CN104077918A - Urban traffic junction signal lamp self-adaption control method based on vehicle-mounted data - Google Patents
Urban traffic junction signal lamp self-adaption control method based on vehicle-mounted data Download PDFInfo
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Abstract
The invention provides an urban traffic junction signal lamp self-adaption control method based on vehicle-mounted data. By means of the method, self-adaption control over a signal lamp of an intersection based on the vehicle-mounted data for the unsaturated state and the oversaturated state of the upstream road in front of the middle junction of the intersection with at least one junction is achieved. The urban traffic junction signal lamp self-adaption control method includes the first step of reading the geometrical shape, the lane number and lane functions of the intersection, the second step of judging whether the junction is in the unsaturated state or the oversaturated state according to the vehicle mounted data, and the third step of utilizing an unsaturated state optimization method when the junction is judged to be in the unsaturated state, and utilizing an oversaturated state optimization method when the junction is judged to be in the oversaturated state.
Description
Technical field
The present invention relates to urban highway traffic belisha beacon control field, especially relate in this field for the unsaturated state of the road of intersection and hypersaturated state based on vehicle-mounted data to the signal lamp of intersection carry out adaptive control based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method.
Background technology
Urban traffic blocking is more and more serious, and the direct indirect economic loss that cause due to traffic congestion every year in the big city more than domestic million people of China is roughly equal to 1,600 hundred million yuan, is equivalent to 3.2% of gross domestic product (GDP).Traffic control is as regulating and controlling the most significantly traffic flow, improve it and block, improve one of very important technical measures of its security and even energy-saving and emission-reduction, the adaptive control of urban road junction is according to the traffic state data collecting, optimizing control models, automatically adjust in real time online signal controlling parameter, can set up optimum signal timing dial in theory, can adapt to the continuous variation of traffic flow modes, be the strongest, the state-of-the-art a kind of control mode of practicality.
At present, intersection self-adapting traffic signal control system mainly contains SCOOT, SCATS, OPAC and RHODES etc., the input data of these control system mainly rely on vehicle coil checker, and Bikowitz, E W, the research of Ross (1985) etc. thinks that arbitrary moment of failure rate of loop wire inductive coil is up to 25%, even if best maintenance is safeguarded, also there is 11.7% failure rate (Lawrence A.Klein the whole year, MiltonK.Mills, David R.P.Gibson, 2006), these data of China are up to 30%, the city in the construction period more particularly, this ratio is even higher, in addition, be limited by the position of wagon detector, can only gather data on flows in fixed location, and carry out short-term Traffic Demand Forecasting, have prediction and estimate essential error, be entered into again and in correlation theory model, obtain timing scheme, and then export corresponding evaluation index by relevant evaluation model, using this foundation of optimizing as traffic control strategy.Be the generation of control program and optimize all based on model, for signal timing dial, improving effect assessment is also based on model.Often itself is due to time, region, interference source various reasons for traffic model, and not all applicable at all occasions, its applicability and reliability are limited; Allow to be suitable for, also there are a series of loaded down with trivial details processes such as parameter calibration correction of model, and the demarcation of parameter itself can be sayed without fixing method, rely on traffic engineer experience completely, through these optimization orders signal timing dial out, be difficult to reach the expectation of traveler, cannot accomplish real self-adapting traffic signal control.
In existing bus or train route coherent system: 1. the traffic information collection mode of system progressively transfers the more intensive distributing traffic information collection based on board units to by extensive government's large-scale basis facility investment (magnetic test coil, watch-dog, identifier marking are buried underground), the construction of traffic data information acquisition system and maintenance cost reduce greatly, are conducive to large-scale popularization and enforcement, 2. by bus or train route communication, can collect accurately vehicle operation data (vehicle location, speed, turn to, acceleration-deceleration etc.), can promptly and accurately predict real-time traffic demand and the various emergency case of intersection, make the real realization of the adaptive control of signal timing dial become possibility, 3. by car car, bus or train route communication makes traffic participant, the vehicles, between means of transportation and traffic environment, can give and organically combine, by truck traffic, strengthen contacting between vehicle, can shorten time of driver's reaction, reduced spaces of vehicles, providing on-vehicle information prompting, (district faces a difficult choice, make a dash across the red light, the non-control of turning left, main road gives way, the promptings such as motor vehicle right-hand rotation), when improving traffic safety, shortened green light lost time, effectively improve the efficiency of signal controlling, 4. system data the acquisition granularity, the raising greatly of precision, traffic signals are controlled with vehicle to be controlled, the integration of traffic guidance also becomes possible (broad sense traffic control), senior scholar Michael G.H.Bell points out in being published in the article of Transport ResearchPartA " Future directions in traffic signal control ", only rely on traffic signals itself can not solve day by day serious traffic jam issue, with the integrated of vehicle traveling information and to integrate will be the inexorable trend of traffic control development.
On the other hand, the development of bus or train route cooperative system has promoted to make the acquisition mode of transport information from traditional static state collection, as respond to magnetic test coil, radar, infrared ray etc., progressively to dynamic full-time empty wagons, carry data acquisition modes development, from the detection of the traffic parameters such as traditional vehicle flowrate, occupation rate develop into Vehicle Speed, GPS position, turn to, the dynamic acquisition of the vehicle-mounted data such as acceleration-deceleration, can promptly and accurately predict real-time traffic demand and the various emergency case of intersection, make the real realization of the adaptive control of signal timing dial become possibility.
The appearance of bus or train route cooperative system, makes transport information really realize the face collection that collects round-the-clock, the comprehensive seamless coverage time, two, space dimension from the line of time dimension, and transport information will no longer become the bottleneck of restriction traffic control development.Along with the developing rapidly and advancing of bus or train route cooperative system, the various potential advantages such as the precision of its image data, coverage, will improve the control effect of adaptive control algorithm and the adaptability of optimizing control models greatly.
But do not exist a kind of effective method can based on vehicle-mounted data monitor unsaturated state and the hypersaturated state of the road of intersection at present, and carry out adaptive control to the signal lamp of intersection.
Summary of the invention
The object of the present invention is to provide a kind of unsaturated state of the road based on vehicle-mounted data monitoring intersection and hypersaturated state and to the signal lamp of intersection carry out adaptive control based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, can, for having at least unsaturated state and the hypersaturated state of the front upper trip road in crossing in the intersection of an intersection, based on vehicle-mounted data, the signal lamp of intersection is carried out to adaptive control, there are following steps: step 1 is to read the geometric configuration of intersection, number of track-lines and lane function, step 2 is for judging that according to vehicle-mounted data crossing is unsaturation state or hypersaturated state, and step 3 for adopting unsaturation state optimization method when being judged as unsaturation shape, when being judged as hypersaturated state, adopt hypersaturated state optimization method, wherein, unsaturation state optimization method, there are following steps: step 1-a is for determining the Phase-switching order of intersection and making Phase-switching precedence diagram according to geometric configuration, number of track-lines and lane function, each phase directional that this figure comprises crossing, formulates signal lamp and is arranged at all directions of intersection according to phase directional, step 1-b is for setting out the phase conflicts table (quantity that N is phase directional) of (N+2) * (N+2) according to Phase-switching precedence diagram, in this table, transverse axis and the longitudinal axis are each phase directional, and each phase directional between two position of correspondence is provided with a plurality of conflicts signs and a plurality of sign of not conflicting, step 1-c is for to be divided into fleet according to vehicle-mounted data by the vehicle that is positioned at same track maintenance preset distance adjacent one another are, the acceleration of the front vehicle of Dang fleet is less than when distance between the trailer in contrary acceleration rate threshold and this front vehicle and fleet is less than distance threshold and is judged as this front vehicle is added in fleet, the acceleration of the front vehicles of Dang fleet is greater than when distance between the car in acceleration rate threshold and this front vehicles and fleet is less than distance threshold and is judged as this front vehicles is added in fleet, right overhead the acceleration of car be greater than acceleration rate threshold and and this car after distance between a car be judged as this car while being greater than distance threshold and depart from fleet, when the acceleration of trailer be less than contrary acceleration rate threshold and and last car of this trailer between distance be judged as this trailer while being greater than distance threshold and depart from fleet, and step 1-d is that after determining fleet's situation, figure signal lamp carries out Phase-switching, guide fleet to pass through intersection, hypersaturated state optimization method, has following steps: under behind the crossing that step 2-a is real-time each phase directional of monitoring, swim out of the residue queue length in track, and step 2-b is for controlling in real time green light associated with this phase directional in intersection cut-out ahead of time or postpone to open according to remaining queue length.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, also there is such feature: wherein, Phase-switching in step 1-d, there are following steps: step 3-a is the accumulative total stand-by period of the superimposed gained of stand-by period of the wait vehicle in all tracks of all red light phase directionals that in calculating intersection, current green light phase directional can be let pass after finishing, when the vehicle accumulative total stand-by period is greater than predefined stand-by period and sends green light request during threshold value, when the vehicle accumulative total stand-by period is less than predefined stand-by period and continues the current green light phase directional of operation during threshold value, step 3-b is the residual queuing vehicle in the fleet emptying on the front upper tourist bus road, crossing of current green light phase directional, in the situation that the speed of a motor vehicle of any vehicle is less than predetermined speed of a motor vehicle threshold value in fleet being detected, and when being less than predetermined green light max-thresholds, green time extends green time until the trailer of fleet switches phase tranformation signal lamp according to Phase-switching precedence diagram and phase conflicts table after passing through, force handoff phase directional when green time is greater than predetermined green light max-thresholds, in the situation that the vehicle that the speed of a motor vehicle is less than predetermined speed of a motor vehicle threshold value do not detected, enter next step, step 3-c is for working as green extension Δ t, Δ t=d
l/ v
l(wherein, d
lfor the distance between trailer and intersection, v
lspeed for trailer), when finishing or arriving green light max-thresholds, according to Phase-switching precedence diagram and phase conflicts table, carry out Phase-switching.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, also there is such feature: wherein, cut off ahead of time step for cutting off ahead of time green light when the residue queue length of current green light phase directional is less than predetermined residue queue length threshold value when monitoring in real time, if the green light of this phase directional is less than predetermined green light during excess time excess time, wait for green light max-thresholds complete after again figure signal lamp carry out Phase-switching.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, also there is such feature: wherein, postpone to open step for postponing to open green light when the residue queue length of current red light phase directional is less than predetermined residue queue length threshold value when monitoring in real time.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, also there is such feature: wherein, road intersection is coordinated step for for guaranteeing that the green light opening time is not more than green light maximum time.
Provided by the invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, also there is such feature: wherein, cut off ahead of time step for cutting off ahead of time green light when the residue queue length of current green light phase directional is less than predetermined residue queue length threshold value when monitoring in real time, if the green light of this phase directional is less than predetermined green light during excess time excess time, wait for green light max-thresholds complete after again figure signal lamp carry out Phase-switching, postpone to open step for postponing to open green light when the residue queue length of current red light phase directional is less than predetermined residue queue length threshold value when monitoring in real time, road intersection is coordinated step for for guaranteeing that the green light opening time is not more than green light maximum time, cut off at least ahead of time step, postpone to open step and road intersection coordinate in step any one and cut off ahead of time step, postpone to open step and road intersection and coordinate combination mutually between two at least arbitrarily in step.
Invention effect
According to involved in the present invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, read the geometric configuration of intersection, number of track-lines and lane function, according to vehicle-mounted data judgement crossing, be unsaturation state or hypersaturated state, when being judged as unsaturation shape, adopt unsaturation state optimization method, when being judged as hypersaturated state, adopt hypersaturated state optimization method, unsaturation state optimization method flows to the one-lane vehicle accumulative total stand-by period for calculating next all phase place red light that constantly can let pass of this phase place of intersection, using this foundation as intersection signal controlling Phase-switching, vehicle on same track is carried out fleet's division and empties green light afterbody queuing up, after determining fleet's situation, figure signal lamp carries out Phase-switching, guide fleet to pass through intersection, under behind the crossing that hypersaturated state optimization method is real-time each phase directional of monitoring, swim out of the residue queue length in track, according to residue, queue length is controlled in real time green light associated with this phase directional in intersection cut-out ahead of time or is postponed to open.Thereby vehicle is incured loss through delay, reduce, improved operational efficiency and the safety of intersection.
Accompanying drawing explanation
Fig. 1 is the present invention's calibrate AE sensor in an embodiment and the connection diagram of acoustic emission acquisition system;
Fig. 2 is the vehicle carried data collecting table in the present embodiment;
Fig. 3 is self-adaptation control method Phase-switching precedence diagram in intersection under the present invention's operate under unsaturated conditions in an embodiment;
Fig. 4 is self-adaptation control method Phase-switching precedence diagram in intersection under the present invention's operate under unsaturated conditions in an embodiment;
Fig. 5 is self-adaptation control method phase conflicts table in intersection under the present invention's operate under unsaturated conditions in an embodiment;
Fig. 6 is the fleet's division methods process flow diagram in the present embodiment;
Fig. 7 is the Phase-switching process flow diagram in the present embodiment;
Fig. 8 is intersection self-adaptation control method green time control flow chart under the supersaturated condition in the present embodiment;
Fig. 9 is the hypersaturated state operational process figure in the present embodiment; And
Figure 10 is that five kinds of combinational algorithms in the present embodiment and the control program of present situation are analyzed figure.
Embodiment
Referring to accompanying drawing and embodiment to involved in the present invention being explained in detail based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method.
Embodiment
Fig. 1 is the present invention's calibrate AE sensor in an embodiment and the connection diagram of acoustic emission acquisition system.
Step S1-1:
System initialization, enters step S1-2.
Step S1-2:
The geometric configuration, number of track-lines and the lane function situation that read intersection, enter step S1-3.
Step S1-3:
Determine the control structure of intersection, enter step S1-4.
Step S1-4:
Whether the track that judges intersection state of saturation, if unsaturated state enters step S1-5; If hypersaturated state, enters step S1-8.
Step S1-5:
Determine that phase directional sequentially makes Phase-switching precedence diagram, each phase directional that this figure comprises crossing, according to phase directional, formulate signal lamp and be arranged at all directions of intersection, according to Phase-switching precedence diagram, set out 10 * 10 phase conflicts table, in this table, transverse axis and the longitudinal axis are 8 phase directionals, and 8 phase directionals are provided with conflict sign and the sign of not conflicting in the position of correspondence between two, wherein 1 represents conflict, 0 represents not conflict, and as conflict coefficient, enters step S1-6.
Step S1-6:
According to vehicle-mounted data, the vehicle that is positioned at same track maintenance preset distance adjacent one another are is divided into fleet, the acceleration of the front vehicle of Dang fleet is less than when distance between the trailer in-0.5 meter of every quadratic power second and this front vehicle and fleet is less than 3 meters and is judged as this front vehicle is added in fleet, the acceleration of the front vehicles of Dang fleet is greater than when distance between the car in 0.5 meter of every quadratic power second and this front vehicles and fleet is less than 3 meters and is judged as this front vehicles is added in fleet, right overhead the acceleration of car be greater than 0.5 meter of every quadratic power second and and this car after distance between a car be judged as this car while being greater than 3 meters and depart from fleet, when the acceleration of trailer be less than 0.5 meter of every quadratic power second and and last car of this trailer between distance be judged as this trailer while being greater than 3 meters and depart from fleet, enter step S1-7.
After determining fleet's situation, figure signal lamp carries out Phase-switching.
Step S1-8:
Under in real time behind the crossing of 8 phase directionals of monitoring, swim out of the residue queue length in track, enter step S1-9.
Step S1-9:
According to residue, queue length is controlled in real time green light associated with this phase directional in intersection cut-out ahead of time or is postponed to open.
Fig. 2 is the vehicle-mounted data structural drawing in the present embodiment.
As shown in Figure 2, the vehicle-mounted data collecting from each car comprises simulation time, car number, vehicle location, Link numbering, Lane numbering, steering indicating light state, coordinate, speed, acceleration, next Link numbering.
Fig. 3 is self-adaptation control method Phase-switching precedence diagram in intersection under the present invention's operate under unsaturated conditions in an embodiment.
As shown in Figure 3, in the Phase-switching precedence diagram identical with the signal lamp of crossing all directions setting, each arrow represents corresponding phase directional, the phase barrier that two vertical line representative isolation can not overlap mutually, all phase places are assigned to upper and lower two rings, and two phase directionals in a phase barrier in same ring can freely convert; And when the switching of phase directional need to be crossed over phase barrier, need to wait for that other phase directionals all arrive the phase switch point of crossing over phase barrier.This structure under the premise that security is guaranteed, realized the overlap joint between non-conflict traffic flow, can farthest bring into play the operational efficiency of intersection, than traditional phase place phase sequence structure, have more dirigibility, be more suitable for intersection real-time adaptive control implementation of strategies.
Fig. 4 is self-adaptation control method Phase-switching precedence diagram in intersection under the present invention's operate under unsaturated conditions in an embodiment.
As shown in Figure 4, arrow represents each feasible phase directional in right-angled intersection.
In conjunction with Fig. 3 and Fig. 4,8 phase directionals of intersection in 8 phase directionals difference corresponding diagram 4 in Fig. 3.
Fig. 5 is self-adaptation control method phase conflicts table in intersection under the present invention's operate under unsaturated conditions in an embodiment.
As shown in Figure 5, the phase directional that may carry out after each phase directional finishes comprises this phase directional, and possible conflict phase directional.It is example that the intersection eight-phase of Fig. 2 standard of take is controlled (four corners of the world four direction is kept straight on and left-hand rotation arranges independent phase place), constructs corresponding phase conflicts table.1 representative conflict in table, 0 representative does not conflict.If do not needed certain phase place, can delete adjustment according to following table.For lopsided intersection or more than the intersection of eight phase places, can build according to above-mentioned explanation the dicyclo control structure of leggy barrier.
Fig. 6 is the fleet's division methods process flow diagram in the present embodiment.
According to vehicle-mounted data, the vehicle that is positioned at same track maintenance preset distance adjacent one another are is divided into Yi Ge fleet by following steps.
Step 2-1:
Judgement, when whether vehicle in front belongs to this fleet, if do not belong to this fleet, enters step S2-2; If belong to this fleet, enter step S2-6.
Step S2-2:
Whether judgement is greater than 5 meters of every quadratic power seconds when the acceleration of vehicle in front.If be greater than, enter step S2-3; If be not more than, enter step S2-4.
Step S2-3:
Vehicle in front is worked as in judgement and whether leading vehicle distance is less than 3 meters, if be less than 3 meters, be judged as front vehicle and add fleet; If be not less than 3 meters, return to step S2-2.
Step S2-4:
Whether judgement is less than-5 meters of every quadratic power seconds when the acceleration of vehicle in front.If be less than, enter step S2-5; If be not less than, return to step S2-2.
Step S2-5:
Vehicle in front is worked as in judgement and whether leading vehicle distance is less than 3 meters, if be less than 3 meters, be judged as front vehicles and add fleet; If be not less than 3 meters, return to step S2-2.
Step S2-6:
Whether judgement is greater than 5 meters of every quadratic power seconds when the acceleration of vehicle in front.If be greater than, enter step S2-7; If be not more than, enter step S2-8.
Step S2-7:
Vehicle in front is worked as in judgement and whether leading vehicle distance is greater than 3 meters, if be greater than 3 meters, be judged as fleet's car and depart from fleet; If be not more than 3 meters, return to step S2-6.
Step S2-8:
Whether judgement is less than-5 meters of every quadratic power seconds when the acceleration of vehicle in front.If be less than, enter step S2-9; If be not less than, return to step S2-6.
Step S2-9:
Vehicle in front is worked as in judgement and whether leading vehicle distance is greater than 3 meters, if be greater than 3 meters, be judged as fleet's trailer and depart from fleet; If be not more than 3 meters, return to step S2-6.
Fig. 7 is the Phase-switching process flow diagram in the present embodiment.
Step S3-1:
Move current phase directional, enter step S3-2.
Step S3-2:
The accumulative total stand-by period of the superimposed gained of stand-by period of the wait vehicle in all tracks of all red light phase directionals that in calculating intersection, current green light phase directional can be let pass after finishing, when being greater than predefined 120 seconds, sends the vehicle accumulative total stand-by period green light request, when the vehicle accumulative total stand-by period is less than predefined 120 seconds, continue the current green light phase directional of operation, enter step S3-3.
Step S3-3:
The vehicle accumulative total stand-by period is multiplied by conflict coefficient, enters step S3-4.
Step S3-4:
Judge that whether vehicle accumulative total is greater than 120 seconds the stand-by period, if be greater than 120 seconds, enters step S3-5; If be not more than 120 seconds, return to step S3-1.
Step S3-5:
Send phase directional handoff request, enter step S3-6.
Step S3-6:
Judgement be the speed of remaining queuing vehicle whether be less than 5 kilometers per hour, if be less than, enter step S3-7; If be not less than, enter step S3-10.
Step S3-7:
Distinguish residual queuing tail of the queue vehicle, enter step S3-8.
Step S3-9:
Next time step, enters step S3-10.
Step S3-9:
Judge that residual queuing tail of the queue vehicle, whether by intersection, if pass through, enters step S3-10; If do not pass through, return to step S3-8.
Step S3-10:
Green light phase directional vehicle cluster and the crucial fleet of identification, enter step S3-11.
Step S3-11:
Determine green extension Δ t, Δ t=d
l/ v
l(wherein, d
lfor the distance between trailer and intersection, v
lspeed for trailer), enter step S3-12.
Step S3-12:
Judge that whether green extension is 0 or the maximum green time of no arrival, if 0 or arrive maximum green time, step S3-13 entered; If not 0 or do not arrive maximum green time, return to step S3-12.
Step S3-13:
Whether judgement request phase directional conflicts, and according to Phase-switching precedence diagram and phase conflicts table, switches phase tranformation signal lamp, if do not conflict, enters step S3-14; If conflict, returns to step S3-1.
Step S3-14:
This inscription of loop completes, and enters second ring.
Because second ring communicates with first inscription of loop step, therefore description thereof is omitted.
Step S3-15:
The phase directional that calculates accumulative total stand-by period maximum in each ring, enters step S3-16.
Step S3-16:
Switch green light to corresponding phase directional simultaneously.
Fig. 8 is intersection self-adaptation control method green time control flow chart under the supersaturated condition in the present embodiment.
Step S4-1:
Start intersection off-line timing scheme, enter step S4-2.
Step S4-2:
The phase switch point and the split that keep original scheme, enter step S4-3.
Step S4-3:
Judge whether green light of track, downstream, if green light enters step S4-4, if not green light enters step S4-6.
Step S4-4:
Judge that whether this phase directional downstream track buffer is less than 30m, if be less than 30m, enters step S4-5; If be not less than 30m, enter step S4-6.
Step S4-5:
Green light postpones to open 1 second.
Step S4-6:
Whether open road intersection and coordinate, if open, enter step S4-7; If do not open, enter step S4-9.
Step S4-7:
Judge in former scheme, whether this phase directional green time finishes, if finish, road intersection has been coordinated; If do not finish, enter step S4-8.
Step S4-8:
Continue this phase directional of operation, return to step S4-7.
Step S4-9:
Judge that whether this phase directional downstream track buffer is less than 30m, if be less than 30m, enters step S4-10; If be not less than 30m, enter step S4-12.
Step S4-10:
Judge whether this phase directional green time is less than 5s, if be not less than 5s, enter step S4-10; If be less than 5s, enter step S4-12.
Step S4-11:
Green light early cut-off.
Step S4-12:
This phase directional continues operation 1s, enters step S4-13.
Step S4-13:
Judge that this phase directional arrives maximum green time, if arrive, step finishes; If do not arrive, return to step S4-9.
Fig. 9 is the hypersaturated state operational process figure in the present embodiment.
As shown in Figure 9, the cut-out ahead of time of three kinds of basic controlling algorithm green lights, green light delay unlatching and road intersection are coordinated to combine, have following five kinds of combined situation.Wherein arrow represents that variation has occurred this phase place, and solid black lines represents that this phase place startup/end time do not change, and oblique line partly represents red light, and blank parts represents green light.For simplifying research, in this example, be two phase place, i.e. main road green light, or road intersection green light, vice versa.In addition the yellow time of having ignored, transition between phase place in Fig. 9.Five kinds of combinational algorithms are described below:
1. green light postpones to open (GSD).According to the supersaturation situation of downstream road, increase the green light opening time of this phase directional, and the long green light time of this phase directional remains unchanged.
2. green light postpones unlatching+green light early cut-off (GSD+GCA).If lower exit is without enough buffers, each cycle of the phase differential of this phase place increases a bit, and the green time of this phase place also shortens (multicycle impact) simultaneously.
3. green light postpones unlatching+road intersection coordination (GSD+COR).The phase differential of this phase place only increases within a week, and green time shortens, so that phase place start-up time unaffected (monocycle impact) of road intersection.Next cycle is still by predefined scheme operation, unless there is again the situation of this phase place green light delay start.If downstream does not have enough buffers, the green time of this phase place will be skipped.
4. green light early cut-off (GCA).The phase differential of this phase place does not adjust.Green light rises bright on time, according to actual conditions, interrupts in advance.The unnecessary time is distributed to road intersection.
5. green light postpones unlatching+green light early cut-off+road intersection coordination (GCA+GSD+COR).The combination of the second situation and the third situation, phase place green time is got green light and is postponed to open in (GSD) and road intersection coordination (COR) moment the earliest.
Figure 10 is that five kinds of combinational algorithms in the present embodiment and the control program of present situation are analyzed figure.
As shown in figure 10, use Vissim emulation, by example, the control program of above-mentioned five kinds of combinational algorithms and present situation is analyzed.Generally speaking, the traffic capacity all decreases, and the way that limits transport need under this and supersaturated condition is perfectly in harmony; Spacing is incured loss through delay and stop frequency makes moderate progress.Wherein, the improvement that green light early cut-off (GCA) is controlled benefit for intersection is the most obvious, the combination (GCA+GSD+COR) that itself and green light delay start, road intersection are coordinated is not significantly increased to the improvement of intersection benefit, and use separately green light delay start (GSD) even can bring the deterioration of intersection benefit, the combination (GSD+COR) that itself and road intersection are coordinated makes moderate progress to the control benefit of intersection, but does not have green light early cut-off (GCA) and three kinds of combinations (GCA+GSD+COR) successful thereof.Therefore we may safely draw the conclusion: under urban road junction supersaturated condition, recommend first to adopt green light Pre-handoff, again consider itself and other array configuration.
The effect of embodiment and effect
According to involved in the present invention a kind of based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, read the geometric configuration of intersection, number of track-lines and lane function, according to vehicle-mounted data judgement crossing, be unsaturation state or hypersaturated state, when being judged as unsaturation shape, adopt unsaturation state optimization method, when judgement hypersaturated state, adopt hypersaturated state optimization method, unsaturation state optimization method flows to the one-lane vehicle accumulative total stand-by period for calculating next all phase place red light that constantly can let pass of this phase place of intersection, using this foundation as intersection signal controlling Phase-switching, vehicle on same track is carried out fleet's division and empties green light afterbody queuing up, after determining fleet's situation, figure signal lamp carries out Phase-switching, guide fleet to pass through intersection, under behind the crossing that hypersaturated state optimization method is real-time each phase directional of monitoring, swim out of the residue queue length in track, according to residue, queue length is controlled in real time green light associated with this phase directional in intersection cut-out ahead of time or is postponed to open.Thereby vehicle is incured loss through delay, reduce, improved operational efficiency and the safety of intersection.
Above-described embodiment is preferred case of the present invention, is not used for limiting the scope of the invention.
Claims (6)
1. one kind based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, can, for having at least unsaturated state and the hypersaturated state of the front upper trip road in crossing in the intersection of an intersection, based on vehicle-mounted data, the described signal lamp of described intersection is carried out to adaptive control, there are following steps:
Step 1, reads geometric configuration, number of track-lines and the lane function of described intersection;
Step 2, judges that according to described vehicle-mounted data described crossing is described unsaturation state or described hypersaturated state; And
Step 3 adopts unsaturation state optimization method when being judged as described unsaturation shape, adopts hypersaturated state optimization method when being judged as described hypersaturated state,
Wherein, described unsaturation state optimization method, has following steps:
Step 1-a:
According to described geometric configuration, described number of track-lines and described lane function, determine the Phase-switching order of described intersection and make Phase-switching precedence diagram, each phase directional that this figure comprises described crossing, formulates described signal lamp and is arranged at all directions of described intersection according to described phase directional;
Step 1-b:
According to described Phase-switching precedence diagram, set out the phase conflicts table (quantity that N is described phase directional) of (N+2) * (N+2), in this table, transverse axis and the longitudinal axis be phase directional described in each, and described in each, phase directional corresponding position is provided with a plurality of conflicts signs and a plurality of sign of not conflicting between two;
Step 1-c:
According to described vehicle-mounted data, the vehicle that is positioned at described same track maintenance preset distance adjacent one another are is divided into fleet, when the acceleration of the front vehicle in described fleet is less than when distance between the trailer in contrary acceleration rate threshold and this front vehicle and described fleet is less than distance threshold, is judged as this front vehicle is added in described fleet, when the acceleration of the front vehicles in described fleet is greater than when distance between the car in acceleration rate threshold and this front vehicles and described fleet is less than distance threshold, is judged as and this front vehicles is added in described fleet, when the acceleration of described car be greater than described acceleration rate threshold and and this car after distance between a car be judged as this car while being greater than described distance threshold and depart from described fleet, when the acceleration of described trailer be less than described contrary acceleration rate threshold and and last car of this trailer between distance be judged as this trailer while being greater than described distance threshold and depart from described fleet, and
Step 1-d:
After determining described fleet situation, figure signal lamp carries out Phase-switching, guides described fleet by described intersection,
Described hypersaturated state optimization method, has following steps:
Step 2-a:
Under behind the crossing of in real time monitoring phase directional described in each, swim out of the residue queue length in track; And
Step 2-b:
According to described residue queue length, control in real time green light associated with this phase directional in described intersection cut-out ahead of time or postpone to open.
2. according to claim 1 based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, be further characterized in that:
Wherein, the described Phase-switching in described step 1-d, has following steps:
Step 3-a:
Calculate accumulative total stand-by period of superimposed gained of stand-by period of described wait vehicle in all described tracks of all red light phase directionals that in described intersection, current green light phase directional can be let pass after finishing, when the described vehicle accumulative total stand-by period is greater than predefined stand-by period and sends green light request during threshold value, when the described vehicle accumulative total stand-by period is less than predefined stand-by period and continues the described current green light phase directional of operation during threshold value;
Step 3-b:
Empty the residual queuing vehicle in the described fleet on the front upper tourist bus road, described crossing of described current green light phase directional, in the situation that the speed of a motor vehicle of any vehicle is less than predetermined speed of a motor vehicle threshold value in described fleet being detected, and when being less than predetermined green light max-thresholds, green time extends described green time until the described trailer of described fleet switches phase tranformation signal lamp according to described Phase-switching precedence diagram and described phase conflicts table after passing through, force handoff phase directional when described green time is greater than predetermined green light max-thresholds, in the situation that the described vehicle that the described speed of a motor vehicle is less than predetermined described speed of a motor vehicle threshold value do not detected, enter next step,
Step 3-c:
As green extension Δ t, Δ t=d
l/ v
l(wherein, d
lfor the distance between described trailer and described crossing, v
lspeed for described trailer), when finishing or arriving described green light max-thresholds, according to described Phase-switching precedence diagram and described phase conflicts table, carry out described Phase-switching.
3. according to claim 1 based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, be further characterized in that:
Wherein, the described step of cutting off is ahead of time for cutting off ahead of time green light when monitoring in real time when the described residue queue length of current green light phase directional is less than predetermined residue queue length threshold value, if the green light of this phase directional is less than predetermined green light during excess time excess time, wait for that after described green light max-thresholds completes, converting described signal lamp carries out described Phase-switching again.
4. according to claim 1 based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, be further characterized in that:
Wherein, described delay is opened step for postponing to open green light when the described residue queue length of current red light phase directional is less than predetermined residue queue length threshold value when monitoring in real time.
5. according to claim 1 based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, be further characterized in that:
Wherein, road intersection is coordinated step for for guaranteeing that the described green light opening time is not more than described green light maximum time.
6. according to claim 1 based on vehicle-mounted data urban traffic intersection signal lamp self-adaptation control method, be further characterized in that:
Wherein, the described step of cutting off is ahead of time for cutting off ahead of time green light when monitoring in real time when the described residue queue length of current green light phase directional is less than predetermined residue queue length threshold value, if the green light of this phase directional is less than predetermined green light during excess time excess time, wait for that after described green light max-thresholds completes, converting described signal lamp carries out described Phase-switching again
Described delay is opened step for postponing to open green light when the described residue queue length of current red light phase directional is less than predetermined residue queue length threshold value when monitoring in real time,
Described road intersection is coordinated step for for guaranteeing that the described green light opening time is not more than described green light maximum time,
At least, cut off ahead of time step, described delay open step and described road intersection coordinate in step any one and describedly cut off ahead of time step, step is opened in described delay and described road intersection is coordinated combination mutually between two at least arbitrarily in step.
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