affirmation information from " leader " vehicle, it will upgrade " leader " vehicle ID of self, and with " leader " share form a team in the information of other member's vehicle;
Step 4: the whole signal controlling except the green time of self is in the cycle, and " leader " vehicle all receives the information from its member's vehicle, and periodically queue length information is sent to signal controller 1.
Step 5: when the current green time of " leader " vehicle began, it no longer received any information from its member's vehicle, directly passed through the crossing;
Step 6: after current green time finished, repeating step 1 was to step 5.
3. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 1 is characterized in that
The formula that vehicle queue length is estimated is as follows:
Wherein, RQL represents the queue length in the current period t; D represents the coding in entrance driveway track, i.e. D=1, and 2 ..., 8; VL represents the average length of vehicle; ADBV represents the average headway between vehicle; N represents the vehicle number of forming a team;
" leader " vehicle calculates vehicle queue length according to formula (1), and this length is sent to signal controller.Signal controller is according to the vehicle queue length in current period and the first two cycle, and the mode of employing weighting calculates final vehicle queue length, such as formula (2):
QL
D(t)=A×RQL
D(t)+B×RQL
D(t-1)+C×RQL
D(t-2）（2）
Wherein: A+B+C=1; A=RQL
D(t)/1
DB=(1-A) * A; 1
DThe length of expression import track D.
4. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 1 is characterized in that signal controlling Cycle Length computing method are as follows:
Step 1: signal controller receives the queue length that each vehicle is formed a team, QL
1(t), QL
2(t) ..., QL
8(t);
Step 2: calculate respectively the maximum vehicle queue length in East and West direction and north-south:
MAX_Q
1(t)=max{QL
1(t),QL
5(t),QL
2(t),QL
6(t)}（3）
MAX_Q
2(t)=max{QL
3(t),QL
7(t),QL
4(t),QL
8(t)}（4）
Wherein, MAX_Q
1(t) be East and West direction maximum queue length in the cycle t; MAX_Q
2(t) be north-south maximum queue length in the cycle t;
Step 3: the Cycle Length of estimating temporary needs
Wherein, R_CL
1(t) be the signal period length of East and West direction temporary needs in the cycle t; R_CL
2(t) be the signal period length of north-south temporary needs in the cycle t;
Be the vehicle number in the maximum queuing of East and West direction in the cycle t;
Be the vehicle number in the maximum queuing in north-south in the cycle t; H is time headway;
Step 4: calculate the Cycle Length that needs
R_CL(t)=R_CL
1(t)+R_CL
2(t) （7）
Step 5: add red time and yellow time
R_CL(t)=R_CL(t)+intergreen_time （8）
intergreen_time=yellow_time+red_time （9）
Step 6: determine final signal period length
If, | R_CL (t)-CL (t) |≤Δ c, so the signal length CL in next cycle (t+1)=CL (t);
Otherwise, the signal length CL in next cycle (t+1)=R_CL (t);
Wherein, Δ c changes threshold value for the signal period length of setting; CL (t) is the signal period length of cycle t.
5. the single-point cross junction signal lamp real-time control method based on car self-organization network according to claim 1 is characterized in that the computing method of each phase place green time are:
Step 1: the step 3 of basis signal control cycle computing method obtains respectively in next cycle the East and West direction green time (GT that passes through
1=R_CL
1And the current green time (GT in north-south (t))
2=R_CL
2(t)), thus obtaining total green time is:
GT=GT
1+GT
2 (10)
Step 2: estimate that the green time in each entrance driveway track accounts for the ratio of total green time
Wherein, R_GT
DAccount for the ratio of total green time for the current green time of entrance driveway track D; V
D/ C
DThroughput ratio for entrance driveway track D;
Step 3: select corresponding green light phase place that pattern is set according to table 1;
Step 4: according to formula (11), determine the final green time in each entrance driveway track
GT
D=R_GT
D×GT (11) 。
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