CN102930718A - Intermittent flow path section travel time estimation method based on floating car data and coil flow fusion - Google Patents
Intermittent flow path section travel time estimation method based on floating car data and coil flow fusion Download PDFInfo
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Abstract
The invention discloses an intermittent flow path section travel time estimation method. The floating car data and coil flow data exist on a target road section at the same time; the road section average travel time is estimated by fusing the floating car data and coil flow on the target road section; the floating car sample size divided by the coil flow is used as an index of the floating car sample coverage rate; and the estimated value of the road section average travel time is determined by taking the index as reference and combining the excavation of the history data in the same time interval. The method disclosed by the invention can effectively fuse the floating car data and the coil flow data, and the accuracy of the estimated value of the road section travel time is higher than the traditional accuracy of the estimated value of the floating car road section travel time and the estimated value of the coil road section travel time, thereby bringing important significance to the intelligent traffic service, the traffic management and the like. According to the invention, the method and technology are simple and easy to implement, the operation conditions are easy to meet, and the method is easy to popularize and apply in large and medium-size cities.
Description
Technical field
The invention belongs to the intelligent transport technology field, relate in particular to traffic flow induce with management domain in travel time estimation and prediction, more particularly, relate to a kind of interruption flowpath segment travel time estimation method that merges based on Floating Car and data on flows.
Background technology
Be interrupted traffic flow (Interrupted Flow) and refer to that the traffic flow facility has the fixed element that causes the traffic flow periodic breaks, these elements comprise the control equipment of traffic signals, stop sign and other types.No matter there are how many volume of traffic to exist, these equipment can cause that all traffic periodically stops (or significantly slowing down), that is to say the traffic flow of travelling on the road because of extraneous factor, such as the reason of intersection, sign or signal, and the liquid that stagnation of movement interrupts.In general, the traffic flow on the urban streets stops between being.
The Forecasting of Travel Time value refers to that the next one is in (a plurality of) period, the journey time in certain highway section (or path), it is an important parameter in intelligent transportation service and the management, can directly apply to that the path is induced, the many-sides such as traffic control and tissue, traffic state judging.The travel time estimation value refers in the current period, and the journey time in certain highway section (or path), travel time estimation value are key input parameters in the Forecasting of Travel Time research, so travel time estimation has important researching value.Since between cutout be subject to the impact of the control equipment such as traffic signals, its traffic behavior has space-time characterisation complicated and changeable, therefore be interrupted the estimation of popular journey time all is a Research Challenges all the time.
Floating Car (Floating Car) also is known as " probe vehicles (Probe car) ", is one of the advanced technology means of Traffic Information of obtaining of the in recent years middle employing of international intelligent transportation system (ITS).The floating vehicle data acquisition technology has the advantages such as installation cost is low, maintenance is simple and easy, efficient, real-time, automatization level is high, detected parameters is comprehensive, obtains large-scale popularization and uses.Each big city has all been set up the ITS platform and has been configured a large amount of Floating Car equipment based on taxi or bus at present, and its traffic information data that collects can be applied to be interrupted the equal travel time estimation of levelling.Its ultimate principle is: be equipped with the GPS receiving trap in Floating Car, three-dimensional location coordinates and time data with certain sampling interval registration of vehicle, these data combine with the electronic chart of Geographic Information System (GIS) after importing computing machine into, calculate the traffic congestion information such as the journey time of the instantaneous velocity of vehicle and the road that passes through thereof and travel speed through the overlapping analysis meter.If in the city, dispose the Floating Car of sufficient amount, and the position data of these Floating Car is transferred to an information processing centre regularly, in real time by wireless telecommunication system, by information center's overall treatment, just can obtain in the whole city between the traffic congestion information such as the journey time of dynamic, real-time road of cutout and travel speed.
Traditional Floating Car average travel time for road sections carries out method of estimation: at first estimate the Link Travel Time of each Floating Car sample, then the journey time of all samples of Floating Car is carried out arithmetic mean and obtain average travel time for road sections.In a cutout, the Floating Car sample size has very large spatial and temporal distributions unevenness, and therefore, the Floating Car sample size within a lot of periods on the highway section is very little, causes the error of Floating Car average travel time for road sections estimated value very large.
Different from floating car data, loop data is a kind of profile data (comprising the information such as section flow, section occupation rate, section instantaneous velocity), relies on merely loop data can't accurately estimate Link Travel Time.
At present, the loop data acquisition system that generally adopts of China big and medium-sized cities mainly comprises two kinds of SCATS and SCOOT.
SCATS(Sydney Coordinated Adaptive Traffic System: the self-adaptation traffic system is coordinated in Sydney) succeeded in developing in late 1970s by New South Wales, Australia road and Department of Communications (RTA).From 1980, install and use in cities such as Sydney successively.At present, the SCATS system is being moved in nearly 50 cities in the world, and the SCATS system has also been used in the cities such as the Shanghai of China, Shenyang, Hangzhou, Nanjing, Guangzhou.Wherein, the SCATS detecting device is installed in stop line.
SCOOT (Split Cycle Offset Optimizing Technique), namely split, cycle, offset optimization technology as the module that adds of UTC software, realize real Real-time adaptive traffic control system on the basis of UTC system.Twentieth century is introduced China the beginning of the eighties, the city SCOOT such as Chengdu, Dalian, Beijing, and wherein, the toroid winding of SCOOT detecting device is embedded in the outlet of intersection, upstream.
Summary of the invention
The objective of the invention is to solve defective and the deficiency that prior art exists, based on floating car data and SCATS data on flows, introduce Floating Car sample coverage rate index, take this index as reference index, excavate historical data, propose a kind of interruption flowpath segment travel time estimation method based on Floating Car and loop data fusion.
Solution of the present invention is:
A kind of interruption flowpath segment average travel time method of estimation has floating car data and coil data on flows simultaneously on the target highway section, by merging floating car data and the coil flow on the target highway section, average travel time for road sections is estimated;
With the Floating Car sample size divided by the coil flow as Floating Car sample coverage rate index, take this index as with reference to determining the average travel time for road sections estimated value.
Further, take Floating Car sample coverage rate as estimating to refer to reference to definite average travel time for road sections:
If more than or equal to 5%, then utilizing current floating car data to carry out average travel time for road sections, Floating Car sample coverage rate estimates;
If Floating Car sample coverage rate is less than 5%, excavate current highway section, historical data (comprising floating car data and loop data) with the period, find a period with maximum float car sample coverage rate, it is the average travel time for road sections estimated value of current period that the Floating Car average travel time for road sections estimated value of this period is used as.
Adopt direct method to estimate to pass through in the current period journey time of each Floating Car of target highway section, then the journey time of all Floating Car samples is carried out arithmetic mean and obtain the average travel time for road sections estimated value.
Described direct method is utilized the position coordinates of highway section boundaries on either side GPS anchor point, adopts the mode estimating vehicle of interpolation through the moment on border, highway section, and then calculates the Link Travel Time of single Floating Car.
Described interruption flowpath segment average travel time method of estimation comprises the steps:
(1) the Floating Car sample size and the coil flow that the highway section were collected in each period are added up, if period i
CInterior Floating Car sample size is
The coil flow is
Period i then
CFloating Car sample coverage rate be
(2) if period i
CInterior Floating Car sample coverage rate then utilizes the Floating Car sample data in this period to average travel time estimation more than or equal to 5%;
(3) if period i
CInterior Floating Car sample coverage rate is excavated current highway section, historical data (Floating Car and loop data) with the period less than 5%, finds a period with maximum float car sample coverage rate, and the Floating Car average travel time estimated value of this period is used as period i
CThe average travel time estimated value.
Described step (1) comprising:
1. revise the GIS map reference;
2. pre-service floating car data;
Comprising:
A) data cleansing: the data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in the correction of data;
B) data-switching: with data-switching or be unified into the form that is suitable for excavating;
3. floating car data is matched on the GIS map;
4. extract the Floating Car sample size;
Comprising:
A) choose and satisfy direct method and estimate that the Floating Car GPS point of condition is right;
B) add up the right quantity of these GPS points.
Owing to having adopted technique scheme, the present invention's energy effective integration floating car data and coil data on flows, the accuracy of its Link Travel Time Estimation value is better than the accuracy of traditional Floating Car Link Travel Time Estimation value and coil Link Travel Time Estimation value, has great importance at aspects such as intelligent transportation service and traffic administrations.The method and the technology that adopt among the present invention are simple, and service condition easily satisfies, and is easy to apply in large-and-medium size cities.
Description of drawings
Fig. 1 is method flow schematic diagram of the present invention.
Fig. 2 is Link Travel Time Estimation direct method schematic diagram.
Fig. 3 is the definition schematic diagram in highway section.
Fig. 4 is that the coil checker under the SCATS is laid schematic diagram.
Fig. 5 is crossing, the upstream schematic diagram in target highway section.
Fig. 6 is the downstream intersection schematic diagram in target highway section.
Fig. 7 is the coil checker artwork under the SCOOT.
Fig. 8 is crossing, the upstream schematic diagram in target highway section.
Fig. 9 is the downstream intersection schematic diagram in target highway section.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below further set forth the present invention.
Bicycle Floating Car travel time estimation method used in the present invention is " direct method ".
Traditional Floating Car average travel time for road sections carries out method of estimation: at first utilize direct method to estimate the Link Travel Time of each Floating Car sample, then the journey time of all samples of Floating Car is carried out arithmetic mean and obtain average travel time for road sections.
The ultimate principle of direct method is to utilize the position coordinates of highway section boundaries on either side GPS anchor point, adopts the mode estimating vehicle of interpolation through the moment on border, highway section, and then calculates bicycle Link Travel Time (see figure 2).The method hypothesis vehicle between the boundaries on either side GPS anchor point of highway section at the uniform velocity travels.
Suppose the vehicle straight-line travelling that between adjacent GPS anchor point, remains a constant speed, can calculate passing through constantly of highway section section according to following formula:
In the formula: t is that the highway section section is by constantly; T (t), t (t-k (t)) are the location moment of section both sides, highway section Floating Car point; L (t), L (t-k (t)) are the distance between highway section section both sides Floating Car point and the highway section section.
A kind of interruption flowpath segment travel time estimation method based on Floating Car and loop data fusion comprises the steps:
(1) the Floating Car sample size and the coil flow that the highway section were collected in each period are added up, if period i
CInterior Floating Car sample size is
The coil flow is
Period i then
CFloating Car sample coverage rate be
Because the extraction of Floating Car sample size need to be by means of the GIS map, so the realization of this technology is divided into some steps:
1. revise the GIS map reference.
2. pre-service floating car data.
The data pre-service refers to some processing of before main processing data being carried out.The pretreated main task of data has:
A) data cleansing.The data of real world generally are incomplete, noisy and inconsistent.The data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in the correction of data.
B) data-switching.Data transformation refers to data-switching or is unified into the form that is suitable for excavating.
3. floating car data is matched on the GIS map.
4. extract the Floating Car sample size.The realization of this technology is divided into following 2 steps:
A) choose and satisfy direct method and estimate that the Floating Car GPS point of condition is right;
B) add up the right quantity of these GPS points.
(2) if period i
CInterior Floating Car sample coverage rate then utilizes the Floating Car sample data in this period to average travel time estimation more than or equal to 5%.
(3) if period i
CInterior Floating Car sample coverage rate is excavated current highway section, historical data (Floating Car and loop data) with the period less than 5%, finds a period with maximum float car sample coverage rate, and the Floating Car average travel time estimated value of this period is used as period i
CThe average travel time estimated value.
Several links that the inventive method is related:
A. the definition in highway section: the defined highway section of the present invention is the oriented highway section between two crossings.Choose intersection exit place, upstream apart from the position of 15 meters of the Outlet Sections reference position as the highway section, Fig. 3 is seen apart from the position of 15 meters of the Outlet Sections final position as the highway section in the downstream intersection exit.Wherein, the delay of downstream intersection also is included in the journey time in this highway section.
B. the coupling of map reference refers to that with correction for the electronic chart coordinate system that calculates and gps coordinate be possible different, need to carry out field test or adopt other modes that two coordinate systems are changed, and in case of necessity electronic chart is revised.
The pre-service of C.GPS raw data: purpose is the abnormal data that screens out wherein, and for example, some data speed value is unusual high or less than 0 in the floating car data; Some data latitude and longitude information remained unchanged within a period of time, but speed is not 0; Some data direction angle is unusual.The processing of these abnormal datas is directly affected the accuracy of Link Travel Time Estimation.
D. coil flow raw data pre-service: purpose is the abnormal data that screens out wherein, and for example, some flow value is unusual high or be 0 in the coil flow raw data, perhaps is shown as a certain numeral or code always.The processing of these abnormal datas is directly affected the accuracy of Link Travel Time Estimation.
E.GPS the GIS map match gps data and the GIS road information data that Floating Car sends are compared, judge Floating Car most possible position on road network with specific algorithm, and this floating car data matched this highway section, make each bar floating car data belong to unique highway section.
F. period: the method indication " period " is the issue interval of journey time, this length can according to the practical application request of system with and software and hardware auxiliary facility level determine.
Concerning the SCATS system, this coil flow is the flow that detects of downstream intersection entrance driveway place, target highway section coil checker group (see shown in Fig. 4-6, the flow that No. 4 detector set detect is exactly so-called coil flow in " step 1 ").Concerning the SCOOT system, this coil flow is the flow that detects of intersection exit road, upstream, target highway section section part coil checker group (see shown in Fig. 7-9, the flow that No. 4 detector set detect is exactly so-called coil flow in " step 1 ").
Take Nanjing and Beijing as background, the present invention is specifically used elaboration.
(1) Nanjing
The SCATS whistle control system that adopt in Nanjing, as the practical application highway section, utilize the present invention to estimate that the step of this average travel time for road sections is as follows with the road (between Changjiang Road and Hanzhong road) in north-south, Zhongshan Road, Nanjing:
(a) determine border and the scope in highway section.This highway section is the oriented highway section between Zhongshan Road-Changjiang Road and Zhongshan Road-two crossings, Hanzhong road, and Link Travel Time wherein also comprises the signal controlling delay of Zhongshan Road-Changjiang Road crossing.
(b) add up this highway section period i
CIn (time segment length according to actual needs own definite) Floating Car sample size of collecting
(c) add up the coil checker group at this highway section downstream intersection (Zhongshan Road-Changjiang Road crossing) entrance driveway stop line place detects, period i
CInterior vehicle flowrate
(see figure 4).
(d) calculate period i
CInterior Floating Car sample coverage rate is
(e) if period i
CInterior Floating Car sample coverage rate
Then utilize the Floating Car sample data in this period to estimate average travel time.
(f) Floating Car average travel time estimation formulas is as follows:
Wherein, t
jJourney time for this j car in highway section.
(g) if period i
CInterior Floating Car sample coverage rate
Excavate current highway section, historical data (Floating Car and loop data) with the period, find a period i with maximum float car sample coverage rate
Max
(h) i
MaxDefinite method as follows:
Wherein, i
hFor the same period of history (with i
CThe same period).
(i) i
MaxThe Floating Car average travel time estimated value of period is used as period i
CThe average travel time estimated value.
(2) Beijing
What adopted in Beijing is the SCOOT whistle control system, as the practical application highway section, utilize the present invention to estimate that the step of this average travel time for road sections is as follows with the transmeridional road of Beijing's Chaoyangmennei Dajie (between Chaoyangmennan Xiaojie and street, south, Chaoyang Men):
(a) determine border and the scope in highway section.This highway section is the oriented highway section between Chaoyangmennei Dajie-Chaoyangmennan Xiaojie and Chaoyangmennei Dajie-two crossings, street, south, Chaoyang Men, and Link Travel Time wherein also comprises the signal controlling delay of Chaoyangmennei Dajie-Chaoyangmennan Xiaojie crossing.
(b) add up this highway section period i
CIn (time segment length according to actual needs own definite) Floating Car sample size of collecting
(c) add up the coil checker group at exit ramp place, this crossing, upstream, highway section (crossing, street, Chaoyangmennei Dajie-Chaoyang Men south) detects, period i
CInterior vehicle flowrate
(see figure 6).
(d) calculate period i
CInterior Floating Car sample coverage rate is
(e) if period i
CInterior Floating Car sample coverage rate
Then utilize the Floating Car sample data in this period to estimate average travel time.
(f) Floating Car average travel time estimation formulas is as follows:
Wherein, t
jJourney time for this j car in highway section.
(g) if period i
CInterior Floating Car sample coverage rate
Excavate current highway section, historical data (Floating Car and loop data) with the period, find a period i with maximum float car sample coverage rate
Max
(h) i
MaxDefinite method as follows:
Wherein, i
hFor the same period of history (with i
CThe same period).
(i) i
MaxThe Floating Car average travel time estimated value of period is used as period i
CThe average travel time estimated value.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (6)
1. one kind is interrupted flowpath segment average travel time method of estimation, it is characterized in that:
Have simultaneously floating car data and coil data on flows on the target highway section, merge floating car data and coil flow on the target highway section, average travel time for road sections is estimated;
With the Floating Car sample size divided by the coil flow as Floating Car sample coverage rate index, take this index as with reference to determining the average travel time for road sections estimated value.
2. interruption flowpath segment average travel time method of estimation as claimed in claim 1 is characterized in that: take Floating Car sample coverage rate as with reference to determining that average travel time for road sections estimates to refer to:
If more than or equal to 5%, then utilizing current floating car data to carry out average travel time for road sections, Floating Car sample coverage rate estimates;
If Floating Car sample coverage rate is less than 5%, excavate current highway section, historical data with the period, comprise floating car data and loop data, find a period with maximum float car sample coverage rate, it is the average travel time for road sections estimated value of current period that the Floating Car average travel time for road sections estimated value of this period is used as.
3. interruption flowpath segment average travel time method of estimation as claimed in claim 1, it is characterized in that: adopt direct method to estimate to pass through in the current period journey time of each Floating Car of target highway section, then the journey time of all Floating Car samples is carried out arithmetic mean and obtain the average travel time for road sections estimated value.
4. interruption flowpath segment average travel time method of estimation as claimed in claim 3, it is characterized in that: described direct method is utilized the position coordinates of highway section boundaries on either side GPS anchor point, adopt the mode estimating vehicle of interpolation through the moment on border, highway section, and then calculate the Link Travel Time of single Floating Car.
5. interruption flowpath segment average travel time method of estimation as claimed in claim 1 is characterized in that: comprise the steps:
(1) the Floating Car sample size and the coil flow that the highway section were collected in each period are added up, if period i
CInterior Floating Car sample size is
The coil flow is
Period i then
CFloating Car sample coverage rate be
(2) if period i
CInterior Floating Car sample coverage rate then utilizes the Floating Car sample data in this period to average travel time estimation more than or equal to 5%;
(3) if period i
CInterior Floating Car sample coverage rate is excavated current highway section, historical data with the period less than 5%, comprises Floating Car and loop data, finds a period with maximum float car sample coverage rate, and the Floating Car average travel time estimated value of this period is used as period i
CThe average travel time estimated value.
6. interruption flowpath segment average travel time method of estimation as claimed in claim 5, it is characterized in that: described step (1) comprising:
1. revise the GIS map reference;
2. pre-service floating car data;
Comprising:
A) data cleansing: the data scrubbing routine attempts to fill the value of disappearance, and smooth noise is also identified outlier, inconsistent in the correction of data;
B) data-switching: with data-switching or be unified into the form that is suitable for excavating;
3. floating car data is matched on the GIS map;
4. extract the Floating Car sample size;
Comprising:
A) choose and satisfy direct method and estimate that the Floating Car GPS point of condition is right;
B) add up the right quantity of these GPS points.
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