CN103208191A - Optimization method for signal coordination control of urban road intersections under over-saturation condition - Google Patents
Optimization method for signal coordination control of urban road intersections under over-saturation condition Download PDFInfo
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Abstract
The invention discloses an optimization method for signal coordination control of urban road intersections under an over-saturation condition. Compared with the prior art, based on analysis of upstream and downstream traffic stream states of adjacent intersections, through using the wave theory for reference, and by comparing sizes of stop waves of upstream intersections and start waves of downstream intersections as well as vehicle queue conditions of upstream intersections in an artery direction, status values of signal control intersections are determined, and the signal coordination control reliable interval (phase difference) under different states is obtained, accordingly, queue overflow of over-saturation intersections can be controlled within a certain range, the probability of deadlocks at the over-saturation intersections can be reduced greatly, and the queue overflow becomes beneficial self-adjustment of the road intersections under the over-saturation condition.
Description
Technical field
The present invention relates to a kind of optimization method of signal coordinating control, particularly a kind of intelligent transportation field is for the optimization method of signal coordinating control under the urban road intersection supersaturated condition of intersection signal coordinating control.
Background technology
Urban road intersection signal coordinating control system is being brought into play more and more important effect in urban transportation, urban traffic control person attempts to alleviate urban transport problems by the urban traffic signal coordinated control system.Because the quick growth of motor vehicle, the saturated even oversaturated situation of road traffic has all appearred in a lot of cities, and under the supersaturated condition, the traffic capacity does not match between the crossing, can cause the queuing clustering phenomena, is easy to generate queuing and overflows.
Urban road intersection signal coordinating control system have installation cost low, safeguard and simple and easy, efficient, real-time and automatization level advantages of higher to have obtained the large-scale popularization application.At present, a lot of cities have all been set up intelligent transportation system ITS platform and have been disposed urban road intersection signal coordinating control system, are used for reducing vehicle and incur loss through delay, and improve the crossing traffic capacity.
The coordinating control of traffic signals system generally by the collection of information of vehicles and analysis, traffic model (being used for calculating delay time at stop and queue length etc.), timing scheme parameter optimization adjust, five groups of subsystems such as the execution of signal controlling scheme, scheme effect feedback become, 5 subsystems cooperatively interact, co-ordination, finish the traffic control task jointly.
Traffic model is to utilize specific algorithm that the traffic state data at crossing is passed through the traffic behavior parameter that calculates the crossing, then by analyzing to such an extent that the outlet signal coordinating is controlled scheme; Traffic model is the core technology link of coordinating control of traffic signals.
Under supersaturated condition, the queuing overflow technique at crossing is the important content of coordinating control of traffic signals, but overflow control technology about the queuing under the supersaturated condition in the various systems that used at present a lot of deficiencies is arranged.
Therefore, need the optimization method of signal coordinating control under a kind of urban road intersection supersaturated condition especially, solved the problem of above-mentioned existing existence.
Summary of the invention
The object of the present invention is to provide the optimization method of signal coordinating control under a kind of urban road intersection supersaturated condition, at the deficiencies in the prior art, based on the analysis to vehicle queue characteristic in crossing under the supersaturated condition, from wagon flow operation wave theory, make the crossing be under the hypersaturated state not deadlock.
Technical matters solved by the invention can realize by the following technical solutions:
As depicted in figs. 1 and 2, the optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, it comprises the steps:
(1) on the basis of collecting the road section traffic volume flow data, calculates evanescent wave w respectively
1With obstruction ripple w
2
(2) if w
1〉=w
2, stop;
(3) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the highway section in the middle of two crossings, represent that then spillover does not take place the arterial highway direction, handle by the phase differential of general signal coordinating control;
(4) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the upstream at inner or i crossing, i crossing, represent that then the arterial highway direction overflows;
(5) pass through formula: x
B≤ g
i+ Δ T and y
A≤ 0, calculate the interval Δ T of reliability:
Wherein, L is junction spacing, and q is queue length, x
BFor propagate into the time at i crossing the zero hour to the startup ripple from timing; g
iBe the time that finishes from timing zero hour to i crossing red light; y
AIntersection point for evanescent wave and obstruction ripple.
In one embodiment of the invention, every the saturation headway t that is produced at the green light initial stage by the inductive coil at i crossing place
IjAnd speed v
IjData obtain:
The average saturation headway at i crossing:
The saturation volume at i crossing:
The vehicle average overall travel speed at i crossing:
The vehicle density that i crossing vehicle enters the crossing is:
Wherein, n is the number of the valid data obtained, can get the saturation volume Q at i+1 crossing then according to this
I+1, an i+1 crossing vehicle average overall travel speed v
I+1Vehicle density k with i+1 crossing
I+1Thereby, obtain:
Evanescent wave:
Block ripple:
In one embodiment of the invention, the signal controlling cycle equates between i crossing and the i+1 crossing, realizes the coordination control between adjacent two crossings.
In one embodiment of the invention, i crossing and i+1 crossing are g at effective transit time of the split of arterial highway direction
i, guarantee traffic capacity coupling.
The optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, compared with prior art, based on the analysis to adjacent intersection upstream and downstream wagon flow state, use for reference wave theory, size and arterial highway, crossing, the upstream direction vehicle queue situation of the startup ripple by the contrast standing wave at crossing, upstream and downstream road junction, determine the state value at this signal controlling crossing, draw signal coordinating control reliability interval (phase differential) under different conditions, the queuing at supersaturation crossing can be overflowed control in certain scope, reduce the probability that deadlock appears in the supersaturation crossing greatly, also allow simultaneously queuing overflow a kind of useful self-control that becomes intersection under supersaturated condition, realize purpose of the present invention.
Characteristics of the present invention can be consulted the detailed description of the graphic and following better embodiment of this case and be obtained to be well understood to.
Description of drawings
Fig. 1 is the space-time trajectory diagram of highway section of the present invention vehicle;
Fig. 2 is the schematic flow sheet of the optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
The optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, on the basis of crossing single point signals control, as important parameter, control is overflowed in the queuing of carrying out the crossing with the signal phase difference at upstream and downstream crossing, and symbol definition is as follows:
(1) junction spacing L: the distance at two adjacent crossings, get the distance from crossing, upstream stop line to the downstream road junction stop line during calculating.
(2) queue length q: the downstream road junction green light queue length that vehicle upstream extends from stop line of lining up the zero hour.
(3) phase difference T: the minimum interval of upstream and downstream crossing green light zero hour.
(4) effective transit time g
i: effective transit time at crossing be green time and yellow time sum.
(5) flow Q is sailed at the crossing, upstream into
i: the vehicle fleet that rolls crossing, upstream stop line in the unit interval away from.
(6) speed of a motor vehicle v is sailed at the crossing, upstream into
i: wagon flow is rolled the vehicle number on the stop line unit length road of crossing, upstream away from.
(7) crossing, upstream vehicle density k
i: wagon flow is rolled the vehicle number on the stop line unit length road of crossing, upstream away from.
(8) downstream road junction is rolled flow Q away from
I+1: the vehicle fleet that rolls the downstream road junction stop line in the unit interval away from.
(9) downstream road junction is rolled speed of a motor vehicle v away from
I+1: the place speed of a motor vehicle when vehicle rolls the downstream road junction stop line away from.
(10) vehicle density k is rolled in the downstream away from
I+1: wagon flow is rolled the vehicle number on the downstream road junction stop line unit length road away from.
(11) jam density k
j: wagon flow queuing is slack to be vehicle number on the unit length road.
(12) evanescent wave w
1: the speed that wagon flow is propagated to the fleet rear by the static state that becomes the startup operation of queuing.
(13) block ripple w
2: wagon flow becomes the speed that the static state of queuing is propagated to the fleet rear by operation.
As depicted in figs. 1 and 2, the optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, it comprises the steps:
(1) on the basis of collecting the road section traffic volume flow data, calculates evanescent wave w respectively
1With obstruction ripple w
2
(2) if w
1〉=w
2, stop;
(3) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the highway section in the middle of two crossings, represent that then spillover does not take place the arterial highway direction, handle by the phase differential of general signal coordinating control;
(4) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the upstream at inner or i crossing, i crossing, represent that then the arterial highway direction overflows;
(5) pass through formula: x
B≤ g
i+ Δ T and y
A≤ 0, calculate the interval Δ T of reliability:
Wherein, L is junction spacing, and q is queue length, x
BFor propagate into the time at i crossing the zero hour to the startup ripple from timing; g
iBe the time that finishes from timing zero hour to i crossing red light; y
AIntersection point for evanescent wave and obstruction ripple.
In the present invention, every the saturation headway t that is produced at the green light initial stage by the inductive coil at i crossing place
IjAnd speed v
IjData obtain:
The average saturation headway at i crossing:
The saturation volume at i crossing:
The vehicle average overall travel speed at i crossing:
The vehicle density that i crossing vehicle enters the crossing is:
Wherein, n is the number of the valid data obtained, can get the saturation volume Q at i+1 crossing then according to this
I+1, an i+1 crossing vehicle average overall travel speed v
I+1Vehicle density k with i+1 crossing
I+1Thereby, obtain:
Evanescent wave:
Block ripple:
In the present invention, the signal controlling cycle equates between i crossing and the i+1 crossing, realizes the coordination control between adjacent two crossings.
In the present invention, i crossing and i+1 crossing are g at effective transit time of the split of arterial highway direction
i, guarantee traffic capacity coupling.
The optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, on the basis of crossing single point signals control, as important parameter, control is overflowed in the queuing of carrying out the crossing with the signal phase difference at upstream and downstream crossing, and symbol definition is as follows:
(1) junction spacing L: the distance at two adjacent crossings, get the distance from crossing, upstream stop line to the downstream road junction stop line during calculating.
(2) queue length q: the downstream road junction green light queue length that vehicle upstream extends from stop line of lining up the zero hour.
(3) phase difference T: the minimum interval of upstream and downstream crossing green light zero hour.
(4) effective transit time g
i: effective transit time at crossing be green time and yellow time sum.
(5) flow Q is sailed at the crossing, upstream into
i: the vehicle fleet that rolls crossing, upstream stop line in the unit interval away from.
(6) speed of a motor vehicle v is sailed at the crossing, upstream into
i: wagon flow is rolled the vehicle number on the stop line unit length road of crossing, upstream away from.
(7) crossing, upstream vehicle density k
i: wagon flow is rolled the vehicle number on the stop line unit length road of crossing, upstream away from.
(8) downstream road junction is rolled flow Q away from
I+1: the vehicle fleet that rolls the downstream road junction stop line in the unit interval away from.
(9) downstream road junction is rolled speed of a motor vehicle v away from
I+1: the place speed of a motor vehicle when vehicle rolls the downstream road junction stop line away from.
(10) vehicle density k is rolled in the downstream away from
I+1: wagon flow is rolled the vehicle number on the downstream road junction stop line unit length road away from.
(11) jam density k
j: wagon flow queuing is slack to be vehicle number on the unit length road.
(12) evanescent wave w
1: the speed that wagon flow is propagated to the fleet rear by the static state that becomes the startup operation of queuing.
(13) block ripple w
2: wagon flow becomes the speed that the static state of queuing is propagated to the fleet rear by operation.
The optimization method of signal coordinating control under the urban road intersection supersaturated condition of the present invention, operation steps is as follows: (referring to Fig. 2)
1, road section traffic volume status data collection and treatment:
Function: calculate the vehicle flowrate at crossing, travel speed and traffic density data
Input: saturation headway and car speed;
Output: saturation volume, vehicle average overall travel speed and vehicle density.
2, crossing condition discrimination
Function: according to gained data in the collection and treatment of road section traffic volume status data, judge whether the reliability interval exists
Input: saturation volume, vehicle average overall travel speed and vehicle density;
Output: traffic state at road cross, judge whether the reliability interval exists.
3, reliability is interval calculates
Function: the reliability interval that obtains phase differential
Input: dissipation velocity of wave, obstruction velocity of wave, green light duration, junction spacing and highway section vehicle average overall travel speed;
Output: reliability interval.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in above-described embodiment and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications; these changes and improvements all fall in the claimed scope of the invention, and the claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. the optimization method of signal coordinating control under the urban road intersection supersaturated condition is characterized in that it comprises the steps:
(1) on the basis of collecting the road section traffic volume flow data, calculates evanescent wave w respectively
1With obstruction ripple w
2
(2) if w
1〉=w
2, stop;
(3) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the highway section in the middle of two crossings, represent that then spillover does not take place the arterial highway direction, handle by the phase differential of general signal coordinating control;
(4) if w
1＜w
2If, evanescent wave w
1With obstruction ripple w
2Intersection point drop on the upstream at inner or i crossing, i crossing, represent that then the arterial highway direction overflows;
(5) pass through formula: x
B≤ g
i+ Δ T and y
A≤ 0, calculate the interval Δ T of reliability:
Wherein, L is junction spacing, and q is queue length, x
BFor propagate into the time at i crossing the zero hour to the startup ripple from timing; g
iBe the time that finishes from timing zero hour to i crossing red light; y
AIntersection point for evanescent wave and obstruction ripple.
2. the optimization method of signal coordinating control under the urban road intersection supersaturated condition as claimed in claim 1 is characterized in that, every saturation headway t that the inductive coil of being located by the i crossing produced at the green light initial stage
IjAnd speed v
IjData obtain:
The average saturation headway at i crossing:
The saturation volume at i crossing:
The vehicle average overall travel speed at i crossing:
The vehicle density that i crossing vehicle enters the crossing is:
Wherein, n is the number of the valid data obtained, can get the saturation volume Q at i+1 crossing then according to this
I+1, an i+1 crossing vehicle average overall travel speed v
I+1Vehicle density k with i+1 crossing
I+1Thereby, obtain:
Evanescent wave:
Block ripple:
3. the optimization method of signal coordinating control under the urban road intersection supersaturated condition as claimed in claim 1 is characterized in that, the signal controlling cycle equates between i crossing and the i+1 crossing, realizes the coordination control between adjacent two crossings.
4. the optimization method of signal coordinating control under the urban road intersection supersaturated condition as claimed in claim 1 is characterized in that i crossing and i+1 crossing are g at effective transit time of the split of arterial highway direction
i, guarantee traffic capacity coupling.
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| CN115035716B (en) * | 2022-05-31 | 2024-04-12 | 上海商汤智能科技有限公司 | Control signal phase difference determining method and device, electronic equipment and storage medium |
| CN115171374A (en) * | 2022-06-27 | 2022-10-11 | 云控智行(上海)汽车科技有限公司 | Overflow queuing prediction and multi-channel traffic signal coordination control algorithm, system and device based on vehicle-road cooperation |
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